Merge branch 'dev' into prcix9320

This reverts commit 4595f86725, reversing
changes made to 1340bae838.

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.19
+  version: 0.10.17
 
 source:
   path: ../../unilabos
@@ -46,15 +46,13 @@ requirements:
   - jinja2
   - requests
   - uvicorn
-  - if: not osx
-    then:
-    - opcua
+  - opcua # [not osx]
   - pyserial
   - pandas
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.19
+  - uni-lab::unilabos-env ==0.10.17
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.19
+  version: 0.10.17
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.10.19
+  version: 0.10.17
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.19
+  - uni-lab::unilabos ==0.10.17
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.conda/scripts/post-link.bat

@@ -0,0 +1,9 @@
+@echo off
+setlocal enabledelayedexpansion
+
+REM upgrade pip
+"%PREFIX%\python.exe" -m pip install --upgrade pip
+
+REM install extra deps
+"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
+"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+# make sure pip is available
+"$PREFIX/bin/python" -m pip install --upgrade pip
+
+# install extra deps
+"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
+"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.cursor/skills/add-device/SKILL.md

@@ -1,160 +0,0 @@
----
-name: add-device
-description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
----
-
-# 添加新设备到 Uni-Lab-OS
-
-**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
-
-该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
-
----
-
-## 装饰器参考
-
-### @device — 设备类装饰器
-
-```python
-from unilabos.registry.decorators import device
-
-# 单设备
-@device(
-    id="my_device.vendor",           # 注册表唯一标识（必填）
-    category=["temperature"],         # 分类标签列表（必填）
-    description="设备描述",            # 设备描述
-    display_name="显示名称",           # UI 显示名称（默认用 id）
-    icon="DeviceIcon.webp",           # 图标文件名
-    version="1.0.0",                  # 版本号
-    device_type="python",             # "python" 或 "ros2"
-    handles=[...],                    # 端口列表（InputHandle / OutputHandle）
-    model={...},                      # 3D 模型配置
-    hardware_interface=HardwareInterface(...),  # 硬件通信接口
-)
-
-# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
-@device(
-    ids=["pump.vendor.model_A", "pump.vendor.model_B"],
-    id_meta={
-        "pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
-        "pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
-    },
-    category=["pump_and_valve"],
-)
-```
-
-### @action — 动作方法装饰器
-
-```python
-from unilabos.registry.decorators import action
-
-@action                              # 无参：注册为 UniLabJsonCommand 动作
-@action()                            # 同上
-@action(description="执行操作")       # 带描述
-@action(
-    action_type=HeatChill,           # 指定 ROS Action 消息类型
-    goal={"temperature": "temp"},    # Goal 字段映射
-    feedback={},                     # Feedback 字段映射
-    result={},                       # Result 字段映射
-    handles=[...],                   # 动作级别端口
-    goal_default={"temp": 25.0},     # Goal 默认值
-    placeholder_keys={...},          # 参数占位符
-    always_free=True,                # 不受排队限制
-    auto_prefix=True,                # 强制使用 auto- 前缀
-    parent=True,                     # 从父类 MRO 获取参数签名
-)
-```
-
-**自动识别规则：**
-- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
-- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
-- `_` 开头的方法 → 不扫描
-- `@not_action` 标记的方法 → 排除
-
-### @topic_config — 状态属性配置
-
-```python
-from unilabos.registry.decorators import topic_config
-
-@property
-@topic_config(
-    period=5.0,            # 发布周期（秒），默认 5.0
-    print_publish=False,   # 是否打印发布日志
-    qos=10,                # QoS 深度，默认 10
-    name="custom_name",    # 自定义发布名称（默认用属性名）
-)
-def temperature(self) -> float:
-    return self.data.get("temperature", 0.0)
-```
-
-### 辅助装饰器
-
-```python
-from unilabos.registry.decorators import not_action, always_free
-
-@not_action          # 标记为非动作（post_init、辅助方法等）
-@always_free         # 标记为不受排队限制（查询类操作）
-```
-
----
-
-## 设备模板
-
-```python
-import logging
-from typing import Any, Dict, Optional
-
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.registry.decorators import device, action, topic_config, not_action
-
-@device(id="my_device", category=["my_category"], description="设备描述")
-class MyDevice:
-    _ros_node: BaseROS2DeviceNode
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        self.device_id = device_id or "my_device"
-        self.config = config or {}
-        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
-        self.data: Dict[str, Any] = {"status": "Idle"}
-
-    @not_action
-    def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
-        self._ros_node = ros_node
-
-    @action
-    async def initialize(self) -> bool:
-        self.data["status"] = "Ready"
-        return True
-
-    @action
-    async def cleanup(self) -> bool:
-        self.data["status"] = "Offline"
-        return True
-
-    @action(description="执行操作")
-    def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
-        """带 @action 装饰器 → 注册为 'my_action' 动作"""
-        return {"success": True}
-
-    def get_info(self) -> Dict[str, Any]:
-        """无 @action → 自动注册为 'auto-get_info' 动作"""
-        return {"device_id": self.device_id}
-
-    @property
-    @topic_config()
-    def status(self) -> str:
-        return self.data.get("status", "Idle")
-
-    @property
-    @topic_config(period=2.0)
-    def temperature(self) -> float:
-        return self.data.get("temperature", 0.0)
-```
-
-### 要点
-
-- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
-- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
-- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
-- 运行时状态存储在 `self.data` 字典中
-- 设备文件放在 `unilabos/devices/<category>/` 目录下

.cursor/skills/add-resource/SKILL.md

@@ -1,351 +0,0 @@
----
-name: add-resource
-description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
----
-
-# 添加新物料资源
-
-Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
-
----
-
-## 资源类型
-
-| 类型 | 基类 | 用途 | 示例 |
-|------|------|------|------|
-| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
-| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
-| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
-| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
-
-**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
-
-WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
-
----
-
-## @resource 装饰器
-
-```python
-from unilabos.registry.decorators import resource
-
-@resource(
-    id="my_resource_id",        # 注册表唯一标识（必填）
-    category=["bottles"],       # 分类标签列表（必填）
-    description="资源描述",
-    icon="",                    # 图标
-    version="1.0.0",
-    handles=[...],              # 端口列表（InputHandle / OutputHandle）
-    model={...},                # 3D 模型配置
-    class_type="pylabrobot",    # "python" / "pylabrobot" / "unilabos"
-)
-```
-
----
-
-## 创建规范
-
-### 命名规则
-
-1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
-2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
-3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
-
-### 子物料命名示例
-
-```python
-# Carrier 内部的 sites 用 name 前缀
-for k, v in sites.items():
-    v.name = f"{name}_{v.name}"     # "堆栈1左_A01", "堆栈1左_B02" ...
-
-# Carrier 中放置 Bottle 时用 name 前缀
-carrier[0] = My_Reagent_Bottle(f"{name}_flask_1")    # "堆栈1左_flask_1"
-carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}")  # "堆栈1左_vial_A1"
-
-# create_homogeneous_resources 使用 name_prefix
-sites=create_homogeneous_resources(
-    klass=ResourceHolder,
-    locations=[...],
-    name_prefix=name,  # 自动生成 "{name}_0", "{name}_1" ...
-)
-
-# Deck setup 中用仓库名称作为 name 传入
-self.warehouses = {
-    "堆栈1左": my_warehouse_4x4("堆栈1左"),   # WareHouse.name = "堆栈1左"
-    "试剂堆栈": my_reagent_stack("试剂堆栈"),  # WareHouse.name = "试剂堆栈"
-}
-```
-
-### 其他规范
-
-- **max_volume 单位为 μL**：500mL = 500000
-- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
-- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
-- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
-- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
-- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
-- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
-
----
-
-## 资源模板
-
-### Bottle
-
-```python
-from unilabos.registry.decorators import resource
-from unilabos.resources.itemized_carrier import Bottle
-
-
-@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
-def My_Reagent_Bottle(
-    name: str,
-    diameter: float = 70.0,
-    height: float = 120.0,
-    max_volume: float = 500000.0,
-    barcode: str = None,
-) -> Bottle:
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="My_Reagent_Bottle",
-    )
-```
-
-**Bottle 参数：**
-- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
-- `diameter`: 瓶体直径 (mm)
-- `height`: 瓶体高度 (mm)
-- `max_volume`: 最大容积（**μL**，500mL = 500000）
-- `barcode`: 条形码（可选）
-
-### BottleCarrier
-
-```python
-from pylabrobot.resources import ResourceHolder
-from pylabrobot.resources.carrier import create_ordered_items_2d
-from unilabos.resources.itemized_carrier import BottleCarrier
-from unilabos.registry.decorators import resource
-
-
-@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
-def My_6SlotCarrier(name: str) -> BottleCarrier:
-    sites = create_ordered_items_2d(
-        klass=ResourceHolder,
-        num_items_x=3, num_items_y=2,
-        dx=10.0, dy=10.0, dz=5.0,
-        item_dx=42.0, item_dy=35.0,
-        size_x=20.0, size_y=20.0, size_z=50.0,
-    )
-    # 子 site 用 name 作为前缀
-    for k, v in sites.items():
-        v.name = f"{name}_{v.name}"
-
-    carrier = BottleCarrier(
-        name=name, size_x=146.0, size_y=80.0, size_z=55.0,
-        sites=sites, model="My_6SlotCarrier",
-    )
-    carrier.num_items_x = 3
-    carrier.num_items_y = 2
-    carrier.num_items_z = 1
-
-    # 放置 Bottle 时用 name 作为前缀
-    ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
-    for i in range(6):
-        carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
-    return carrier
-```
-
-### WareHouse / Deck 放置位
-
-WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
-
-#### WareHouse（使用 warehouse_factory）
-
-```python
-from unilabos.resources.warehouse import warehouse_factory
-from unilabos.registry.decorators import resource
-
-
-@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
-def my_warehouse_4x4(name: str) -> "WareHouse":
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,             # 第一个 slot 的起始偏移
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,  # slot 间距
-        resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0,  # slot 尺寸
-        model="my_warehouse_4x4",
-        col_offset=0,       # 列标签起始偏移（0 → A01, 4 → A05）
-        layout="row-major",  # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
-    )
-```
-
-`warehouse_factory` 参数说明：
-- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
-- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
-- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
-- `layout`：影响 slot 标签和坐标映射
-  - `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
-  - `"col-major"`：A01,B01,...,A02,B02,...（列优先）
-  - `"vertical-col-major"`：竖向排列，y 坐标反向
-
-#### Deck 组装 WareHouse
-
-Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
-
-```python
-from pylabrobot.resources import Deck, Coordinate
-from unilabos.registry.decorators import resource
-
-
-@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
-class MyStation_Deck(Deck):
-    def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
-                 category="deck", setup=False, **kwargs) -> None:
-        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
-        if setup:
-            self.setup()
-
-    def setup(self) -> None:
-        self.warehouses = {
-            "堆栈1左": my_warehouse_4x4("堆栈1左"),
-            "堆栈1右": my_warehouse_4x4("堆栈1右"),
-        }
-        self.warehouse_locations = {
-            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 自行测量计算
-            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),
-        }
-        for wh_name, wh in self.warehouses.items():
-            self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
-```
-
-#### Site 模式（前端定向放置）
-
-适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
-
-```python
-import collections
-from typing import Any, Dict, List, Optional
-from pylabrobot.resources import Deck, Resource, Coordinate
-from unilabos.registry.decorators import resource
-
-
-@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
-class MyLabDeck(Deck):
-    # 根据设备台面实测批量计算各 slot 坐标偏移
-    _DEFAULT_SITE_POSITIONS = [
-        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),       # T1-T4
-        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),   # T5-T8
-    ]
-    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
-    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
-
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
-                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
-        if sites is not None:
-            self.sites = [dict(s) for s in sites]
-        else:
-            self.sites = []
-            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
-                self.sites.append({
-                    "label": f"T{i + 1}",          # 前端显示的槽位标签
-                    "visible": True,                # 是否在前端可见
-                    "position": {"x": x, "y": y, "z": z},  # 槽位物理坐标
-                    "size": dict(self._DEFAULT_SITE_SIZE),  # 槽位尺寸
-                    "content_type": list(self._DEFAULT_CONTENT_TYPE),  # 允许放入的物料类型
-                })
-        self._ordering = collections.OrderedDict(
-            (site["label"], None) for site in self.sites
-        )
-
-    def assign_child_resource(self, resource: Resource,
-                              location: Optional[Coordinate] = None,
-                              reassign: bool = True,
-                              spot: Optional[int] = None):
-        idx = spot
-        if spot is None:
-            for i, site in enumerate(self.sites):
-                if site.get("label") == resource.name:
-                    idx = i
-                    break
-        if idx is None:
-            for i in range(len(self.sites)):
-                if self._get_site_resource(i) is None:
-                    idx = i
-                    break
-        if idx is None:
-            raise ValueError(f"No available site for '{resource.name}'")
-        loc = Coordinate(**self.sites[idx]["position"])
-        super().assign_child_resource(resource, location=loc, reassign=reassign)
-
-    def serialize(self) -> dict:
-        data = super().serialize()
-        sites_out = []
-        for i, site in enumerate(self.sites):
-            occupied = self._get_site_resource(i)
-            sites_out.append({
-                "label": site["label"],
-                "visible": site.get("visible", True),
-                "occupied_by": occupied.name if occupied else None,
-                "position": site["position"],
-                "size": site["size"],
-                "content_type": site["content_type"],
-            })
-        data["sites"] = sites_out
-        return data
-```
-
-**Site 字段说明：**
-
-| 字段 | 类型 | 说明 |
-|------|------|------|
-| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
-| `visible` | bool | 是否在前端可见 |
-| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
-| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
-| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
-
-**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
-
----
-
-## 文件位置
-
-```
-unilabos/resources/
-├── <project>/              # 按项目分组
-│   ├── bottles.py          # Bottle 工厂函数
-│   ├── bottle_carriers.py  # Carrier 工厂函数
-│   ├── warehouses.py       # WareHouse 工厂函数
-│   └── decks.py            # Deck 类定义
-```
-
----
-
-## 验证
-
-```bash
-# 资源可导入
-python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
-
-# 启动测试（AST 自动扫描）
-unilab -g <graph>.json
-```
-
-仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
-
----
-
-## 关键路径
-
-| 内容 | 路径 |
-|------|------|
-| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
-| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
-| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
-| 装饰器定义 | `unilabos/registry/decorators.py` |

.cursor/skills/add-resource/reference.md

@@ -1,292 +0,0 @@
-# 资源高级参考
-
-本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
-
----
-
-## 1. 类继承体系
-
-```
-PyLabRobot
-├── Resource (PLR 基类)
-│   ├── Well
-│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
-│   ├── Deck
-│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
-│   ├── ResourceHolder               → 槽位占位符
-│   └── Container
-│       └── Battery (unilabos)       → 组装好的电池
-│
-├── ItemizedCarrier (unilabos, 继承 Resource)
-│   ├── BottleCarrier (unilabos)     → 瓶载架
-│   └── WareHouse (unilabos)         → 堆栈仓库
-│
-├── ItemizedResource (PLR)
-│   └── MagazineHolder (unilabos)    → 子弹夹载架
-│
-└── ResourceStack (PLR)
-    └── Magazine (unilabos)          → 子弹夹洞位
-```
-
-### Bottle 类细节
-
-```python
-class Bottle(Well):
-    def __init__(self, name, diameter, height, max_volume,
-                 size_x=0.0, size_y=0.0, size_z=0.0,
-                 barcode=None, category="container", model=None, **kwargs):
-        super().__init__(
-            name=name,
-            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
-            size_y=diameter,
-            size_z=height,      # PLR 用 height 作为 size_z
-            max_volume=max_volume,
-            category=category,
-            model=model,
-            bottom_type="flat",
-            cross_section_type="circle"
-        )
-```
-
-注意 `size_x = size_y = diameter`，`size_z = height`。
-
-### ItemizedCarrier 核心方法
-
-| 方法 | 说明 |
-|------|------|
-| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
-| `__setitem__(identifier, resource)` | 向槽位放入资源 |
-| `get_child_identifier(child)` | 获取子资源的标识符 |
-| `capacity` | 总槽位数 |
-| `sites` | 所有槽位字典 |
-
----
-
-## 2. 序列化与反序列化
-
-### PLR ↔ UniLab 转换
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
-| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
-
-### `from_plr_resources` 流程
-
-```
-PLR Resource
-    ↓ build_uuid_mapping (递归生成 UUID)
-    ↓ resource.serialize() → dict
-    ↓ resource.serialize_all_state() → states
-    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
-ResourceTreeSet
-```
-
-关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
-
-### `to_plr_resources` 流程
-
-```
-ResourceTreeSet
-    ↓ collect_node_data (收集 UUID、状态、扩展数据)
-    ↓ node_to_plr_dict (转为 PLR 字典格式)
-    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
-    ↓ sub_cls.deserialize(plr_dict) (反序列化)
-    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
-PLR Resource
-```
-
-### Bottle 序列化
-
-```python
-class Bottle(Well):
-    def serialize(self) -> dict:
-        data = super().serialize()
-        return {**data, "diameter": self.diameter, "height": self.height}
-
-    @classmethod
-    def deserialize(cls, data: dict, allow_marshal=False):
-        barcode_data = data.pop("barcode", None)
-        instance = super().deserialize(data, allow_marshal=allow_marshal)
-        if barcode_data and isinstance(barcode_data, str):
-            instance.barcode = barcode_data
-        return instance
-```
-
----
-
-## 3. Bioyond 物料同步
-
-### 双向转换函数
-
-| 函数 | 位置 | 方向 |
-|------|------|------|
-| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
-| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
-
-### `resource_bioyond_to_plr` 流程
-
-```
-Bioyond 物料列表
-    ↓ reverse_type_mapping: {typeName → (model, UUID)}
-    ↓ 对每个物料:
-       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
-       initialize_resource({"name": unique_name, "class": model})
-    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
-    ↓ 处理 detail (子物料/坐标)
-    ↓ 按 locationName 放入 deck.warehouses 对应槽位
-PLR 资源列表
-```
-
-### `resource_plr_to_bioyond` 流程
-
-```
-PLR 资源列表
-    ↓ 遍历每个资源:
-       载架(capacity > 1): 生成 details 子物料 + 坐标
-       单瓶: 直接映射
-    ↓ type_mapping 查找 typeId
-    ↓ warehouse_mapping 查找位置 UUID
-    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
-Bioyond 物料列表
-```
-
-### BioyondResourceSynchronizer
-
-工作站通过 `ResourceSynchronizer` 自动同步物料：
-
-```python
-class BioyondResourceSynchronizer(ResourceSynchronizer):
-    def sync_from_external(self) -> bool:
-        all_data = []
-        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
-        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
-        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
-        unilab_resources = resource_bioyond_to_plr(
-            all_data,
-            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
-            deck=self.workstation.deck
-        )
-        # 更新 deck 上的资源
-```
-
----
-
-## 4. 非瓶类资源
-
-### ElectrodeSheet（极片）
-
-路径：`unilabos/resources/battery/electrode_sheet.py`
-
-```python
-class ElectrodeSheet(ResourcePLR):
-    """片状材料（极片、隔膜、弹片、垫片等）"""
-    _unilabos_state = {
-        "diameter": 0.0,
-        "thickness": 0.0,
-        "mass": 0.0,
-        "material_type": "",
-        "color": "",
-        "info": "",
-    }
-```
-
-工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
-
-### Battery（电池）
-
-```python
-class Battery(Container):
-    """组装好的电池"""
-    _unilabos_state = {
-        "color": "",
-        "electrolyte_name": "",
-        "open_circuit_voltage": 0.0,
-    }
-```
-
-### Magazine / MagazineHolder（子弹夹）
-
-```python
-class Magazine(ResourceStack):
-    """子弹夹洞位，可堆叠 ElectrodeSheet"""
-    # direction, max_sheets
-
-class MagazineHolder(ItemizedResource):
-    """多洞位子弹夹"""
-    # hole_diameter, hole_depth, max_sheets_per_hole
-```
-
-工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
-
----
-
-## 5. 仓库工厂模式参考
-
-### 实际 warehouse 工厂函数示例
-
-```python
-# 行优先 4x4 仓库
-def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="row-major",  # A01,A02,A03,A04, B01,...
-    )
-
-# 右侧 4x4 仓库（列名偏移）
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=4, num_items_y=4, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        col_offset=4,      # A05,A06,A07,A08
-        layout="row-major",
-    )
-
-# 竖向仓库（站内试剂存放）
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=1, num_items_y=2, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=147.0, item_dy=106.0, item_dz=130.0,
-        layout="vertical-col-major",
-    )
-
-# 行偏移（F 行开始）
-def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
-    return warehouse_factory(
-        name=name,
-        num_items_x=3, num_items_y=5, num_items_z=1,
-        dx=10.0, dy=10.0, dz=10.0,
-        item_dx=159.0, item_dy=183.0, item_dz=130.0,
-        row_offset=row_offset,  # 0→A行起，5→F行起
-        layout="row-major",
-    )
-```
-
-### layout 类型说明
-
-| layout | 命名顺序 | 适用场景 |
-|--------|---------|---------|
-| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
-| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
-| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
-
----
-
-## 6. 关键路径
-
-| 内容 | 路径 |
-|------|------|
-| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
-| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
-| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
-| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
-| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
-| 电池资源 | `unilabos/resources/battery/` |
-| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |

.cursor/skills/add-workstation/SKILL.md

@@ -1,626 +0,0 @@
----
-name: add-workstation
-description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
----
-
-# Uni-Lab-OS 工作站接入指南
-
-工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
-
----
-
-## 工作站类型
-
-| 类型                | 基类              | 适用场景                           |
-| ------------------- | ----------------- | ---------------------------------- |
-| **Protocol 工作站** | `ProtocolNode`    | 标准化学操作协议（泵转移、过滤等） |
-| **外部系统工作站**  | `WorkstationBase` | 与外部 LIMS/MES 对接               |
-| **硬件控制工作站**  | `WorkstationBase` | 直接控制 PLC/硬件                  |
-
----
-
-## @device 装饰器（工作站）
-
-工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
-
-```python
-@device(
-    id="my_workstation",           # 注册表唯一标识（必填）
-    category=["workstation"],      # 分类标签
-    description="我的工作站",
-)
-```
-
-如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
-
----
-
-## 工作站驱动模板
-
-### 模板 A：基于外部系统的工作站
-
-```python
-import logging
-from typing import Dict, Any, Optional
-from pylabrobot.resources import Deck
-
-from unilabos.registry.decorators import device, topic_config, not_action
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-
-try:
-    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
-except ImportError:
-    ROS2WorkstationNode = None
-
-
-@device(id="my_workstation", category=["workstation"], description="我的工作站")
-class MyWorkstation(WorkstationBase):
-    _ros_node: "ROS2WorkstationNode"
-
-    def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
-        super().__init__(deck=deck, **kwargs)
-        self.config = config or {}
-        self.logger = logging.getLogger("MyWorkstation")
-        self.api_host = self.config.get("api_host", "")
-        self._status = "Idle"
-
-    @not_action
-    def post_init(self, ros_node: "ROS2WorkstationNode"):
-        super().post_init(ros_node)
-        self._ros_node = ros_node
-
-    async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
-        """注册为工作站动作"""
-        return {"success": True}
-
-    async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
-        """注册为工作站动作"""
-        return {"success": True}
-
-    @property
-    @topic_config()
-    def workflow_sequence(self) -> str:
-        return "[]"
-
-    @property
-    @topic_config()
-    def material_info(self) -> str:
-        return "{}"
-```
-
-### 模板 B：Protocol 工作站
-
-直接使用 `ProtocolNode`，通常不需要自定义驱动类：
-
-```python
-from unilabos.devices.workstation.workstation_base import ProtocolNode
-```
-
-在图文件中配置 `protocol_type` 即可。
-
----
-
-## 子设备访问（sub_devices）
-
-工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
-
-```python
-# 在工站驱动类的方法中访问子设备
-sub = self._ros_node.sub_devices["pump_1"]
-
-# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
-sub.driver_instance.some_method(arg1, arg2)
-
-# .ros_node_instance — 子设备的 ROS2 节点实例
-sub.ros_node_instance._action_value_mappings  # 查看子设备支持的 action
-```
-
-**常见用法**：
-
-```python
-class MyWorkstation(WorkstationBase):
-    def my_protocol(self, **kwargs):
-        # 获取子设备驱动实例
-        pump = self._ros_node.sub_devices["pump_1"].driver_instance
-        heater = self._ros_node.sub_devices["heater_1"].driver_instance
-
-        # 直接调用子设备方法
-        pump.aspirate(volume=100)
-        heater.set_temperature(80)
-```
-
-> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
-
----
-
-## 硬件通信接口（hardware_interface）
-
-硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
-
-### 工作原理
-
-`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
-
-**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
-
-**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
-
-```
-hardware_interface = d.ros_node_instance._hardware_interface
-# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
-```
-
-1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
-   - 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
-2. 从通信设备获取真正的 `read`/`write` 方法
-3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
-
-因此：
-
-- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
-- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
-- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
-
-### HardwareInterface 参数说明
-
-```python
-from unilabos.registry.decorators import HardwareInterface
-
-HardwareInterface(
-    name="hardware_interface",   # __init__ 中接收通信实例的属性名
-    read="send_command",         # 通信设备上暴露的读方法名
-    write="send_command",        # 通信设备上暴露的写方法名
-    extra_info=["list_ports"],   # 可选：额外暴露的方法
-)
-```
-
-**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
-
-### 示例 1：泵（name="hardware_interface"）
-
-```python
-from unilabos.registry.decorators import device, HardwareInterface
-
-@device(
-    id="my_pump",
-    category=["pump_and_valve"],
-    hardware_interface=HardwareInterface(
-        name="hardware_interface",
-        read="send_command",
-        write="send_command",
-    ),
-)
-class MyPump:
-    def __init__(self, port=None, address="1", **kwargs):
-        # name="hardware_interface" → 系统替换 self.hardware_interface
-        self.hardware_interface = port  # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
-        self.address = address
-
-    def send_command(self, command: str):
-        full_command = f"/{self.address}{command}\r\n"
-        self.hardware_interface.write(bytearray(full_command, "ascii"))
-        return self.hardware_interface.read_until(b"\n")
-```
-
-### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
-
-```python
-@device(
-    id="solenoid_valve",
-    category=["pump_and_valve"],
-    hardware_interface=HardwareInterface(
-        name="io_device_port",       # 自定义属性名 → 系统替换 self.io_device_port
-        read="read_io_coil",
-        write="write_io_coil",
-    ),
-)
-class SolenoidValve:
-    def __init__(self, io_device_port: str = None, **kwargs):
-        # name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
-        self.io_device_port = io_device_port  # 初始为字符串，系统替换为 Modbus 实例
-```
-
-### Serial 通信设备（class="serial"）
-
-`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
-
-```python
-from serial import Serial, SerialException
-from threading import Lock
-
-class ROS2SerialNode(BaseROS2DeviceNode):
-    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
-        self.port = port
-        self.baudrate = baudrate
-        self._hardware_interface = {
-            "name": "hardware_interface",
-            "write": "send_command",
-            "read": "read_data",
-        }
-        self._query_lock = Lock()
-
-        self.hardware_interface = Serial(baudrate=baudrate, port=port)
-
-        BaseROS2DeviceNode.__init__(
-            self, driver_instance=self, registry_name=registry_name,
-            device_id=device_id, status_types={}, action_value_mappings={},
-            hardware_interface=self._hardware_interface, print_publish=False,
-        )
-        self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
-
-    def send_command(self, command: str):
-        with self._query_lock:
-            self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
-            return self.hardware_interface.read_until(b"\n").decode()
-
-    def read_data(self):
-        with self._query_lock:
-            return self.hardware_interface.read_until(b"\n").decode()
-```
-
-在图文件中使用 `"class": "serial"` 即可创建串口代理：
-
-```json
-{
-  "id": "serial_pump",
-  "class": "serial",
-  "parent": "my_station",
-  "config": { "port": "COM7", "baudrate": 9600 }
-}
-```
-
-### 图文件配置
-
-**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
-
-```json
-{
-  "nodes": [
-    {
-      "id": "my_station",
-      "class": "workstation",
-      "children": ["serial_pump", "pump_1", "pump_2"],
-      "config": { "protocol_type": ["PumpTransferProtocol"] }
-    },
-    {
-      "id": "serial_pump",
-      "class": "serial",
-      "parent": "my_station",
-      "config": { "port": "COM7", "baudrate": 9600 }
-    },
-    {
-      "id": "pump_1",
-      "class": "syringe_pump_with_valve.runze.SY03B-T08",
-      "parent": "my_station",
-      "config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
-    },
-    {
-      "id": "pump_2",
-      "class": "syringe_pump_with_valve.runze.SY03B-T08",
-      "parent": "my_station",
-      "config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
-    }
-  ],
-  "links": [
-    {
-      "source": "pump_1",
-      "target": "serial_pump",
-      "type": "communication",
-      "port": { "pump_1": "port", "serial_pump": "port" }
-    },
-    {
-      "source": "pump_2",
-      "target": "serial_pump",
-      "type": "communication",
-      "port": { "pump_2": "port", "serial_pump": "port" }
-    }
-  ]
-}
-```
-
-### 通信协议速查
-
-| 协议                 | config 参数                    | 依赖包     | 通信设备 class             |
-| -------------------- | ------------------------------ | ---------- | -------------------------- |
-| Serial (RS232/RS485) | `port`, `baudrate`             | `pyserial` | `serial`                   |
-| Modbus RTU           | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
-| Modbus TCP           | `host`, `port`, `slave_id`     | `pymodbus` | `device_comms/modbus_plc/` |
-| TCP Socket           | `host`, `port`                 | stdlib     | 自定义                     |
-| HTTP API             | `url`, `token`                 | `requests` | `device_comms/rpc.py`      |
-
-参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
-
----
-
-## Deck 与物料生命周期
-
-### 1. Deck 入参与两种初始化模式
-
-系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
-
-有两种初始化模式：
-
-#### init 初始化（推荐）
-
-`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
-
-```json
-"config": {
-    "deck": {
-        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
-        "_resource_child_name": "PRCXI_Deck"
-    }
-}
-```
-
-#### deserialize 初始化
-
-`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
-
-```json
-"config": {
-    "deck": {
-        "data": {
-            "_resource_child_name": "YB_Bioyond_Deck",
-            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
-        }
-    }
-}
-```
-
-没有特殊需求时推荐 init 初始化。
-
-#### config.deck 字段说明
-
-| 字段 | 说明 |
-|------|------|
-| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
-| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
-
-#### 设备 __init__ 接收
-
-```python
-def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
-    super().__init__(deck=deck, **kwargs)
-    # deck 已经是反序列化后的 Deck 实例
-    # → PRCXI9300Deck / BIOYOND_YB_Deck 等
-```
-
-#### Deck 节点（图文件中）
-
-Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
-
-```json
-{
-    "id": "PRCXI_Deck",
-    "parent": "PRCXI",
-    "type": "deck",
-    "class": "",
-    "children": [],
-    "config": {
-        "type": "PRCXI9300Deck",
-        "size_x": 542, "size_y": 374, "size_z": 0,
-        "category": "deck",
-        "sites": [...]
-    },
-    "data": {}
-}
-```
-
-- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
-- `children` 初始为空时，由同步器或手动初始化填充
-- `config.type` 填 Deck 类名
-
-### 2. Deck 为空时自行初始化
-
-如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
-
-```python
-@not_action
-def post_init(self, ros_node):
-    super().post_init(ros_node)
-    if self.deck and not self.deck.children:
-        self._initialize_default_deck()
-
-def _initialize_default_deck(self):
-    from my_labware import My_TipRack, My_Plate
-    self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
-    self.deck.assign_child_resource(My_Plate("T2"), spot=1)
-```
-
-### 3. 物料双向同步
-
-当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
-
-```python
-from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
-
-class MyResourceSynchronizer(ResourceSynchronizer):
-    def sync_from_external(self) -> bool:
-        """从外部系统同步到 self.workstation.deck"""
-        external_data = self._query_external_materials()
-        # 以外部工站为准：根据外部数据反向创建 PLR 资源实例
-        for item in external_data:
-            cls = self._resolve_resource_class(item["type"])
-            resource = cls(name=item["name"], **item["params"])
-            self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
-        return True
-
-    def sync_to_external(self, resource) -> bool:
-        """将 UniLab 侧物料变更同步到外部系统"""
-        # 以 UniLab 为准：将 PLR 资源转为外部格式并推送
-        external_format = self._convert_to_external(resource)
-        return self._push_to_external(external_format)
-
-    def handle_external_change(self, change_info) -> bool:
-        """处理外部系统主动推送的变更"""
-        return True
-```
-
-同步策略取决于业务场景：
-
-- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
-- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
-
-在工作站 `post_init` 中初始化同步器：
-
-```python
-@not_action
-def post_init(self, ros_node):
-    super().post_init(ros_node)
-    self.resource_synchronizer = MyResourceSynchronizer(self)
-    self.resource_synchronizer.sync_from_external()
-```
-
-### 4. 序列化与持久化（serialize / serialize_state）
-
-资源类需正确实现序列化，系统据此完成持久化和前端同步。
-
-**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
-
-```python
-class MyDeck(Deck):
-    def __init__(self, name, size_x, size_y, size_z,
-                 sites=None,          # serialize() 输出的字段
-                 rotation=None,       # serialize() 输出的字段
-                 barcode=None,        # serialize() 输出的字段
-                 **kwargs):           # 兜底：接受所有未知的 serialize 字段
-        super().__init__(size_x, size_y, size_z, name)
-        # ...
-
-    def serialize(self) -> dict:
-        data = super().serialize()
-        data["sites"] = [...]  # 自定义字段
-        return data
-```
-
-**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
-
-```python
-class MyPlate(Plate):
-    def __init__(self, name, size_x, size_y, size_z,
-                 material_info=None, **kwargs):
-        super().__init__(name, size_x, size_y, size_z, **kwargs)
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-
-    def serialize_state(self) -> Dict[str, Any]:
-        data = super().serialize_state()
-        data.update(self._unilabos_state)
-        return data
-```
-
-关键要点：
-
-- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
-- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
-- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
-
-### 5. 子物料自动同步
-
-子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
-
-### 6. 图文件配置（参考 prcxi_9320_slim.json）
-
-```json
-{
-  "nodes": [
-    {
-      "id": "my_station",
-      "type": "device",
-      "class": "my_workstation",
-      "config": {
-        "deck": {
-          "_resource_type": "unilabos.resources.my_module:MyDeck",
-          "_resource_child_name": "my_deck"
-        },
-        "host": "10.20.30.1",
-        "port": 9999
-      }
-    },
-    {
-      "id": "my_deck",
-      "parent": "my_station",
-      "type": "deck",
-      "class": "",
-      "children": [],
-      "config": {
-        "type": "MyLabDeck",
-        "size_x": 542,
-        "size_y": 374,
-        "size_z": 0,
-        "category": "deck",
-        "sites": [
-          {
-            "label": "T1",
-            "visible": true,
-            "occupied_by": null,
-            "position": { "x": 0, "y": 0, "z": 0 },
-            "size": { "width": 128.0, "height": 86, "depth": 0 },
-            "content_type": ["plate", "tip_rack", "tube_rack", "adaptor"]
-          }
-        ]
-      },
-      "data": {}
-    }
-  ],
-  "edges": []
-}
-```
-
-Deck 节点要点：
-
-- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
-- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
-- `children` 初始为空（由同步器或手动初始化填充）
-- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
-
----
-
-## 子设备
-
-子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
-
-子设备约束：
-
-- 图文件中 `parent` 指向工作站 ID
-- 在工作站 `children` 数组中列出
-
----
-
-## 关键规则
-
-1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
-2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
-3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
-4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
-5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
-6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
-7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
-8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
-9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
-
----
-
-## 验证
-
-```bash
-# 模块可导入
-python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
-
-# 启动测试（AST 自动扫描）
-unilab -g <graph>.json
-```
-
----
-
-## 现有工作站参考
-
-| 工作站         | 驱动类                        | 类型     |
-| -------------- | ----------------------------- | -------- |
-| Protocol 通用  | `ProtocolNode`                | Protocol |
-| Bioyond 反应站 | `BioyondReactionStation`      | 外部系统 |
-| 纽扣电池组装   | `CoinCellAssemblyWorkstation` | 硬件控制 |
-
-参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。

.cursor/skills/add-workstation/reference.md

@@ -1,371 +0,0 @@
-# 工作站高级模式参考
-
-本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
-Agent 在需要实现这些功能时按需阅读。
-
----
-
-## 1. 外部系统集成模式
-
-### 1.1 RPC 客户端
-
-与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
-
-```python
-from unilabos.device_comms.rpc import BaseRequest
-
-
-class MySystemRPC(BaseRequest):
-    """外部系统 RPC 客户端"""
-
-    def __init__(self, host: str, api_key: str):
-        super().__init__(host)
-        self.api_key = api_key
-
-    def _request(self, endpoint: str, data: dict = None) -> dict:
-        return self.post(
-            url=f"{self.host}/api/{endpoint}",
-            params={
-                "apiKey": self.api_key,
-                "requestTime": self.get_current_time_iso8601(),
-                "data": data or {},
-            },
-        )
-
-    def query_status(self) -> dict:
-        return self._request("status/query")
-
-    def create_order(self, order_data: dict) -> dict:
-        return self._request("order/create", order_data)
-```
-
-参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
-
-### 1.2 HTTP 回调服务
-
-接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
-
-```python
-from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
-
-
-class MyWorkstation(WorkstationBase):
-    def __init__(self, config=None, deck=None, **kwargs):
-        super().__init__(deck=deck, **kwargs)
-        self.config = config or {}
-        http_cfg = self.config.get("http_service_config", {})
-        self._http_service_config = {
-            "host": http_cfg.get("http_service_host", "127.0.0.1"),
-            "port": http_cfg.get("http_service_port", 8080),
-        }
-        self.http_service = None
-
-    def post_init(self, ros_node):
-        super().post_init(ros_node)
-        self.http_service = WorkstationHTTPService(
-            workstation_instance=self,
-            host=self._http_service_config["host"],
-            port=self._http_service_config["port"],
-        )
-        self.http_service.start()
-```
-
-**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
-
-| 端点 | 调用的工作站方法 |
-|------|-----------------|
-| `/report/step_finish` | `process_step_finish_report(report_request)` |
-| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
-| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
-| `/report/material_change` | `process_material_change_report(report_data)` |
-| `/report/error_handling` | `handle_external_error(error_data)` |
-
-实现对应方法即可接收回调：
-
-```python
-def process_step_finish_report(self, report_request) -> Dict[str, Any]:
-    """处理步骤完成报告"""
-    step_name = report_request.data.get("stepName")
-    return {"success": True, "message": f"步骤 {step_name} 已处理"}
-
-def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
-    """处理订单完成报告"""
-    order_code = report_request.data.get("orderCode")
-    return {"success": True}
-```
-
-参考：`unilabos/devices/workstation/workstation_http_service.py`
-
-### 1.3 连接监控
-
-独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
-
-```python
-class ConnectionMonitor:
-    def __init__(self, workstation, check_interval=30):
-        self.workstation = workstation
-        self.check_interval = check_interval
-        self._running = False
-        self._thread = None
-
-    def start(self):
-        self._running = True
-        self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
-        self._thread.start()
-
-    def _monitor_loop(self):
-        while self._running:
-            try:
-                # 调用外部系统接口检测连接
-                self.workstation.hardware_interface.ping()
-                status = "online"
-            except Exception:
-                status = "offline"
-            time.sleep(self.check_interval)
-```
-
-参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
-
----
-
-## 2. Config 结构模式
-
-工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
-
-### 2.1 外部系统连接
-
-```json
-{
-    "api_host": "http://192.168.1.100:8080",
-    "api_key": "YOUR_API_KEY"
-}
-```
-
-### 2.2 HTTP 回调服务
-
-```json
-{
-    "http_service_config": {
-        "http_service_host": "127.0.0.1",
-        "http_service_port": 8080
-    }
-}
-```
-
-### 2.3 物料类型映射
-
-将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
-
-```json
-{
-    "material_type_mappings": {
-        "PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
-        "BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
-    }
-}
-```
-
-### 2.4 仓库映射
-
-将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
-
-```json
-{
-    "warehouse_mapping": {
-        "仓库名": {
-            "uuid": "warehouse-uuid",
-            "site_uuids": {
-                "A01": "site-uuid-A01",
-                "A02": "site-uuid-A02"
-            }
-        }
-    }
-}
-```
-
-### 2.5 工作流映射
-
-将内部工作流名映射到外部系统的工作流 ID。
-
-```json
-{
-    "workflow_mappings": {
-        "internal_workflow_name": "external-workflow-uuid"
-    }
-}
-```
-
-### 2.6 物料默认参数
-
-```json
-{
-    "material_default_parameters": {
-        "NMP": {
-            "unit": "毫升",
-            "density": "1.03",
-            "densityUnit": "g/mL",
-            "description": "N-甲基吡咯烷酮"
-        }
-    }
-}
-```
-
----
-
-## 3. 资源同步机制
-
-### 3.1 ResourceSynchronizer
-
-抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
-
-```python
-from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
-
-
-class MyResourceSynchronizer(ResourceSynchronizer):
-    def __init__(self, workstation, api_client):
-        super().__init__(workstation)
-        self.api_client = api_client
-
-    def sync_from_external(self) -> bool:
-        """从外部系统拉取物料到 deck"""
-        external_materials = self.api_client.list_materials()
-        for material in external_materials:
-            plr_resource = self._convert_to_plr(material)
-            self.workstation.deck.assign_child_resource(plr_resource, coordinate)
-        return True
-
-    def sync_to_external(self, plr_resource) -> bool:
-        """将 deck 中的物料变更推送到外部系统"""
-        external_data = self._convert_from_plr(plr_resource)
-        self.api_client.update_material(external_data)
-        return True
-
-    def handle_external_change(self, change_info) -> bool:
-        """处理外部系统推送的物料变更"""
-        return True
-```
-
-### 3.2 update_resource — 上传资源树到云端
-
-将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
-
-```python
-# 在 post_init 中上传初始 deck
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-
-ROS2DeviceNode.run_async_func(
-    self._ros_node.update_resource, True,
-    **{"resources": [self.deck]}
-)
-
-# 在动作方法中更新特定资源
-ROS2DeviceNode.run_async_func(
-    self._ros_node.update_resource, True,
-    **{"resources": [updated_plate]}
-)
-```
-
----
-
-## 4. 工作流序列管理
-
-工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
-
-```python
-class MyWorkstation(WorkstationBase):
-    def __init__(self, **kwargs):
-        super().__init__(**kwargs)
-        self._workflow_sequence = []
-
-    @property
-    def workflow_sequence(self) -> str:
-        """返回 JSON 字符串，ROS 自动发布"""
-        import json
-        return json.dumps(self._workflow_sequence)
-
-    async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
-        """添加工作流到队列"""
-        self._workflow_sequence.append({
-            "name": workflow_name,
-            "status": "pending",
-            "created_at": time.time(),
-        })
-        return {"success": True}
-
-    async def clear_workflows(self) -> Dict[str, Any]:
-        """清空工作流队列"""
-        self._workflow_sequence = []
-        return {"success": True}
-```
-
----
-
-## 5. 站间物料转移
-
-工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
-
-```python
-async def transfer_materials_to_another_station(
-    self,
-    target_device_id: str,
-    transfer_groups: list,
-    **kwargs,
-) -> Dict[str, Any]:
-    """将物料转移到另一个工作站"""
-    target_node = self._children.get(target_device_id)
-    if not target_node:
-        # 通过 ROS 节点查找非子设备的目标站
-        pass
-
-    for group in transfer_groups:
-        resource = self.find_resource_by_name(group["resource_name"])
-        # 从本站 deck 移除
-        resource.unassign()
-        # 调用目标站的接收方法
-        # ...
-
-    return {"success": True, "transferred": len(transfer_groups)}
-```
-
-参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
-
----
-
-## 6. post_init 完整模式
-
-`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
-
-```python
-def post_init(self, ros_node):
-    super().post_init(ros_node)
-
-    # 1. 初始化外部系统客户端（此时 config 已可用）
-    self.rpc_client = MySystemRPC(
-        host=self.config.get("api_host"),
-        api_key=self.config.get("api_key"),
-    )
-    self.hardware_interface = self.rpc_client
-
-    # 2. 启动连接监控
-    self.connection_monitor = ConnectionMonitor(self)
-    self.connection_monitor.start()
-
-    # 3. 启动 HTTP 回调服务
-    if hasattr(self, '_http_service_config'):
-        self.http_service = WorkstationHTTPService(
-            workstation_instance=self,
-            host=self._http_service_config["host"],
-            port=self._http_service_config["port"],
-        )
-        self.http_service.start()
-
-    # 4. 上传 deck 到云端
-    ROS2DeviceNode.run_async_func(
-        self._ros_node.update_resource, True,
-        **{"resources": [self.deck]}
-    )
-
-    # 5. 初始化资源同步器（可选）
-    self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
-```

.cursor/skills/batch-insert-reagent/SKILL.md

@@ -1,233 +0,0 @@
----
-name: batch-insert-reagent
-description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
----
-
-# 批量录入试剂 Skill
-
-通过云端 API 批量录入试剂信息，支持逐条或批量操作。
-
-## 前置条件（缺一不可）
-
-使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
-
-### 1. ak / sk → AUTH
-
-询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
-
-生成 AUTH token（任选一种方式）：
-
-```bash
-# 方式一：Python 一行生成
-python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
-
-# 方式二：手动计算
-# base64(ak:sk) → Authorization: Lab <token>
-```
-
-### 2. --addr → BASE URL
-
-| `--addr` 值 | BASE |
-|-------------|------|
-| `test` | `https://uni-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
-| `local` | `http://127.0.0.1:48197` |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
-
-确认后设置：
-```bash
-BASE="<根据 addr 确定的 URL>"
-AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
-```
-
-**两项全部就绪后才可发起 API 请求。**
-
-## Session State
-
-- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
-
-## 请求约定
-
-所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
-
-> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
-
----
-
-## API Endpoints
-
-### 1. 获取实验室信息（自动获取 lab_uuid）
-
-```bash
-curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
-```
-
-返回：
-
-```json
-{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
-```
-
-记住 `data.uuid` 为 `lab_uuid`。
-
-### 2. 录入试剂
-
-```bash
-curl -s -X POST "$BASE/api/v1/lab/reagent" \
-  -H "$AUTH" -H "Content-Type: application/json" \
-  -d '{
-    "lab_uuid": "<lab_uuid>",
-    "cas": "<CAS号>",
-    "name": "<试剂名称>",
-    "molecular_formula": "<分子式>",
-    "smiles": "<SMILES>",
-    "stock_in_quantity": <入库数量>,
-    "unit": "<单位字符串>",
-    "supplier": "<供应商>",
-    "production_date": "<生产日期 ISO 8601>",
-    "expiry_date": "<过期日期 ISO 8601>"
-  }'
-```
-
-返回成功时包含试剂 UUID：
-```json
-{"code": 0, "data": {"uuid": "xxx", ...}}
-```
-
----
-
-## 试剂字段说明
-
-| 字段 | 类型 | 必填 | 说明 | 示例 |
-|------|------|------|------|------|
-| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
-| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
-| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
-| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
-| `smiles` | string | 是 | SMILES 表示 | `"O"` |
-| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
-| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
-| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
-| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
-| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
-
-### unit 单位值
-
-| 值 | 单位 |
-|------|------|
-| `"mL"` | 毫升 |
-| `"L"` | 升 |
-| `"g"` | 克 |
-| `"kg"` | 千克 |
-| `"瓶"` | 瓶 |
-
-> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
-
----
-
-## 批量录入策略
-
-### 方式一：用户提供 JSON 数组
-
-用户一次性给出多条试剂数据：
-
-```json
-[
-  {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
-  {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
-]
-```
-
-Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
-
-Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
-
-### 方式二：用户逐个描述
-
-用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
-
-1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
-2. 构建完整的请求体
-3. 向用户确认后提交
-
-### 方式三：从 CSV/表格批量导入
-
-用户提供 CSV 或表格文件路径，agent 读取并解析：
-
-```bash
-# 期望的 CSV 格式（首行为表头）
-cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
-7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
-```
-
-### 执行与汇报
-
-每次 API 调用后：
-1. 检查返回 `code`（0 = 成功）
-2. 记录成功/失败数量
-3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
-4. 如有失败，列出失败的试剂名称和错误信息
-
----
-
-## 常见试剂速查表
-
-| 名称 | CAS | 分子式 | SMILES |
-|------|-----|--------|--------|
-| 水 | 7732-18-3 | H2O | O |
-| 乙醇 | 64-17-5 | C2H6O | CCO |
-| 甲醇 | 67-56-1 | CH4O | CO |
-| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
-| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
-| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
-| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
-| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
-| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
-| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
-| 乙腈 | 75-05-8 | C2H3N | CC#N |
-| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
-| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
-| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
-| 盐酸 | 7647-01-0 | HCl | Cl |
-| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
-| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
-| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
-| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
-| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
-
-> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
-
----
-
-## 完整工作流 Checklist
-
-```
-Task Progress:
-- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
-- [ ] Step 2: 确认 --addr → 设置 BASE URL
-- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
-- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
-- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
-- [ ] Step 6: 向用户确认待录入的试剂列表
-- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
-- [ ] Step 8: 汇总结果（成功/失败数量及详情）
-```
-
----
-
-## 完整示例
-
-用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
-
-Agent 构建的请求序列：
-
-```json
-// 第 1 条
-{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
-
-// 第 2 条
-{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
-
-// 第 3 条
-{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
-```

.cursor/skills/batch-submit-experiment/SKILL.md

@@ -1,301 +0,0 @@
----
-name: batch-submit-experiment
-description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds. Use when the user wants to submit experiments, create notebooks, batch run workflows, or mentions 提交实验/批量实验/notebook/实验轮次.
----
-
-# 批量提交实验指南
-
-通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
-
-## 前置条件（缺一不可）
-
-使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
-
-### 1. ak / sk → AUTH
-
-询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
-
-生成 AUTH token（任选一种方式）：
-
-```bash
-# 方式一：Python 一行生成
-python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
-
-# 方式二：手动计算
-# base64(ak:sk) → Authorization: Lab <token>
-```
-
-### 2. --addr → BASE URL
-
-| `--addr` 值 | BASE |
-|-------------|------|
-| `test` | `https://uni-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
-| `local` | `http://127.0.0.1:48197` |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
-
-确认后设置：
-```bash
-BASE="<根据 addr 确定的 URL>"
-AUTH="Authorization: Lab <上面命令输出的 token>"
-```
-
-### 3. req_device_registry_upload.json（设备注册表）
-
-**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
-
-按优先级搜索：
-
-```
-<workspace 根目录>/unilabos_data/req_device_registry_upload.json
-<workspace 根目录>/req_device_registry_upload.json
-```
-
-也可直接 Glob 搜索：`**/req_device_registry_upload.json`
-
-找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
-
-**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
-
-### 4. workflow_uuid（目标工作流）
-
-用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #2 列出可用 workflow 供选择。
-
-**四项全部就绪后才可开始。**
-
-## Session State
-
-在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
-
-- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
-- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
-- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #3 获取）
-
-## 请求约定
-
-所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
-
-> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
->
-> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
-
----
-
-## API Endpoints
-
-### 1. 获取实验室信息（自动获取 lab_uuid）
-
-```bash
-curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
-```
-
-返回：
-
-```json
-{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
-```
-
-记住 `data.uuid` 为 `lab_uuid`。
-
-### 2. 列出可用 workflow
-
-```bash
-curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
-```
-
-返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
-
-### 3. 获取 workflow 模板详情
-
-```bash
-curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
-```
-
-返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
-- 每个 action 节点的 `node_uuid`
-- 每个节点对应的设备 ID（`resource_template_name`）
-- 每个节点的动作名（`node_template_name`）
-- 每个节点的现有参数（`param`）
-
-> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
-
-### 4. 提交实验（创建 notebook）
-
-```bash
-curl -s -X POST "$BASE/api/v1/lab/notebook" \
-  -H "$AUTH" -H "Content-Type: application/json" \
-  -d '<request_body>'
-```
-
-请求体结构：
-
-```json
-{
-    "lab_uuid": "<lab_uuid>",
-    "workflow_uuid": "<workflow_uuid>",
-    "name": "<实验名称>",
-    "node_params": [
-        {
-            "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
-            "datas": [
-                {
-                    "node_uuid": "<workflow中的节点UUID>",
-                    "param": {},
-                    "sample_params": [
-                        {
-                            "container_uuid": "<容器UUID>",
-                            "sample_value": {
-                                "liquid_names": "<液体名称>",
-                                "volumes": 1000
-                            }
-                        }
-                    ]
-                }
-            ]
-        }
-    ]
-}
-```
-
-> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
-
----
-
-## Notebook 请求体详解
-
-### node_params 结构
-
-`node_params` 是一个数组，**每个元素代表一轮实验**：
-
-- 要跑 2 轮 → `node_params` 有 2 个元素
-- 要跑 N 轮 → `node_params` 有 N 个元素
-
-### 每轮的字段
-
-| 字段 | 类型 | 说明 |
-|------|------|------|
-| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
-| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
-
-### datas 中每个节点
-
-| 字段 | 类型 | 说明 |
-|------|------|------|
-| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #3 获取） |
-| `param` | object | 动作参数（根据本地注册表 schema 填写） |
-| `sample_params` | array | 样品相关参数（液体名、体积等） |
-
-### sample_params 中每条
-
-| 字段 | 类型 | 说明 |
-|------|------|------|
-| `container_uuid` | string | 容器 UUID |
-| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
-
----
-
-## 从本地注册表生成 param 模板
-
-### 自动方式 — 运行脚本
-
-```bash
-python scripts/gen_notebook_params.py \
-  --auth <token> \
-  --base <BASE_URL> \
-  --workflow-uuid <workflow_uuid> \
-  [--registry <path/to/req_device_registry_upload.json>] \
-  [--rounds <轮次数>] \
-  [--output <输出文件路径>]
-```
-
-> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
-
-脚本会：
-1. 调用 workflow detail API 获取所有 action 节点
-2. 读取本地注册表，为每个节点查找对应的 action schema
-3. 生成 `notebook_template.json`，包含：
-   - 完整 `node_params` 骨架
-   - 每个节点的 param 字段及类型说明
-   - `_schema_info` 辅助信息（不提交，仅供参考）
-
-### 手动方式
-
-如果脚本不可用或注册表不存在：
-
-1. 调用 API #3 获取 workflow 详情
-2. 找到每个 action 节点的 `node_uuid`
-3. 在本地注册表中查找对应设备的 `action_value_mappings`：
-   ```
-   resources[].id == <device_id>
-   → resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
-   ```
-4. 将 schema 中的 properties 作为 `param` 的字段模板
-5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
-
-### 注册表结构参考
-
-```json
-{
-  "resources": [
-    {
-      "id": "liquid_handler.prcxi",
-      "class": {
-        "module": "unilabos.devices.xxx:ClassName",
-        "action_value_mappings": {
-          "transfer_liquid": {
-            "type": "LiquidHandlerTransfer",
-            "schema": {
-              "properties": {
-                "goal": {
-                  "properties": {
-                    "asp_vols": {"type": "array", "items": {"type": "number"}},
-                    "sources": {"type": "array"}
-                  },
-                  "required": ["asp_vols", "sources"]
-                }
-              }
-            },
-            "goal_default": {}
-          }
-        }
-      }
-    }
-  ]
-}
-```
-
-`param` 填写时，使用 `goal.properties` 中的字段名和类型。
-
----
-
-## 完整工作流 Checklist
-
-```
-Task Progress:
-- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
-- [ ] Step 2: 确认 --addr → 设置 BASE URL
-- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
-- [ ] Step 4: 确认 workflow_uuid（用户提供或从 GET #2 列表选择）
-- [ ] Step 5: GET workflow detail (#3) → 提取各节点 uuid、设备ID、动作名
-- [ ] Step 6: 定位本地注册表 req_device_registry_upload.json
-- [ ] Step 7: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
-- [ ] Step 8: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
-- [ ] Step 9: 构建完整请求体 → POST /lab/notebook 提交
-- [ ] Step 10: 检查返回结果，确认提交成功
-```
-
----
-
-## 常见问题
-
-### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
-
-是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
-
-### Q: 多轮实验的参数完全不同吗？
-
-通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
-
-### Q: 如何获取 sample_uuids 和 container_uuid？
-
-这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。

.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py

@@ -1,394 +0,0 @@
-#!/usr/bin/env python3
-"""
-从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
-
-用法:
-  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
-
-选项:
-  --auth <token>          Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
-  --base <url>            API 基础 URL（如 https://uni-lab.test.bohrium.com）
-  --workflow-uuid <uuid>  目标 workflow 的 UUID
-  --registry <path>       本地注册表文件路径（默认自动搜索）
-  --rounds <n>            实验轮次数（默认 1）
-  --output <path>         输出模板文件路径（默认 notebook_template.json）
-  --dump-response         打印 workflow detail API 的原始响应（调试用）
-
-示例:
-  python gen_notebook_params.py \\
-    --auth YTFmZDlkNGUtxxxx \\
-    --base https://uni-lab.test.bohrium.com \\
-    --workflow-uuid abc-123-def \\
-    --rounds 2
-"""
-import copy
-import json
-import os
-import sys
-from datetime import datetime
-from urllib.request import Request, urlopen
-from urllib.error import HTTPError, URLError
-
-REGISTRY_FILENAME = "req_device_registry_upload.json"
-
-
-def find_registry(explicit_path=None):
-    """查找本地注册表文件，逻辑同 extract_device_actions.py"""
-    if explicit_path:
-        if os.path.isfile(explicit_path):
-            return explicit_path
-        if os.path.isdir(explicit_path):
-            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
-            if os.path.isfile(fp):
-                return fp
-        print(f"警告: 指定的注册表路径不存在: {explicit_path}")
-        return None
-
-    candidates = [
-        os.path.join("unilabos_data", REGISTRY_FILENAME),
-        REGISTRY_FILENAME,
-    ]
-    for c in candidates:
-        if os.path.isfile(c):
-            return c
-
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
-    for c in candidates:
-        path = os.path.join(workspace_root, c)
-        if os.path.isfile(path):
-            return path
-
-    cwd = os.getcwd()
-    for _ in range(5):
-        parent = os.path.dirname(cwd)
-        if parent == cwd:
-            break
-        cwd = parent
-        for c in candidates:
-            path = os.path.join(cwd, c)
-            if os.path.isfile(path):
-                return path
-    return None
-
-
-def load_registry(path):
-    with open(path, "r", encoding="utf-8") as f:
-        return json.load(f)
-
-
-def build_registry_index(registry_data):
-    """构建 device_id → action_value_mappings 的索引"""
-    index = {}
-    for res in registry_data.get("resources", []):
-        rid = res.get("id", "")
-        avm = res.get("class", {}).get("action_value_mappings", {})
-        if rid and avm:
-            index[rid] = avm
-    return index
-
-
-def flatten_goal_schema(action_data):
-    """从 action_value_mappings 条目中提取 goal 层的 schema"""
-    schema = action_data.get("schema", {})
-    goal_schema = schema.get("properties", {}).get("goal", {})
-    return goal_schema if goal_schema else schema
-
-
-def build_param_template(goal_schema):
-    """根据 goal schema 生成 param 模板，含类型标注"""
-    properties = goal_schema.get("properties", {})
-    required = set(goal_schema.get("required", []))
-    template = {}
-    for field_name, field_def in properties.items():
-        if field_name == "unilabos_device_id":
-            continue
-        ftype = field_def.get("type", "any")
-        default = field_def.get("default")
-        if default is not None:
-            template[field_name] = default
-        elif ftype == "string":
-            template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
-        elif ftype == "number" or ftype == "integer":
-            template[field_name] = 0
-        elif ftype == "boolean":
-            template[field_name] = False
-        elif ftype == "array":
-            template[field_name] = []
-        elif ftype == "object":
-            template[field_name] = {}
-        else:
-            template[field_name] = f"$TODO ({ftype})"
-    return template
-
-
-def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
-    """调用 workflow detail API"""
-    url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
-    req = Request(url, method="GET")
-    req.add_header("Authorization", f"Lab {auth_token}")
-    try:
-        with urlopen(req, timeout=30) as resp:
-            return json.loads(resp.read().decode("utf-8"))
-    except HTTPError as e:
-        body = e.read().decode("utf-8", errors="replace")
-        print(f"API 错误 {e.code}: {body}")
-        return None
-    except URLError as e:
-        print(f"网络错误: {e.reason}")
-        return None
-
-
-def extract_nodes_from_response(response):
-    """
-    从 workflow detail 响应中提取 action 节点列表。
-    适配多种可能的响应格式。
-
-    返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
-    """
-    data = response.get("data", response)
-
-    search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
-    nodes_raw = None
-    for key in search_keys:
-        if key in data and isinstance(data[key], list):
-            nodes_raw = data[key]
-            break
-
-    if nodes_raw is None:
-        if isinstance(data, list):
-            nodes_raw = data
-        else:
-            for v in data.values():
-                if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
-                    nodes_raw = v
-                    break
-
-    if not nodes_raw:
-        print("警告: 未能从响应中提取节点列表")
-        print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
-        return []
-
-    result = []
-    for node in nodes_raw:
-        if not isinstance(node, dict):
-            continue
-
-        node_uuid = (
-            node.get("uuid")
-            or node.get("node_uuid")
-            or node.get("id")
-            or ""
-        )
-        resource_name = (
-            node.get("resource_template_name")
-            or node.get("device_id")
-            or node.get("resource_name")
-            or node.get("device_name")
-            or ""
-        )
-        template_name = (
-            node.get("node_template_name")
-            or node.get("action_name")
-            or node.get("template_name")
-            or node.get("action")
-            or node.get("name")
-            or ""
-        )
-        existing_param = node.get("param", {}) or {}
-
-        if node_uuid:
-            result.append((node_uuid, resource_name, template_name, existing_param))
-
-    return result
-
-
-def generate_template(nodes, registry_index, rounds):
-    """生成 notebook 提交模板"""
-    node_params = []
-    schema_info = {}
-
-    datas_template = []
-    for node_uuid, resource_name, template_name, existing_param in nodes:
-        param_template = {}
-        matched = False
-
-        if resource_name and template_name and resource_name in registry_index:
-            avm = registry_index[resource_name]
-            if template_name in avm:
-                goal_schema = flatten_goal_schema(avm[template_name])
-                param_template = build_param_template(goal_schema)
-                goal_default = avm[template_name].get("goal_default", {})
-                if goal_default:
-                    for k, v in goal_default.items():
-                        if k in param_template and v is not None:
-                            param_template[k] = v
-                matched = True
-
-                schema_info[node_uuid] = {
-                    "device_id": resource_name,
-                    "action_name": template_name,
-                    "action_type": avm[template_name].get("type", ""),
-                    "schema_properties": list(goal_schema.get("properties", {}).keys()),
-                    "required": goal_schema.get("required", []),
-                }
-
-        if not matched and existing_param:
-            param_template = existing_param
-
-        if not matched and not existing_param:
-            schema_info[node_uuid] = {
-                "device_id": resource_name,
-                "action_name": template_name,
-                "warning": "未在本地注册表中找到匹配的 action schema",
-            }
-
-        datas_template.append({
-            "node_uuid": node_uuid,
-            "param": param_template,
-            "sample_params": [
-                {
-                    "container_uuid": "$TODO_CONTAINER_UUID",
-                    "sample_value": {
-                        "liquid_names": "$TODO_LIQUID_NAME",
-                        "volumes": 0,
-                    },
-                }
-            ],
-        })
-
-    for i in range(rounds):
-        node_params.append({
-            "sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
-            "datas": copy.deepcopy(datas_template),
-        })
-
-    return {
-        "lab_uuid": "$TODO_LAB_UUID",
-        "workflow_uuid": "$TODO_WORKFLOW_UUID",
-        "name": "$TODO_EXPERIMENT_NAME",
-        "node_params": node_params,
-        "_schema_info（仅参考，提交时删除）": schema_info,
-    }
-
-
-def parse_args(argv):
-    """简单的参数解析"""
-    opts = {
-        "auth": None,
-        "base": None,
-        "workflow_uuid": None,
-        "registry": None,
-        "rounds": 1,
-        "output": "notebook_template.json",
-        "dump_response": False,
-    }
-    i = 0
-    while i < len(argv):
-        arg = argv[i]
-        if arg == "--auth" and i + 1 < len(argv):
-            opts["auth"] = argv[i + 1]
-            i += 2
-        elif arg == "--base" and i + 1 < len(argv):
-            opts["base"] = argv[i + 1].rstrip("/")
-            i += 2
-        elif arg == "--workflow-uuid" and i + 1 < len(argv):
-            opts["workflow_uuid"] = argv[i + 1]
-            i += 2
-        elif arg == "--registry" and i + 1 < len(argv):
-            opts["registry"] = argv[i + 1]
-            i += 2
-        elif arg == "--rounds" and i + 1 < len(argv):
-            opts["rounds"] = int(argv[i + 1])
-            i += 2
-        elif arg == "--output" and i + 1 < len(argv):
-            opts["output"] = argv[i + 1]
-            i += 2
-        elif arg == "--dump-response":
-            opts["dump_response"] = True
-            i += 1
-        else:
-            print(f"未知参数: {arg}")
-            i += 1
-    return opts
-
-
-def main():
-    opts = parse_args(sys.argv[1:])
-
-    if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
-        print("用法:")
-        print("  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
-        print()
-        print("必需参数:")
-        print("  --auth <token>          Lab token（base64(ak:sk)）")
-        print("  --base <url>            API 基础 URL")
-        print("  --workflow-uuid <uuid>  目标 workflow UUID")
-        print()
-        print("可选参数:")
-        print("  --registry <path>       注册表文件路径（默认自动搜索）")
-        print("  --rounds <n>            实验轮次数（默认 1）")
-        print("  --output <path>         输出文件路径（默认 notebook_template.json）")
-        print("  --dump-response         打印 API 原始响应")
-        sys.exit(1)
-
-    # 1. 查找并加载本地注册表
-    registry_path = find_registry(opts["registry"])
-    registry_index = {}
-    if registry_path:
-        mtime = os.path.getmtime(registry_path)
-        gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
-        print(f"注册表: {registry_path}  (生成时间: {gen_time})")
-        registry_data = load_registry(registry_path)
-        registry_index = build_registry_index(registry_data)
-        print(f"已索引 {len(registry_index)} 个设备的 action schemas")
-    else:
-        print("警告: 未找到本地注册表，将跳过 param 模板生成")
-        print("  提交时需要手动填写各节点的 param 字段")
-
-    # 2. 获取 workflow 详情
-    print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
-    response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
-    if not response:
-        print("错误: 无法获取 workflow 详情")
-        sys.exit(1)
-
-    if opts["dump_response"]:
-        print("\n=== API 原始响应 ===")
-        print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
-        print("=== 响应结束（截断至 5000 字符） ===\n")
-
-    # 3. 提取节点
-    nodes = extract_nodes_from_response(response)
-    if not nodes:
-        print("错误: 未能从 workflow 中提取任何 action 节点")
-        print("请使用 --dump-response 查看原始响应结构")
-        sys.exit(1)
-
-    print(f"\n找到 {len(nodes)} 个 action 节点:")
-    print(f"  {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
-    print("  " + "-" * 110)
-    for node_uuid, resource_name, template_name, _ in nodes:
-        matched = "✓" if (resource_name in registry_index and
-                          template_name in registry_index.get(resource_name, {})) else "✗"
-        print(f"  {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
-
-    # 4. 生成模板
-    template = generate_template(nodes, registry_index, opts["rounds"])
-    template["workflow_uuid"] = opts["workflow_uuid"]
-
-    output_path = opts["output"]
-    with open(output_path, "w", encoding="utf-8") as f:
-        json.dump(template, f, indent=2, ensure_ascii=False)
-    print(f"\n模板已写入: {output_path}")
-    print(f"  轮次数: {opts['rounds']}")
-    print(f"  节点数/轮: {len(nodes)}")
-    print()
-    print("下一步:")
-    print("  1. 打开模板文件，将 $TODO 占位符替换为实际值")
-    print("  2. 删除 _schema_info 字段（仅供参考）")
-    print("  3. 使用 POST /api/v1/lab/notebook 提交")
-
-
-if __name__ == "__main__":
-    main()

.cursor/skills/create-device-skill/SKILL.md

@@ -1,328 +0,0 @@
----
-name: create-device-skill
-description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
----
-
-# 创建设备 Skill 指南
-
-本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
-
-## 数据源
-
-- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
-- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
-- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
-- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
-
-## 创建流程
-
-### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
-
-开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
-
-向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
-
-#### 必备项 ①：ak / sk（认证凭据）
-
-来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
-
-获取后立即生成 AUTH token：
-
-```bash
-python ./scripts/gen_auth.py <ak> <sk>
-# 或从 config.py 提取
-python ./scripts/gen_auth.py --config <config.py>
-```
-
-认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
-
-#### 必备项 ②：--addr（目标环境）
-
-决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
-
-| `--addr` 值 | BASE URL |
-|-------------|----------|
-| `test` | `https://uni-lab.test.bohrium.com` |
-| `uat` | `https://uni-lab.uat.bohrium.com` |
-| `local` | `http://127.0.0.1:48197` |
-| 不传（默认） | `https://uni-lab.bohrium.com` |
-| 其他自定义 URL | 直接使用该 URL |
-
-#### 必备项 ③：req_device_registry_upload.json（设备注册表）
-
-数据文件由 `unilab` 启动时自动生成，需要定位它：
-
-**推断 working_dir**（即 `unilabos_data` 所在目录）：
-
-| 条件 | working_dir 取值 |
-|------|------------------|
-| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
-| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
-| 都没传 | `<当前工作目录>/unilabos_data/` |
-
-**按优先级搜索文件**：
-
-```
-<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
-<推断的 working_dir>/req_device_registry_upload.json
-<workspace 根目录>/unilabos_data/req_device_registry_upload.json
-```
-
-也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
-
-找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
-
-**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
-
-#### 必备项 ④：目标设备
-
-用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
-
-如果用户不确定，运行提取脚本列出所有设备供选择：
-
-```bash
-python ./scripts/extract_device_actions.py --registry <找到的文件路径>
-```
-
-#### 完整示例
-
-用户提供：
-
-```
---ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
---sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
---addr test
---port 8003
---disable_browser
-```
-
-从中提取：
-- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
-- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
-- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
-- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
-
-**四项全部就绪后才进入 Step 1。**
-
-### Step 1 — 列出可用设备
-
-运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
-
-```bash
-# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
-python ./scripts/extract_device_actions.py
-
-# 指定注册表文件路径
-python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
-```
-
-脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
-
-### Step 2 — 提取 Action Schema
-
-用户选择设备后，运行提取脚本：
-
-```bash
-python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
-```
-
-脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
-
-每个 action 生成一个 JSON 文件，包含：
-- `type` — 作为 API 调用的 `action_type`
-- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
-- `goal` — goal 字段映射（含占位符 `$placeholder`）
-- `goal_default` — 默认值
-
-### Step 3 — 写 action-index.md
-
-按模板为每个 action 写条目：
-
-```markdown
-### `<action_name>`
-
-<用途描述（一句话）>
-
-- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
-- **核心参数**: `param1`, `param2`（从 schema.required 获取）
-- **可选参数**: `param3`, `param4`
-- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
-```
-
-描述规则：
-- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
-- 从 `schema.required` 区分核心/可选参数
-- 按功能分类（移液、枪头、外设等）
-- 标注 `placeholder_keys` 中的字段类型：
-  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
-  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
-  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
-  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
-- array 类型字段 → `[{id, name, uuid}, ...]`
-- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
-
-### Step 4 — 写 SKILL.md
-
-直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
-- 设备名称
-- Action 数量
-- 目录列表
-- Session state 中的 `device_name`
-- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
-- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
-- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
-
-API 模板结构：
-
-```markdown
-## 设备信息
-- device_id, Python 源码路径, 设备类名
-
-## 前置条件（缺一不可）
-- ak/sk → AUTH, --addr → BASE URL
-
-## Session State
-- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
-
-## API Endpoints (10 个)
-# 注意：
-# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
-#   调用 /lab/info/{uuid} 比对 access_key == ak）
-# - #2 创建工作流用 POST /lab/workflow
-# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
-
-## Placeholder Slot 填写规则
-- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
-- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
-- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
-- unilabos_class → ClassSlot → "class_name" 字符串
-- 特例：create_resource 的 res_id 允许填不存在的路径
-- 列出本设备所有 Slot 字段、类型及含义
-
-## 渐进加载策略
-## 完整工作流 Checklist
-```
-
-### Step 5 — 验证
-
-检查文件完整性：
-- [ ] `SKILL.md` 包含 10 个 API endpoint
-- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
-- [ ] `action-index.md` 列出所有 action 并有描述
-- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
-- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
-- [ ] 描述能让 agent 判断该用哪个 action
-
-## Action JSON 文件结构
-
-```json
-{
-  "type": "LiquidHandlerTransfer",    // → API 的 action_type
-  "goal": {                           // goal 字段映射
-    "sources": "sources",
-    "targets": "targets",
-    "tip_racks": "tip_racks",
-    "asp_vols": "asp_vols"
-  },
-  "schema": {                         // ← 直接是 goal 的 schema（已提升）
-    "type": "object",
-    "properties": {                   // 参数定义（即请求中 goal 的字段）
-      "sources": { "type": "array", "items": { "type": "object" } },
-      "targets": { "type": "array", "items": { "type": "object" } },
-      "asp_vols": { "type": "array", "items": { "type": "number" } }
-    },
-    "required": [...],
-    "_unilabos_placeholder_info": {   // ← Slot 类型标记
-      "sources": "unilabos_resources",
-      "targets": "unilabos_resources",
-      "tip_racks": "unilabos_resources"
-    }
-  },
-  "goal_default": { ... },            // 默认值
-  "placeholder_keys": {               // ← 汇总所有 Slot 字段
-    "sources": "unilabos_resources",  //    ResourceSlot
-    "targets": "unilabos_resources",
-    "tip_racks": "unilabos_resources",
-    "target_device_id": "unilabos_devices"  // DeviceSlot
-  }
-}
-```
-
-> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
-> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
-
-## Placeholder Slot 类型体系
-
-`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
-
-| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
-|---------------|-----------|---------|---------|
-| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
-| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
-| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
-| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
-
-### ResourceSlot（`unilabos_resources`）
-
-最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
-
-```json
-{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
-```
-
-- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
-- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
-- `id` 本身是从 parent 计算的路径格式
-- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
-
-> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
-
-### DeviceSlot（`unilabos_devices`）
-
-填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
-
-```
-"/host_node"
-"/bioyond_cell/reaction_station"
-```
-
-- 只填路径字符串，不需要 `{id, uuid}` 对象
-- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
-
-### NodeSlot（`unilabos_nodes`）
-
-范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
-
-```
-"/PRCXI/PRCXI_Deck"
-```
-
-- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
-
-### ClassSlot（`unilabos_class`）
-
-填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
-
-```
-"container"
-```
-
-### 通过 API #10 获取资源树
-
-```bash
-curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
-```
-
-注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
-
-## 最终目录结构
-
-```
-./<skill-name>/
-├── SKILL.md              # API 端点 + 渐进加载指引
-├── action-index.md       # 动作索引：描述/用途/核心参数
-└── actions/              # 每个 action 的完整 JSON Schema
-    ├── action1.json
-    ├── action2.json
-    └── ...
-```

.cursor/skills/create-device-skill/scripts/extract_device_actions.py

@@ -1,200 +0,0 @@
-#!/usr/bin/env python3
-"""
-从 req_device_registry_upload.json 中提取指定设备的 action schema。
-
-用法:
-  # 列出所有设备及 action 数量（自动搜索注册表文件）
-  python extract_device_actions.py
-
-  # 指定注册表文件路径
-  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
-
-  # 提取指定设备的 action 到目录
-  python extract_device_actions.py <device_id> <output_dir>
-  python extract_device_actions.py --registry <path> <device_id> <output_dir>
-
-示例:
-  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
-  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
-"""
-import json
-import os
-import sys
-from datetime import datetime
-
-REGISTRY_FILENAME = "req_device_registry_upload.json"
-
-def find_registry(explicit_path=None):
-    """
-    查找 req_device_registry_upload.json 文件。
-
-    搜索优先级：
-    1. 用户通过 --registry 显式指定的路径
-    2. <cwd>/unilabos_data/req_device_registry_upload.json
-    3. <cwd>/req_device_registry_upload.json
-    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
-    5. 向上逐级搜索父目录（最多 5 层）
-    """
-    if explicit_path:
-        if os.path.isfile(explicit_path):
-            return explicit_path
-        if os.path.isdir(explicit_path):
-            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
-            if os.path.isfile(fp):
-                return fp
-        print(f"警告: 指定的路径不存在: {explicit_path}")
-        return None
-
-    candidates = [
-        os.path.join("unilabos_data", REGISTRY_FILENAME),
-        REGISTRY_FILENAME,
-    ]
-
-    for c in candidates:
-        if os.path.isfile(c):
-            return c
-
-    script_dir = os.path.dirname(os.path.abspath(__file__))
-    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
-    for c in candidates:
-        path = os.path.join(workspace_root, c)
-        if os.path.isfile(path):
-            return path
-
-    cwd = os.getcwd()
-    for _ in range(5):
-        parent = os.path.dirname(cwd)
-        if parent == cwd:
-            break
-        cwd = parent
-        for c in candidates:
-            path = os.path.join(cwd, c)
-            if os.path.isfile(path):
-                return path
-
-    return None
-
-def load_registry(path):
-    with open(path, 'r', encoding='utf-8') as f:
-        return json.load(f)
-
-def list_devices(data):
-    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
-    resources = data.get('resources', [])
-    devices = []
-    for res in resources:
-        rid = res.get('id', '')
-        cls = res.get('class', {})
-        avm = cls.get('action_value_mappings', {})
-        module = cls.get('module', '')
-        if avm:
-            devices.append((rid, len(avm), module))
-    return devices
-
-def flatten_schema_to_goal(action_data):
-    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
-    schema = action_data.get('schema', {})
-    goal_schema = schema.get('properties', {}).get('goal', {})
-    if goal_schema:
-        action_data = dict(action_data)
-        action_data['schema'] = goal_schema
-    return action_data
-
-
-def extract_actions(data, device_id, output_dir):
-    """提取指定设备的 action schema 到独立 JSON 文件"""
-    resources = data.get('resources', [])
-    for res in resources:
-        if res.get('id') == device_id:
-            cls = res.get('class', {})
-            module = cls.get('module', '')
-            avm = cls.get('action_value_mappings', {})
-            if not avm:
-                print(f"设备 {device_id} 没有 action_value_mappings")
-                return []
-
-            if module:
-                py_path = module.split(":")[0].replace(".", "/") + ".py"
-                class_name = module.split(":")[-1] if ":" in module else ""
-                print(f"Python 源码: {py_path}")
-                if class_name:
-                    print(f"设备类: {class_name}")
-
-            os.makedirs(output_dir, exist_ok=True)
-            written = []
-            for action_name in sorted(avm.keys()):
-                action_data = flatten_schema_to_goal(avm[action_name])
-                filename = action_name.replace('-', '_') + '.json'
-                filepath = os.path.join(output_dir, filename)
-                with open(filepath, 'w', encoding='utf-8') as f:
-                    json.dump(action_data, f, indent=2, ensure_ascii=False)
-                written.append(filename)
-                print(f"  {filepath}")
-            return written
-
-    print(f"设备 {device_id} 未找到")
-    return []
-
-def main():
-    args = sys.argv[1:]
-    explicit_registry = None
-
-    if "--registry" in args:
-        idx = args.index("--registry")
-        if idx + 1 < len(args):
-            explicit_registry = args[idx + 1]
-            args = args[:idx] + args[idx + 2:]
-        else:
-            print("错误: --registry 需要指定路径")
-            sys.exit(1)
-
-    registry_path = find_registry(explicit_registry)
-    if not registry_path:
-        print(f"错误: 找不到 {REGISTRY_FILENAME}")
-        print()
-        print("解决方法:")
-        print("  1. 先运行 unilab 启动命令，等待注册表生成")
-        print("  2. 用 --registry 指定文件路径:")
-        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
-        print()
-        print("搜索过的路径:")
-        for p in [
-            os.path.join("unilabos_data", REGISTRY_FILENAME),
-            REGISTRY_FILENAME,
-            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
-        ]:
-            print(f"  - {p}")
-        sys.exit(1)
-
-    print(f"注册表: {registry_path}")
-    mtime = os.path.getmtime(registry_path)
-    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
-    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
-    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
-    data = load_registry(registry_path)
-
-    if len(args) == 0:
-        devices = list_devices(data)
-        print(f"\n找到 {len(devices)} 个设备:")
-        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
-        print("-" * 120)
-        for did, count, module in sorted(devices, key=lambda x: x[0]):
-            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
-            print(f"{did:<50} {count:>7}  {py_path}")
-
-    elif len(args) == 2:
-        device_id = args[0]
-        output_dir = args[1]
-        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
-        written = extract_actions(data, device_id, output_dir)
-        if written:
-            print(f"\n共写入 {len(written)} 个 action 文件")
-
-    else:
-        print("用法:")
-        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
-        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
-        sys.exit(1)
-
-if __name__ == '__main__':
-    main()

.cursor/skills/create-device-skill/scripts/gen_auth.py

@@ -1,69 +0,0 @@
-#!/usr/bin/env python3
-"""
-从 ak/sk 生成 UniLab API Authorization header。
-
-算法: base64(ak:sk) → "Authorization: Lab <token>"
-
-用法:
-  python gen_auth.py <ak> <sk>
-  python gen_auth.py --config <config.py>
-
-示例:
-  python gen_auth.py myak mysk
-  python gen_auth.py --config experiments/config.py
-"""
-import base64
-import re
-import sys
-
-
-def gen_auth(ak: str, sk: str) -> str:
-    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
-    return token
-
-
-def extract_from_config(config_path: str) -> tuple:
-    """从 config.py 中提取 ak 和 sk"""
-    with open(config_path, "r", encoding="utf-8") as f:
-        content = f.read()
-    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
-    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
-    if not ak_match or not sk_match:
-        return None, None
-    return ak_match.group(1), sk_match.group(1)
-
-
-def main():
-    args = sys.argv[1:]
-
-    if len(args) == 2 and args[0] == "--config":
-        ak, sk = extract_from_config(args[1])
-        if not ak or not sk:
-            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
-            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
-            sys.exit(1)
-        print(f"配置文件: {args[1]}")
-    elif len(args) == 2:
-        ak, sk = args
-    else:
-        print("用法:")
-        print("  python gen_auth.py <ak> <sk>")
-        print("  python gen_auth.py --config <config.py>")
-        sys.exit(1)
-
-    token = gen_auth(ak, sk)
-    print(f"ak: {ak}")
-    print(f"sk: {sk}")
-    print()
-    print(f"Authorization header:")
-    print(f"  Authorization: Lab {token}")
-    print()
-    print(f"curl 用法:")
-    print(f'  curl -H "Authorization: Lab {token}" ...')
-    print()
-    print(f"Shell 变量:")
-    print(f'  AUTH="Authorization: Lab {token}"')
-
-
-if __name__ == "__main__":
-    main()

.cursorignore

@@ -0,0 +1,26 @@
+.conda
+# .github
+.idea
+# .vscode
+output
+pylabrobot_repo
+recipes
+scripts
+service
+temp
+# unilabos/test
+# unilabos/app/web
+unilabos/device_mesh
+unilabos_data
+unilabos_msgs
+unilabos.egg-info
+CONTRIBUTORS
+# LICENSE
+MANIFEST.in
+pyrightconfig.json
+# README.md
+# README_zh.md
+setup.py
+setup.cfg
+.gitattrubutes
+**/__pycache__

.github/dependabot.yml

@@ -1,19 +0,0 @@
-version: 2
-updates:
-# GitHub Actions
-- package-ecosystem: "github-actions"
-  directory: "/"
-  target-branch: "dev"
-  schedule:
-    interval: "weekly"
-    day: "monday"
-    time: "06:00"
-  open-pull-requests-limit: 5
-  reviewers:
-  - "msgcenterpy-team"
-  labels:
-  - "dependencies"
-  - "github-actions"
-  commit-message:
-    prefix: "ci"
-    include: "scope"

.github/workflows/ci-check.yml

@@ -49,7 +49,7 @@ jobs:
           uv pip uninstall enum34 || echo enum34 not installed, skipping
           uv pip install .
 
-      - name: Run check mode (AST registry validation)
+      - name: Run check mode (complete_registry)
         run: |
           call conda activate check-env
           echo Running check mode...

.gitignore

@@ -4,8 +4,6 @@ temp/
 output/
 unilabos_data/
 pyrightconfig.json
-.cursorignore
-device_package*/
 ## Python
 
 # Byte-compiled / optimized / DLL files

AGENTS.md

@@ -1,87 +0,0 @@
-# AGENTS.md
-
-This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
-
-Also follow the monorepo-level rules in `../AGENTS.md`.
-
-## Build & Development
-
-```bash
-# Install in editable mode (requires mamba env with python 3.11)
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Run with a device graph
-unilab --graph <graph.json> --config <config.py> --backend ros
-unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
-
-# Common CLI flags
-unilab --app_bridges websocket fastapi    # communication bridges
-unilab --test_mode                        # simulate hardware, no real execution
-unilab --check_mode                       # CI validation of registry imports
-unilab --skip_env_check                   # skip auto-install of dependencies
-unilab --visual rviz|web|disable          # visualization mode
-unilab --is_slave                         # run as slave node
-
-# Workflow upload subcommand
-unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
-
-# Tests
-pytest tests/                              # all tests
-pytest tests/resources/test_resourcetreeset.py  # single test file
-pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
-```
-
-## Architecture
-
-### Startup Flow
-
-`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
-
-### Core Layers
-
-**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
-
-**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
-
-**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
-
-**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
-
-**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
-
-**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
-
-**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
-
-### Configuration System
-
-- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
-- Config files are `.py` files with matching class names (see `config/example_config.py`)
-- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
-- Device topology defined in graph files (JSON with node-link format, or GraphML)
-
-### Key Data Flow
-
-1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
-2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
-3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
-4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
-
-### Test Data
-
-Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
-
-## Code Conventions
-
-- Code comments and log messages in simplified Chinese
-- Python 3.11+, type hints expected
-- Pydantic models for data validation (`resource_tracker.py`)
-- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
-- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
-- CLI argument dashes auto-converted to underscores for consistency
-
-## Licensing
-
-- Framework code: GPL-3.0
-- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute

CLAUDE.md

@@ -1,4 +0,0 @@
-
-Please follow the rules defined in:
-
-@AGENTS.md

docs/developer_guide/add_device.md

@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
 **示例：**
 
 ```python
-from unilabos.registry.decorators import device, topic_config
-
-@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
 class MockGripper:
     def __init__(self):
         self._position: float = 0.0
@@ -26,23 +23,19 @@ class MockGripper:
         self._status = "Idle"
 
     @property
-    @topic_config()  # 添加 @topic_config 才会定时广播
     def position(self) -> float:
         return self._position
 
     @property
-    @topic_config()
     def velocity(self) -> float:
         return self._velocity
 
     @property
-    @topic_config()
     def torque(self) -> float:
         return self._torque
 
-    # 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
+    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
     @property
-    @topic_config(period=2.0)  # 可自定义发布周期
     def status(self) -> str:
         return self._status
 
@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符
 
 系统会自动分析您的 Python 驱动类并生成：
 
-- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
+- `status_types`：从 `@property` 装饰的方法自动识别状态属性
 - `action_value_mappings`：从类方法自动生成动作映射
 - `init_param_schema`：从 `__init__` 方法分析初始化参数
 - `schema`：前端显示用的属性类型定义
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
 
 ```python
 from typing import Dict, Any
-from unilabos.registry.decorators import device, topic_config
 
-@device(id="my_device", category=["general"], description="My Device")
 class MyDevice:
     """设备类文档字符串
 
@@ -207,9 +198,8 @@ class MyDevice:
         # 初始化硬件连接
 
     @property
-    @topic_config()  # 必须添加 @topic_config 才会广播
     def status(self) -> str:
-        """设备状态（通过 @topic_config 广播）"""
+        """设备状态（会自动广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -227,61 +217,34 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property + @topic_config）
+### 状态属性（@property）
 
-状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
+状态属性会被自动识别并定期广播：
 
 ```python
-from unilabos.registry.decorators import topic_config
-
 @property
-@topic_config()  # 必须添加，否则不会广播
 def temperature(self) -> float:
     """当前温度"""
     return self._read_temperature()
 
 @property
-@topic_config(period=2.0)  # 可自定义发布周期（秒）
 def status(self) -> str:
     """设备状态: idle, running, error"""
     return self._status
 
 @property
-@topic_config(name="ready")  # 可自定义发布名称
 def is_ready(self) -> bool:
     """设备是否就绪"""
     return self._status == "idle"
 ```
 
-也可以使用普通方法（非 @property）配合 `@topic_config`：
-
-```python
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    """获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
-    return {"temp": self._temp, "humidity": self._humidity}
-```
-
-**`@topic_config` 参数**:
-
-| 参数 | 类型 | 默认值 | 说明 |
-|------|------|--------|------|
-| `period` | float | 5.0 | 发布周期（秒） |
-| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
-| `qos` | int | 10 | QoS 深度 |
-| `name` | str | None | 自定义发布名称 |
-
-**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
-
 **特点**:
 
-- 必须使用 `@topic_config` 装饰器
-- 支持 `@property` 和普通方法
-- 添加到注册表的 `status_types`
+- 使用`@property`装饰器
+- 只读，不能有参数
+- 自动添加到注册表的`status_types`
 - 定期发布到 ROS2 topic
 
-> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
-
 ### 动作方法
 
 动作方法是设备可以执行的操作：
@@ -534,7 +497,6 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
-    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -924,52 +886,7 @@ class MyDevice:
 
 ## 最佳实践
 
-### 1. 使用 `@device` 装饰器标识设备类
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
-class MyDevice:
-    ...
-```
-
-- `id`：设备唯一标识符，用于注册表匹配
-- `category`：分类列表，前端用于分组显示
-- `description`：设备描述
-- `icon`：图标文件名（可选）
-
-### 2. 使用 `@topic_config` 声明需要广播的状态
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ @property + @topic_config → 会广播
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
-@topic_config(period=10.0)
-def get_sensor_data(self) -> Dict[str, float]:
-    return {"temp": self._temp}
-
-# ✓ 使用 name 参数自定义发布名称
-@property
-@topic_config(name="ready")
-def is_ready(self) -> bool:
-    return self._status == "idle"
-
-# ✗ 仅有 @property，没有 @topic_config → 不会广播
-@property
-def internal_state(self) -> str:
-    return self._state
-```
-
-> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
-
-### 3. 类型注解
+### 1. 类型注解
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -984,7 +901,7 @@ def method(
     pass
 ```
 
-### 4. 文档字符串
+### 2. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 5. 配置验证
+### 3. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 6. 资源清理
+### 4. 资源清理
 
 ```python
 def __del__(self):
@@ -1029,7 +946,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 7. 设计前端友好的返回值
+### 5. 设计前端友好的返回值
 
 **记住：返回值会直接显示在 Web 界面**
 

docs/developer_guide/add_registry.md

@@ -422,20 +422,18 @@ placeholder_keys:
 
 ### status_types
 
-系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
+系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
 
 ```yaml
 status_types:
-  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
-  is_heating: bool
-  status: str
+  current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
+  is_heating: bool # 从 get_is_heating() 或 @property is_heating
+  status: str # 从 get_status() 或 @property status
 ```
 
 **注意事项**：
 
-- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
-- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
-- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
+- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
 
@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
         self._temperature = 25.0
 
     @property
-    @topic_config()
     def status(self) -> str:
         """设备状态"""
         return self._status
 
     @property
-    @topic_config()
     def temperature(self) -> float:
         """当前温度"""
         return self._temperature
@@ -813,23 +809,21 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.registry.decorators import device, topic_config
+from unilabos.common.device_base import DeviceBase
 
-@device(id="my_device", category=["temperature"], description="My Device")
-class MyDevice:
+class MyDevice(DeviceBase):
     def __init__(self, config):
         """初始化，参数会自动分析到 init_param_schema.config"""
+        super().__init__(config)
         self.port = config.get('port', '/dev/ttyUSB0')
 
-    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
+    # 状态方法（会自动生成到 status_types）
     @property
-    @topic_config()
     def status(self):
         """返回设备状态"""
         return "idle"
 
     @property
-    @topic_config()
     def temperature(self):
         """返回当前温度"""
         return 25.0
@@ -1045,34 +1039,7 @@ resource.type      # "resource"
 
 ### 代码规范
 
-1. **使用 `@device` 装饰器标识设备类**
-
-```python
-from unilabos.registry.decorators import device
-
-@device(id="my_device", category=["heating"], description="My Device")
-class MyDevice:
-    ...
-```
-
-2. **使用 `@topic_config` 声明广播属性**
-
-```python
-from unilabos.registry.decorators import topic_config
-
-# ✓ 需要广播的状态属性
-@property
-@topic_config(period=2.0)
-def temperature(self) -> float:
-    return self._temp
-
-# ✗ 仅有 @property 不会广播
-@property
-def internal_counter(self) -> int:
-    return self._counter
-```
-
-3. **始终使用类型注解**
+1. **始终使用类型注解**
 
 ```python
 # ✓ 好
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
     pass
 ```
 
-4. **提供有意义的参数名**
+2. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-5. **使用 Optional 表示可选参数**
+3. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1109,7 +1076,7 @@ def method(
     pass
 ```
 
-6. **添加详细的文档字符串**
+4. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1129,13 +1096,13 @@ def method(
     pass
 ```
 
-7. **方法命名规范**
+5. **方法命名规范**
 
-   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
+   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-8. **完善的错误处理**
+6. **完善的错误处理**
    - 实现完善的错误处理
    - 添加日志记录
    - 提供有意义的错误信息

docs/developer_guide/networking_overview.md

@@ -221,10 +221,10 @@ Laboratory A    Laboratory B
 
 ```bash
 # 实验室A
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry
+unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
 ```
 
 ---

docs/user_guide/best_practice.md

@@ -452,9 +452,8 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **操作步骤：**
 
 1. 将两个 `container` 拖拽到 `workstation` 中
-2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
-3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-4. 在画布上连接它们（建立父子关系）
+2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+3. 在画布上连接它们（建立父子关系）
 
 ![设备连接](image/links.png)
 

docs/user_guide/launch.md

@@ -22,6 +22,7 @@ options:
   --is_slave            Run the backend as slave node (without host privileges).
   --slave_no_host       Skip waiting for host service in slave mode
   --upload_registry     Upload registry information when starting unilab
+  --use_remote_resource Use remote resources when starting unilab
   --config CONFIG       Configuration file path, supports .py format Python config files
   --port PORT           Port for web service information page
   --disable_browser     Disable opening information page on startup
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
 支持两种方式：
 
 - **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
-- **远程资源**：不指定本地文件即可
+- **远程资源**：使用 `--use_remote_resource` 从云端获取
 
 ### 7. 注册表构建
 
@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
 unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
 # 使用远程资源启动
-unilab --ak your_ak --sk your_sk
+unilab --ak your_ak --sk your_sk --use_remote_resource
 
 # 更新注册表
 unilab --ak your_ak --sk your_sk --complete_registry

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.19
+  version: 0.10.17
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.19"
+  version: "0.10.17"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.19',
+    version='0.10.17',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/compile/test_batch_transfer_protocol.py

@@ -1,296 +0,0 @@
-"""
-批量转运编译器测试
-
-覆盖：单物料退化、刚好一批、多批次、空操作、AGV 配置发现、children dict 状态。
-"""
-
-import pytest
-import networkx as nx
-
-from unilabos.compile.batch_transfer_protocol import generate_batch_transfer_protocol
-from unilabos.compile.agv_transfer_protocol import generate_agv_transfer_protocol
-from unilabos.compile._agv_utils import find_agv_config, get_agv_capacity, split_batches
-
-
-# ============ 构建测试用设备图 ============
-
-def _make_graph(capacity_x=2, capacity_y=1, capacity_z=1):
-    """构建包含 AGV 节点的测试设备图"""
-    G = nx.DiGraph()
-
-    # AGV 节点
-    G.add_node("AGV", **{
-        "type": "device",
-        "class_": "agv_transport_station",
-        "config": {
-            "protocol_type": ["AGVTransferProtocol", "BatchTransferProtocol"],
-            "device_roles": {
-                "navigator": "zhixing_agv",
-                "arm": "zhixing_ur_arm"
-            },
-            "route_table": {
-                "StationA->StationB": {
-                    "nav_command": '{"target": "LM1"}',
-                    "arm_pick": '{"task_name": "pick.urp"}',
-                    "arm_place": '{"task_name": "place.urp"}'
-                },
-                "AGV->StationA": {
-                    "nav_command": '{"target": "LM1"}',
-                    "arm_pick": '{"task_name": "pick.urp"}',
-                    "arm_place": '{"task_name": "place.urp"}'
-                },
-                "StationA->StationA": {
-                    "nav_command": '{"target": "LM1"}',
-                    "arm_pick": '{"task_name": "pick.urp"}',
-                    "arm_place": '{"task_name": "place.urp"}'
-                },
-            }
-        }
-    })
-
-    # AGV 子设备
-    G.add_node("zhixing_agv", type="device", class_="zhixing_agv")
-    G.add_node("zhixing_ur_arm", type="device", class_="zhixing_ur_arm")
-    G.add_edge("AGV", "zhixing_agv")
-    G.add_edge("AGV", "zhixing_ur_arm")
-
-    # AGV Warehouse 子资源
-    G.add_node("agv_platform", **{
-        "type": "warehouse",
-        "config": {
-            "name": "agv_platform",
-            "num_items_x": capacity_x,
-            "num_items_y": capacity_y,
-            "num_items_z": capacity_z,
-        }
-    })
-    G.add_edge("AGV", "agv_platform")
-
-    # 来源/目标工站
-    G.add_node("StationA", type="device", class_="workstation")
-    G.add_node("StationB", type="device", class_="workstation")
-
-    return G
-
-
-def _make_repos(items_count=2):
-    """构建测试用的 from_repo 和 to_repo dict"""
-    children = {}
-    for i in range(items_count):
-        pos = f"A{i + 1:02d}"
-        children[pos] = {
-            "id": f"resource_{i + 1}",
-            "name": f"R{i + 1}",
-            "parent": "StationA",
-            "type": "resource",
-        }
-
-    from_repo = {
-        "StationA": {
-            "id": "StationA",
-            "name": "StationA",
-            "children": children,
-        }
-    }
-    to_repo = {
-        "StationB": {
-            "id": "StationB",
-            "name": "StationB",
-            "children": {},
-        }
-    }
-    return from_repo, to_repo
-
-
-def _make_items(count=2):
-    """构建 transfer_resources / from_positions / to_positions"""
-    resources = [
-        {
-            "id": f"resource_{i + 1}",
-            "name": f"R{i + 1}",
-            "sample_id": f"uuid-{i + 1}",
-            "parent": "StationA",
-            "type": "resource",
-        }
-        for i in range(count)
-    ]
-    from_positions = [f"A{i + 1:02d}" for i in range(count)]
-    to_positions = [f"A{i + 1:02d}" for i in range(count)]
-    return resources, from_positions, to_positions
-
-
-# ============ _agv_utils 测试 ============
-
-class TestAGVUtils:
-    def test_find_agv_config(self):
-        G = _make_graph()
-        cfg = find_agv_config(G)
-        assert cfg["agv_id"] == "AGV"
-        assert cfg["device_roles"]["navigator"] == "zhixing_agv"
-        assert cfg["device_roles"]["arm"] == "zhixing_ur_arm"
-        assert "StationA->StationB" in cfg["route_table"]
-
-    def test_find_agv_config_by_id(self):
-        G = _make_graph()
-        cfg = find_agv_config(G, agv_id="AGV")
-        assert cfg["agv_id"] == "AGV"
-
-    def test_find_agv_config_not_found(self):
-        G = nx.DiGraph()
-        G.add_node("SomeDevice", type="device", class_="pump")
-        with pytest.raises(ValueError, match="未找到 AGV"):
-            find_agv_config(G)
-
-    def test_get_agv_capacity(self):
-        G = _make_graph(capacity_x=2, capacity_y=1, capacity_z=1)
-        assert get_agv_capacity(G, "AGV") == 2
-
-    def test_get_agv_capacity_multi_layer(self):
-        G = _make_graph(capacity_x=1, capacity_y=2, capacity_z=3)
-        assert get_agv_capacity(G, "AGV") == 6
-
-    def test_split_batches_exact(self):
-        assert split_batches([1, 2], 2) == [[1, 2]]
-
-    def test_split_batches_overflow(self):
-        assert split_batches([1, 2, 3], 2) == [[1, 2], [3]]
-
-    def test_split_batches_single(self):
-        assert split_batches([1], 4) == [[1]]
-
-    def test_split_batches_zero_capacity(self):
-        with pytest.raises(ValueError):
-            split_batches([1], 0)
-
-
-# ============ 批量转运编译器测试 ============
-
-class TestBatchTransferProtocol:
-    def test_empty_items(self):
-        """空物料列表返回空 steps"""
-        G = _make_graph()
-        from_repo, to_repo = _make_repos(0)
-        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, [], [], [])
-        assert steps == []
-
-    def test_single_item(self):
-        """单物料转运（BatchTransfer 退化为单物料）"""
-        G = _make_graph(capacity_x=2)
-        from_repo, to_repo = _make_repos(1)
-        resources, from_pos, to_pos = _make_items(1)
-        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
-
-        # 应该有: nav到来源 + 1个pick + nav到目标 + 1个place = 4 steps
-        assert len(steps) == 4
-        assert steps[0]["action_name"] == "send_nav_task"
-        assert steps[1]["action_name"] == "move_pos_task"
-        assert steps[1]["_transfer_meta"]["phase"] == "pick"
-        assert steps[2]["action_name"] == "send_nav_task"
-        assert steps[3]["action_name"] == "move_pos_task"
-        assert steps[3]["_transfer_meta"]["phase"] == "place"
-
-    def test_exact_capacity(self):
-        """物料数 = AGV 容量，刚好一批"""
-        G = _make_graph(capacity_x=2)
-        from_repo, to_repo = _make_repos(2)
-        resources, from_pos, to_pos = _make_items(2)
-        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
-
-        # nav + 2 pick + nav + 2 place = 6 steps
-        assert len(steps) == 6
-        pick_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "pick"]
-        place_steps = [s for s in steps if s.get("_transfer_meta", {}).get("phase") == "place"]
-        assert len(pick_steps) == 2
-        assert len(place_steps) == 2
-
-    def test_multi_batch(self):
-        """物料数 > AGV 容量，自动分批"""
-        G = _make_graph(capacity_x=2)
-        from_repo, to_repo = _make_repos(3)
-        resources, from_pos, to_pos = _make_items(3)
-        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
-
-        # 批次1: nav + 2 pick + nav + 2 place + nav(返回) = 7
-        # 批次2: nav + 1 pick + nav + 1 place = 4
-        # 总计 11 steps
-        assert len(steps) == 11
-
-        nav_steps = [s for s in steps if s["action_name"] == "send_nav_task"]
-        # 批次1: 2 nav(去来源+去目标) + 1 nav(返回) + 批次2: 2 nav = 5 nav
-        assert len(nav_steps) == 5
-
-    def test_children_dict_updated(self):
-        """compile 阶段三方 children dict 状态正确"""
-        G = _make_graph(capacity_x=2)
-        from_repo, to_repo = _make_repos(2)
-        resources, from_pos, to_pos = _make_items(2)
-
-        assert "A01" in from_repo["StationA"]["children"]
-        assert "A02" in from_repo["StationA"]["children"]
-        assert len(to_repo["StationB"]["children"]) == 0
-
-        generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
-
-        # compile 后 from_repo 的 children 应该被 pop 掉
-        assert "A01" not in from_repo["StationA"]["children"]
-        assert "A02" not in from_repo["StationA"]["children"]
-        # to_repo 应该有新物料
-        assert "A01" in to_repo["StationB"]["children"]
-        assert "A02" in to_repo["StationB"]["children"]
-        assert to_repo["StationB"]["children"]["A01"]["id"] == "resource_1"
-
-    def test_device_ids_from_config(self):
-        """设备 ID 全部从配置读取，不硬编码"""
-        G = _make_graph()
-        from_repo, to_repo = _make_repos(1)
-        resources, from_pos, to_pos = _make_items(1)
-        steps = generate_batch_transfer_protocol(G, from_repo, to_repo, resources, from_pos, to_pos)
-
-        device_ids = {s["device_id"] for s in steps}
-        assert "zhixing_agv" in device_ids
-        assert "zhixing_ur_arm" in device_ids
-
-    def test_route_not_found(self):
-        """路由表中无对应路线时报错"""
-        G = _make_graph()
-        from_repo = {"Unknown": {"id": "Unknown", "children": {"A01": {"id": "R1", "parent": "Unknown"}}}}
-        to_repo = {"Other": {"id": "Other", "children": {}}}
-        resources = [{"id": "R1", "name": "R1"}]
-        with pytest.raises(KeyError, match="路由表"):
-            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01"], ["B01"])
-
-    def test_length_mismatch(self):
-        """三个数组长度不一致时报错"""
-        G = _make_graph()
-        from_repo, to_repo = _make_repos(2)
-        resources = [{"id": "R1"}]
-        with pytest.raises(ValueError, match="长度不一致"):
-            generate_batch_transfer_protocol(G, from_repo, to_repo, resources, ["A01", "A02"], ["B01"])
-
-
-# ============ 改造后的 AGV 单物料编译器测试 ============
-
-class TestAGVTransferProtocol:
-    def test_single_transfer_from_config(self):
-        """改造后的单物料编译器从 G 读取配置"""
-        G = _make_graph()
-        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
-        to_repo = {"StationB": {"id": "StationB", "children": {}}}
-        steps = generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
-
-        assert len(steps) == 2
-        assert steps[0]["device_id"] == "zhixing_agv"
-        assert steps[0]["action_name"] == "send_nav_task"
-        assert steps[1]["device_id"] == "zhixing_ur_arm"
-        assert steps[1]["action_name"] == "move_pos_task"
-
-    def test_children_updated(self):
-        """单物料编译后 children dict 正确更新"""
-        G = _make_graph()
-        from_repo = {"StationA": {"id": "StationA", "children": {"A01": {"id": "R1", "parent": "StationA"}}}}
-        to_repo = {"StationB": {"id": "StationB", "children": {}}}
-        generate_agv_transfer_protocol(G, from_repo, "A01", to_repo, "B01")
-
-        assert "A01" not in from_repo["StationA"]["children"]
-        assert "B01" in to_repo["StationB"]["children"]
-        assert to_repo["StationB"]["children"]["B01"]["parent"] == "StationB"

tests/compile/test_full_chain_conversion_to_compile.py

@@ -1,706 +0,0 @@
-"""
-全链路集成测试：ROS Goal 转换 → ResourceTreeSet → get_plr_nested_dict → 编译器 → 动作列表
-
-模拟 workstation.py 中的完整路径：
-1. host 返回 raw_data（模拟 resource_get 响应）
-2. ResourceTreeSet.from_raw_dict_list(raw_data) 构建资源树
-3. tree.root_node.get_plr_nested_dict() 生成嵌套 dict
-4. protocol_kwargs 传给编译器
-5. 编译器返回 action_list，验证结构和关键字段
-"""
-
-import copy
-import json
-import pytest
-import networkx as nx
-
-from unilabos.resources.resource_tracker import (
-    ResourceDictInstance,
-    ResourceTreeSet,
-)
-from unilabos.compile.utils.resource_helper import (
-    ensure_resource_instance,
-    resource_to_dict,
-    get_resource_id,
-    get_resource_data,
-)
-from unilabos.compile.utils.vessel_parser import get_vessel
-
-# ============ 构建模拟设备图 ============
-
-def _build_test_graph():
-    """构建一个包含常用设备节点的测试图"""
-    G = nx.DiGraph()
-
-    # 容器
-    G.add_node("reactor_01", **{
-        "id": "reactor_01",
-        "name": "reactor_01",
-        "type": "device",
-        "class": "virtual_stirrer",
-        "data": {},
-        "config": {},
-    })
-
-    # 搅拌设备
-    G.add_node("stirrer_1", **{
-        "id": "stirrer_1",
-        "name": "stirrer_1",
-        "type": "device",
-        "class": "virtual_stirrer",
-        "data": {},
-        "config": {},
-    })
-    G.add_edge("stirrer_1", "reactor_01")
-
-    # 加热设备
-    G.add_node("heatchill_1", **{
-        "id": "heatchill_1",
-        "name": "heatchill_1",
-        "type": "device",
-        "class": "virtual_heatchill",
-        "data": {},
-        "config": {},
-    })
-    G.add_edge("heatchill_1", "reactor_01")
-
-    # 试剂容器（液体）
-    G.add_node("flask_water", **{
-        "id": "flask_water",
-        "name": "flask_water",
-        "type": "container",
-        "class": "",
-        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 500.0}]},
-        "config": {"reagent": "water"},
-    })
-
-    # 固体加样器
-    G.add_node("solid_dispenser_1", **{
-        "id": "solid_dispenser_1",
-        "name": "solid_dispenser_1",
-        "type": "device",
-        "class": "solid_dispenser",
-        "data": {},
-        "config": {},
-    })
-
-    # 泵
-    G.add_node("pump_1", **{
-        "id": "pump_1",
-        "name": "pump_1",
-        "type": "device",
-        "class": "virtual_pump",
-        "data": {},
-        "config": {},
-    })
-    G.add_edge("flask_water", "pump_1")
-    G.add_edge("pump_1", "reactor_01")
-
-    return G
-
-
-# ============ 构建模拟 host 返回数据 ============
-
-def _make_raw_resource(
-    id="reactor_01",
-    uuid="uuid-reactor-01",
-    name="reactor_01",
-    klass="virtual_stirrer",
-    type_="device",
-    parent=None,
-    parent_uuid=None,
-    data=None,
-    config=None,
-    extra=None,
-):
-    """模拟 host 返回的单个资源 dict（与 resource_get 服务响应一致）"""
-    return {
-        "id": id,
-        "uuid": uuid,
-        "name": name,
-        "class": klass,
-        "type": type_,
-        "parent": parent,
-        "parent_uuid": parent_uuid or "",
-        "description": "",
-        "config": config or {},
-        "data": data or {},
-        "extra": extra or {},
-        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
-    }
-
-
-def _simulate_workstation_resource_enrichment(raw_data_list, field_type="unilabos_msgs/Resource"):
-    """
-    模拟 workstation.py 中 resource enrichment 的核心逻辑：
-    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → protocol_kwargs[k]
-    """
-    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
-
-    if field_type == "unilabos_msgs/Resource":
-        # 单个 Resource：取第一棵树的根节点
-        root_instance = tree_set.trees[0].root_node if tree_set.trees else None
-        return root_instance.get_plr_nested_dict() if root_instance else {}
-    else:
-        # sequence<Resource>：返回列表
-        return [tree.root_node.get_plr_nested_dict() for tree in tree_set.trees]
-
-
-# ============ 全链路测试：Stir 协议 ============
-
-class TestStirProtocolFullChain:
-    """Stir 协议全链路：host raw_data → enriched dict → compiler → action_list"""
-
-    def test_stir_with_enriched_resource_dict(self):
-        """单个 Resource 经过 enrichment 后传给 stir compiler"""
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-
-        raw_data = [_make_raw_resource(
-            id="reactor_01", uuid="uuid-reactor-01",
-            klass="virtual_stirrer", type_="device",
-        )]
-
-        # 模拟 workstation enrichment
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        assert enriched_vessel["id"] == "reactor_01"
-        assert enriched_vessel["uuid"] == "uuid-reactor-01"
-        assert enriched_vessel["class"] == "virtual_stirrer"
-
-        # 传给编译器
-        G = _build_test_graph()
-        actions = generate_stir_protocol(
-            G=G,
-            vessel=enriched_vessel,
-            time="60",
-            stir_speed=300.0,
-        )
-
-        assert isinstance(actions, list)
-        assert len(actions) >= 1
-        action = actions[0]
-        assert action["device_id"] == "stirrer_1"
-        assert action["action_name"] == "stir"
-        assert "vessel" in action["action_kwargs"]
-        assert action["action_kwargs"]["vessel"]["id"] == "reactor_01"
-
-    def test_stir_with_resource_dict_instance(self):
-        """直接用 ResourceDictInstance 传给 stir compiler（通过 get_plr_nested_dict 转换）"""
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        inst = tree_set.trees[0].root_node
-
-        # 通过 resource_to_dict 转换（resource_helper 兼容层）
-        vessel_dict = resource_to_dict(inst)
-        assert isinstance(vessel_dict, dict)
-        assert vessel_dict["id"] == "reactor_01"
-
-        G = _build_test_graph()
-        actions = generate_stir_protocol(G=G, vessel=vessel_dict, time="30")
-
-        assert len(actions) >= 1
-        assert actions[0]["action_name"] == "stir"
-
-    def test_stir_with_string_vessel(self):
-        """兼容旧模式：直接传 vessel 字符串"""
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-
-        G = _build_test_graph()
-        actions = generate_stir_protocol(G=G, vessel="reactor_01", time="30")
-
-        assert len(actions) >= 1
-        assert actions[0]["device_id"] == "stirrer_1"
-        assert actions[0]["action_kwargs"]["vessel"]["id"] == "reactor_01"
-
-
-# ============ 全链路测试：HeatChill 协议 ============
-
-class TestHeatChillProtocolFullChain:
-    """HeatChill 协议全链路"""
-
-    def test_heatchill_with_enriched_resource(self):
-        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01", klass="virtual_stirrer")]
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_heat_chill_protocol(
-            G=G,
-            vessel=enriched_vessel,
-            temp=80.0,
-            time="300",
-        )
-
-        assert isinstance(actions, list)
-        assert len(actions) >= 1
-        action = actions[0]
-        assert action["device_id"] == "heatchill_1"
-        assert action["action_name"] == "heat_chill"
-        assert action["action_kwargs"]["temp"] == 80.0
-
-    def test_heatchill_start_with_enriched_resource(self):
-        from unilabos.compile.heatchill_protocol import generate_heat_chill_start_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_heat_chill_start_protocol(
-            G=G,
-            vessel=enriched_vessel,
-            temp=60.0,
-        )
-
-        assert len(actions) >= 1
-        assert actions[0]["action_name"] == "heat_chill_start"
-        assert actions[0]["action_kwargs"]["temp"] == 60.0
-
-    def test_heatchill_stop_with_enriched_resource(self):
-        from unilabos.compile.heatchill_protocol import generate_heat_chill_stop_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_heat_chill_stop_protocol(G=G, vessel=enriched_vessel)
-
-        assert len(actions) >= 1
-        assert actions[0]["action_name"] == "heat_chill_stop"
-
-
-# ============ 全链路测试：Add 协议 ============
-
-class TestAddProtocolFullChain:
-    """Add 协议全链路：vessel enrichment + reagent 查找 + 泵传输"""
-
-    def test_add_solid_with_enriched_resource(self):
-        from unilabos.compile.add_protocol import generate_add_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_add_protocol(
-            G=G,
-            vessel=enriched_vessel,
-            reagent="NaCl",
-            mass="5 g",
-        )
-
-        assert isinstance(actions, list)
-        assert len(actions) >= 1
-        # 应该包含至少一个 add_solid 或 log_message 动作
-        action_names = [a.get("action_name", "") for a in actions]
-        assert any(name in ["add_solid", "log_message"] for name in action_names)
-
-    def test_add_liquid_with_enriched_resource(self):
-        from unilabos.compile.add_protocol import generate_add_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched_vessel = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_add_protocol(
-            G=G,
-            vessel=enriched_vessel,
-            reagent="water",
-            volume="10 mL",
-        )
-
-        assert isinstance(actions, list)
-        assert len(actions) >= 1
-
-
-# ============ 全链路测试：ResourceDictInstance 兼容层 ============
-
-class TestResourceDictInstanceCompatibility:
-    """验证编译器兼容层对 ResourceDictInstance 的处理"""
-
-    def test_get_vessel_from_enriched_dict(self):
-        """get_vessel 对 enriched dict 的处理"""
-        raw_data = [_make_raw_resource(
-            id="reactor_01",
-            data={"temperature": 25.0, "liquid": [{"liquid_type": "water", "volume": 10.0}]},
-        )]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        vessel_id, vessel_data = get_vessel(enriched)
-        assert vessel_id == "reactor_01"
-        assert vessel_data["temperature"] == 25.0
-        assert len(vessel_data["liquid"]) == 1
-
-    def test_get_vessel_from_resource_instance(self):
-        """get_vessel 直接对 ResourceDictInstance 的处理"""
-        raw_data = [_make_raw_resource(
-            id="reactor_01",
-            data={"temperature": 25.0},
-        )]
-        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        inst = tree_set.trees[0].root_node
-
-        vessel_id, vessel_data = get_vessel(inst)
-        assert vessel_id == "reactor_01"
-        assert vessel_data["temperature"] == 25.0
-
-    def test_ensure_resource_instance_round_trip(self):
-        """ensure_resource_instance → resource_to_dict 无损往返"""
-        raw_data = [_make_raw_resource(
-            id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer",
-            data={"temp": 25.0},
-        )]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        # dict → ResourceDictInstance
-        inst = ensure_resource_instance(enriched)
-        assert isinstance(inst, ResourceDictInstance)
-        assert inst.res_content.id == "reactor_01"
-        assert inst.res_content.uuid == "uuid-r01"
-
-        # ResourceDictInstance → dict
-        d = resource_to_dict(inst)
-        assert isinstance(d, dict)
-        assert d["id"] == "reactor_01"
-        assert d["uuid"] == "uuid-r01"
-        assert d["class"] == "virtual_stirrer"
-
-
-# ============ 全链路测试：带 children 的资源树 ============
-
-class TestResourceTreeWithChildren:
-    """测试带 children 结构的资源树通过编译器的路径"""
-
-    def _make_tree_with_children(self):
-        """构建 StationA -> [Flask1, Flask2] 的资源树"""
-        return [
-            _make_raw_resource(
-                id="StationA", uuid="uuid-station-a",
-                name="StationA", klass="workstation", type_="device",
-            ),
-            _make_raw_resource(
-                id="Flask1", uuid="uuid-flask-1",
-                name="Flask1", klass="", type_="resource",
-                parent="StationA", parent_uuid="uuid-station-a",
-                data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
-            ),
-            _make_raw_resource(
-                id="Flask2", uuid="uuid-flask-2",
-                name="Flask2", klass="", type_="resource",
-                parent="StationA", parent_uuid="uuid-station-a",
-                data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
-            ),
-        ]
-
-    def test_enrichment_preserves_children_structure(self):
-        """验证 enrichment 后 children 为嵌套 dict"""
-        raw_data = self._make_tree_with_children()
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        assert enriched["id"] == "StationA"
-        assert "children" in enriched
-        assert isinstance(enriched["children"], dict)
-        assert "Flask1" in enriched["children"]
-        assert "Flask2" in enriched["children"]
-
-    def test_children_preserve_uuid_and_data(self):
-        """验证 children 中的 uuid 和 data 被正确保留"""
-        raw_data = self._make_tree_with_children()
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        flask1 = enriched["children"]["Flask1"]
-        assert flask1["uuid"] == "uuid-flask-1"
-        assert flask1["data"]["liquid"][0]["liquid_type"] == "water"
-        assert flask1["data"]["liquid"][0]["volume"] == 10.0
-
-        flask2 = enriched["children"]["Flask2"]
-        assert flask2["uuid"] == "uuid-flask-2"
-        assert flask2["data"]["liquid"][0]["liquid_type"] == "ethanol"
-
-    def test_children_dict_can_be_popped(self):
-        """模拟 batch_transfer_protocol 中 pop children 的操作"""
-        raw_data = self._make_tree_with_children()
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        # batch_transfer_protocol 中会 pop children
-        children = enriched["children"]
-        popped = children.pop("Flask1")
-        assert popped["id"] == "Flask1"
-        assert "Flask1" not in enriched["children"]
-        assert "Flask2" in enriched["children"]
-
-    def test_children_dict_usable_as_from_repo(self):
-        """模拟 batch_transfer_protocol 中 from_repo 参数"""
-        raw_data = self._make_tree_with_children()
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        # 模拟编译器接收的 from_repo 格式
-        from_repo = {"StationA": enriched}
-        from_repo_ = list(from_repo.values())[0]
-
-        assert from_repo_["id"] == "StationA"
-        assert "Flask1" in from_repo_["children"]
-        assert from_repo_["children"]["Flask1"]["uuid"] == "uuid-flask-1"
-
-    def test_sequence_resource_enrichment(self):
-        """sequence<Resource> 情况：多个独立资源树"""
-        raw_data1 = [_make_raw_resource(id="R1", uuid="uuid-r1")]
-        raw_data2 = [_make_raw_resource(id="R2", uuid="uuid-r2")]
-
-        tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
-        tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
-
-        results = [
-            tree.root_node.get_plr_nested_dict()
-            for ts in [tree_set1, tree_set2]
-            for tree in ts.trees
-        ]
-
-        assert len(results) == 2
-        assert results[0]["id"] == "R1"
-        assert results[1]["id"] == "R2"
-
-
-# ============ 全链路测试：动作列表结构验证 ============
-
-class TestActionListStructure:
-    """验证编译器返回的 action_list 结构符合 workstation 预期"""
-
-    def _validate_action(self, action):
-        """验证单个 action dict 的结构"""
-        if action.get("action_name") == "wait":
-            # wait 伪动作不需要 device_id
-            assert "action_kwargs" in action
-            assert "time" in action["action_kwargs"]
-            return
-
-        if action.get("action_name") == "log_message":
-            # log 伪动作
-            assert "action_kwargs" in action
-            return
-
-        # 正常设备动作
-        assert "device_id" in action, f"action 缺少 device_id: {action}"
-        assert "action_name" in action, f"action 缺少 action_name: {action}"
-        assert "action_kwargs" in action, f"action 缺少 action_kwargs: {action}"
-        assert isinstance(action["action_kwargs"], dict)
-
-    def test_stir_action_list_structure(self):
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_stir_protocol(G=G, vessel=enriched, time="60")
-
-        for action in actions:
-            if isinstance(action, list):
-                # 并行动作
-                for sub_action in action:
-                    self._validate_action(sub_action)
-            else:
-                self._validate_action(action)
-
-    def test_heatchill_action_list_structure(self):
-        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_heat_chill_protocol(G=G, vessel=enriched, temp=80.0, time="60")
-
-        for action in actions:
-            if isinstance(action, list):
-                for sub_action in action:
-                    self._validate_action(sub_action)
-            else:
-                self._validate_action(action)
-
-    def test_add_action_list_structure(self):
-        from unilabos.compile.add_protocol import generate_add_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-
-        G = _build_test_graph()
-        actions = generate_add_protocol(G=G, vessel=enriched, reagent="NaCl", mass="5 g")
-
-        for action in actions:
-            if isinstance(action, list):
-                for sub_action in action:
-                    self._validate_action(sub_action)
-            else:
-                self._validate_action(action)
-
-
-# ============ 全链路测试：message_converter 到 enrichment ============
-
-class TestMessageConverterToEnrichment:
-    """模拟从 ROS 消息转换后的 dict 到 enrichment 的完整链路"""
-
-    def test_ros_goal_conversion_simulation(self):
-        """
-        模拟 workstation.py 中的完整流程：
-        1. ROS goal 中的 vessel 字段被 convert_from_ros_msg 转换为浅层 dict
-        2. workstation 用 resource_id 请求 host 获取完整资源数据
-        3. ResourceTreeSet.from_raw_dict_list 构建资源树
-        4. get_plr_nested_dict 生成嵌套 dict 替换 protocol_kwargs[k]
-        """
-        # 步骤1: 模拟 convert_from_ros_msg 的输出（浅层 dict，只有 id 等基本字段）
-        shallow_vessel = {
-            "id": "reactor_01",
-            "uuid": "uuid-reactor-01",
-            "name": "reactor_01",
-            "type": "device",
-            "category": "virtual_stirrer",
-            "children": [],
-            "parent": "",
-            "parent_uuid": "",
-            "config": {},
-            "data": {},
-            "extra": {},
-            "position": {"x": 0.0, "y": 0.0, "z": 0.0},
-        }
-
-        protocol_kwargs = {
-            "vessel": shallow_vessel,
-            "time": "300",
-            "stir_speed": 300.0,
-        }
-
-        # 步骤2: 提取 resource_id
-        resource_id = protocol_kwargs["vessel"]["id"]
-        assert resource_id == "reactor_01"
-
-        # 步骤3: 模拟 host 返回完整数据（带 children）
-        host_response = [
-            _make_raw_resource(
-                id="reactor_01", uuid="uuid-reactor-01",
-                klass="virtual_stirrer", type_="device",
-                data={"temperature": 25.0, "pressure": 1.0},
-                config={"max_temp": 300.0},
-            ),
-        ]
-
-        # 步骤4: enrichment
-        enriched = _simulate_workstation_resource_enrichment(host_response)
-        protocol_kwargs["vessel"] = enriched
-
-        # 验证 enrichment 后的 protocol_kwargs
-        assert protocol_kwargs["vessel"]["id"] == "reactor_01"
-        assert protocol_kwargs["vessel"]["uuid"] == "uuid-reactor-01"
-        assert protocol_kwargs["vessel"]["class"] == "virtual_stirrer"
-        assert protocol_kwargs["vessel"]["data"]["temperature"] == 25.0
-        assert protocol_kwargs["vessel"]["config"]["max_temp"] == 300.0
-
-        # 步骤5: 传给编译器
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-        G = _build_test_graph()
-        actions = generate_stir_protocol(G=G, **protocol_kwargs)
-
-        assert len(actions) >= 1
-        assert actions[0]["device_id"] == "stirrer_1"
-        assert actions[0]["action_name"] == "stir"
-
-    def test_ros_goal_with_children_enrichment(self):
-        """ROS goal → enrichment 带 children 的场景（batch transfer）"""
-        # 模拟 host 返回带 children 的数据
-        host_response = [
-            _make_raw_resource(
-                id="StationA", uuid="uuid-sa", klass="workstation", type_="device",
-                config={"num_items_x": 4, "num_items_y": 2},
-            ),
-            _make_raw_resource(
-                id="Plate1", uuid="uuid-p1", type_="resource",
-                parent="StationA", parent_uuid="uuid-sa",
-                data={"sample": "sample_A"},
-            ),
-            _make_raw_resource(
-                id="Plate2", uuid="uuid-p2", type_="resource",
-                parent="StationA", parent_uuid="uuid-sa",
-                data={"sample": "sample_B"},
-            ),
-        ]
-
-        enriched = _simulate_workstation_resource_enrichment(host_response)
-
-        assert enriched["id"] == "StationA"
-        assert enriched["class"] == "workstation"
-        assert len(enriched["children"]) == 2
-        assert enriched["children"]["Plate1"]["data"]["sample"] == "sample_A"
-        assert enriched["children"]["Plate2"]["uuid"] == "uuid-p2"
-
-        # 模拟 batch_transfer 的 from_repo 格式
-        from_repo = {"StationA": enriched}
-        from_repo_ = list(from_repo.values())[0]
-        assert "Plate1" in from_repo_["children"]
-        assert from_repo_["children"]["Plate1"]["uuid"] == "uuid-p1"
-
-
-# ============ 全链路测试：多协议连续调用 ============
-
-class TestMultiProtocolChain:
-    """模拟连续执行多个协议（如 add → stir → heatchill）"""
-
-    def test_sequential_protocol_execution(self):
-        """模拟典型合成路径：add → stir → heatchill"""
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-        from unilabos.compile.heatchill_protocol import generate_heat_chill_protocol
-        from unilabos.compile.add_protocol import generate_add_protocol
-
-        raw_data = [_make_raw_resource(
-            id="reactor_01", uuid="uuid-reactor-01",
-            klass="virtual_stirrer", type_="device",
-        )]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-        G = _build_test_graph()
-
-        # 每次调用用 enriched 的副本，避免编译器修改原数据
-        all_actions = []
-
-        # 步骤1: 添加试剂
-        add_actions = generate_add_protocol(
-            G=G, vessel=copy.deepcopy(enriched),
-            reagent="NaCl", mass="5 g",
-        )
-        all_actions.extend(add_actions)
-
-        # 步骤2: 搅拌
-        stir_actions = generate_stir_protocol(
-            G=G, vessel=copy.deepcopy(enriched),
-            time="60", stir_speed=300.0,
-        )
-        all_actions.extend(stir_actions)
-
-        # 步骤3: 加热
-        heat_actions = generate_heat_chill_protocol(
-            G=G, vessel=copy.deepcopy(enriched),
-            temp=80.0, time="300",
-        )
-        all_actions.extend(heat_actions)
-
-        # 验证总动作列表
-        assert len(all_actions) >= 3
-        # 每个协议至少产生一个核心动作
-        action_names = [a.get("action_name", "") for a in all_actions if isinstance(a, dict)]
-        assert "stir" in action_names
-        assert "heat_chill" in action_names
-
-    def test_enriched_resource_not_mutated(self):
-        """验证编译器不应修改传入的 enriched dict（如果需要修改应 deepcopy）"""
-        from unilabos.compile.stir_protocol import generate_stir_protocol
-
-        raw_data = [_make_raw_resource(id="reactor_01")]
-        enriched = _simulate_workstation_resource_enrichment(raw_data)
-        original_id = enriched["id"]
-        original_uuid = enriched["uuid"]
-
-        G = _build_test_graph()
-        generate_stir_protocol(G=G, vessel=enriched, time="60")
-
-        # 验证 enriched dict 核心字段未被修改
-        assert enriched["id"] == original_id
-        assert enriched["uuid"] == original_uuid

tests/compile/test_pump_separate_full_chain.py

@@ -1,538 +0,0 @@
-"""
-PumpTransfer 和 Separate 全链路测试
-
-构建包含泵/阀门/分液漏斗的完整设备图，
-输出完整的中间数据（最短路径、泵骨架、动作列表等）。
-"""
-
-import copy
-import json
-import pprint
-import pytest
-import networkx as nx
-
-from unilabos.resources.resource_tracker import ResourceTreeSet
-from unilabos.compile.utils.resource_helper import get_resource_id, get_resource_data
-from unilabos.compile.utils.vessel_parser import get_vessel
-
-
-def _make_raw_resource(id, uuid=None, name=None, klass="", type_="device",
-                       parent=None, parent_uuid=None, data=None, config=None, extra=None):
-    return {
-        "id": id,
-        "uuid": uuid or f"uuid-{id}",
-        "name": name or id,
-        "class": klass,
-        "type": type_,
-        "parent": parent,
-        "parent_uuid": parent_uuid or "",
-        "description": "",
-        "config": config or {},
-        "data": data or {},
-        "extra": extra or {},
-        "position": {"x": 0.0, "y": 0.0, "z": 0.0},
-    }
-
-
-def _simulate_enrichment(raw_data_list):
-    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data_list)
-    root = tree_set.trees[0].root_node if tree_set.trees else None
-    return root.get_plr_nested_dict() if root else {}
-
-
-def _build_pump_transfer_graph():
-    """
-    构建带泵/阀门的设备图，用于测试 PumpTransfer:
-
-    flask_water (container)
-        ↓
-    valve_1 (multiway_valve, pump_1 连接)
-        ↓
-    reactor_01 (device)
-
-    同时有: stirrer_1, heatchill_1, separator_1
-    """
-    G = nx.DiGraph()
-
-    # 源容器
-    G.add_node("flask_water", **{
-        "id": "flask_water", "name": "flask_water",
-        "type": "container", "class": "",
-        "data": {"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
-        "config": {"reagent": "water"},
-    })
-
-    # 多通阀
-    G.add_node("valve_1", **{
-        "id": "valve_1", "name": "valve_1",
-        "type": "device", "class": "multiway_valve",
-        "data": {}, "config": {},
-    })
-
-    # 注射泵（连接到阀门）
-    G.add_node("pump_1", **{
-        "id": "pump_1", "name": "pump_1",
-        "type": "device", "class": "virtual_pump",
-        "data": {}, "config": {"max_volume": 25.0},
-    })
-
-    # 目标容器
-    G.add_node("reactor_01", **{
-        "id": "reactor_01", "name": "reactor_01",
-        "type": "device", "class": "virtual_stirrer",
-        "data": {"liquid": [{"liquid_type": "water", "volume": 50.0}]},
-        "config": {},
-    })
-
-    # 搅拌器
-    G.add_node("stirrer_1", **{
-        "id": "stirrer_1", "name": "stirrer_1",
-        "type": "device", "class": "virtual_stirrer",
-        "data": {}, "config": {},
-    })
-
-    # 加热器
-    G.add_node("heatchill_1", **{
-        "id": "heatchill_1", "name": "heatchill_1",
-        "type": "device", "class": "virtual_heatchill",
-        "data": {}, "config": {},
-    })
-
-    # 分离器
-    G.add_node("separator_1", **{
-        "id": "separator_1", "name": "separator_1",
-        "type": "device", "class": "separator_controller",
-        "data": {}, "config": {},
-    })
-
-    # 废液容器
-    G.add_node("waste_workup", **{
-        "id": "waste_workup", "name": "waste_workup",
-        "type": "container", "class": "",
-        "data": {}, "config": {},
-    })
-
-    # 产物收集瓶
-    G.add_node("product_flask", **{
-        "id": "product_flask", "name": "product_flask",
-        "type": "container", "class": "",
-        "data": {}, "config": {},
-    })
-
-    # DCM溶剂瓶
-    G.add_node("flask_dcm", **{
-        "id": "flask_dcm", "name": "flask_dcm",
-        "type": "container", "class": "",
-        "data": {"reagent_name": "dcm", "liquid": [{"liquid_type": "dcm", "volume": 500.0}]},
-        "config": {"reagent": "dcm"},
-    })
-
-    # 边连接 —— flask_water → valve_1 → reactor_01
-    G.add_edge("flask_water", "valve_1", port={"valve_1": "port_1"})
-    G.add_edge("valve_1", "reactor_01", port={"valve_1": "port_2"})
-    # 阀门 → 泵
-    G.add_edge("valve_1", "pump_1")
-    G.add_edge("pump_1", "valve_1")
-    # 搅拌器 ↔ reactor
-    G.add_edge("stirrer_1", "reactor_01")
-    # 加热器 ↔ reactor
-    G.add_edge("heatchill_1", "reactor_01")
-    # 分离器 ↔ reactor
-    G.add_edge("separator_1", "reactor_01")
-    G.add_edge("reactor_01", "separator_1")
-    # DCM → valve → reactor (同一泵路)
-    G.add_edge("flask_dcm", "valve_1", port={"valve_1": "port_3"})
-    # reactor → valve → product/waste
-    G.add_edge("valve_1", "product_flask", port={"valve_1": "port_4"})
-    G.add_edge("valve_1", "waste_workup", port={"valve_1": "port_5"})
-
-    return G
-
-
-def _format_action(action, indent=0):
-    """格式化单个 action 为可读字符串"""
-    prefix = "  " * indent
-    if isinstance(action, list):
-        # 并行动作
-        lines = [f"{prefix}[PARALLEL]"]
-        for sub in action:
-            lines.append(_format_action(sub, indent + 1))
-        return "\n".join(lines)
-
-    name = action.get("action_name", "?")
-    device = action.get("device_id", "")
-    kwargs = action.get("action_kwargs", {})
-    comment = action.get("_comment", "")
-    meta = action.get("_transfer_meta", "")
-
-    parts = [f"{prefix}→ {device}::{name}"]
-    if kwargs:
-        # 精简输出
-        kw_str = ", ".join(f"{k}={v}" for k, v in kwargs.items()
-                           if k not in ("progress_message",))
-        if kw_str:
-            parts.append(f"  kwargs: {{{kw_str}}}")
-    if comment:
-        parts.append(f"  # {comment}")
-    if meta:
-        parts.append(f"  meta: {meta}")
-    return "\n".join(f"{prefix}{p}" if i > 0 else p for i, p in enumerate(parts))
-
-
-def _dump_actions(actions, title=""):
-    """打印完整动作列表"""
-    print(f"\n{'='*70}")
-    print(f"  {title}")
-    print(f"  总动作数: {len(actions)}")
-    print(f"{'='*70}")
-    for i, action in enumerate(actions):
-        print(f"\n  [{i:02d}] {_format_action(action, indent=2)}")
-    print(f"\n{'='*70}\n")
-
-
-# ==================== PumpTransfer 全链路 ====================
-
-class TestPumpTransferFullChain:
-    """PumpTransfer: 包含图路径查找、泵骨架构建、动作序列生成"""
-
-    def test_pump_transfer_basic(self):
-        """基础泵转移：flask_water → valve_1 → reactor_01"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol
-
-        G = _build_pump_transfer_graph()
-
-        # 检查最短路径
-        path = nx.shortest_path(G, "flask_water", "reactor_01")
-        print(f"\n最短路径: {path}")
-        assert "valve_1" in path
-
-        # 调用编译器
-        actions = generate_pump_protocol(
-            G=G,
-            from_vessel_id="flask_water",
-            to_vessel_id="reactor_01",
-            volume=10.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions, "PumpTransfer: flask_water → reactor_01, 10mL")
-
-        # 验证
-        assert isinstance(actions, list)
-        assert len(actions) > 0
-        # 应该有 set_valve_position 和 set_position 动作
-        flat = [a for a in actions if isinstance(a, dict)]
-        action_names = [a.get("action_name") for a in flat]
-        print(f"动作名称列表: {action_names}")
-        assert "set_valve_position" in action_names
-        assert "set_position" in action_names
-
-    def test_pump_transfer_with_rinsing_enriched_vessel(self):
-        """pump_with_rinsing 接收 enriched vessel dict"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
-
-        G = _build_pump_transfer_graph()
-
-        # 模拟 enrichment
-        from_raw = [_make_raw_resource(
-            id="flask_water", klass="", type_="container",
-            data={"reagent_name": "water", "liquid": [{"liquid_type": "water", "volume": 200.0}]},
-        )]
-        to_raw = [_make_raw_resource(
-            id="reactor_01", klass="virtual_stirrer", type_="device",
-        )]
-
-        from_enriched = _simulate_enrichment(from_raw)
-        to_enriched = _simulate_enrichment(to_raw)
-
-        print(f"\nfrom_vessel enriched: {json.dumps(from_enriched, indent=2, ensure_ascii=False)[:300]}...")
-        print(f"to_vessel enriched: {json.dumps(to_enriched, indent=2, ensure_ascii=False)[:300]}...")
-
-        # get_vessel 兼容
-        fid, fdata = get_vessel(from_enriched)
-        tid, tdata = get_vessel(to_enriched)
-        print(f"from_vessel_id={fid}, to_vessel_id={tid}")
-        assert fid == "flask_water"
-        assert tid == "reactor_01"
-
-        actions = generate_pump_protocol_with_rinsing(
-            G=G,
-            from_vessel=from_enriched,
-            to_vessel=to_enriched,
-            volume=15.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions, "PumpTransferWithRinsing: flask_water → reactor_01, 15mL (enriched)")
-
-        assert isinstance(actions, list)
-        assert len(actions) > 0
-
-    def test_pump_transfer_multi_batch(self):
-        """体积 > max_volume 时自动分批"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol
-
-        G = _build_pump_transfer_graph()
-
-        # pump_1 的 max_volume = 25mL，转 60mL 应该分 3 批
-        actions = generate_pump_protocol(
-            G=G,
-            from_vessel_id="flask_water",
-            to_vessel_id="reactor_01",
-            volume=60.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions, "PumpTransfer 分批: 60mL (max_volume=25mL, 预期 3 批)")
-
-        assert len(actions) > 0
-        # 应该有多轮 set_position
-        flat = [a for a in actions if isinstance(a, dict)]
-        set_position_count = sum(1 for a in flat if a.get("action_name") == "set_position")
-        print(f"set_position 动作数: {set_position_count}")
-        # 3批 × 2次 (吸液 + 排液) = 6 次 set_position
-        assert set_position_count >= 6
-
-    def test_pump_transfer_no_path(self):
-        """无路径时返回空"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol
-
-        G = _build_pump_transfer_graph()
-        G.add_node("isolated_flask", type="container")
-
-        actions = generate_pump_protocol(
-            G=G,
-            from_vessel_id="isolated_flask",
-            to_vessel_id="reactor_01",
-            volume=10.0,
-        )
-
-        print(f"\n无路径时的动作列表: {actions}")
-        assert actions == []
-
-    def test_pump_backbone_filtering(self):
-        """验证泵骨架过滤逻辑（电磁阀被跳过）"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol
-
-        G = _build_pump_transfer_graph()
-        # 添加电磁阀到路径中
-        G.add_node("solenoid_valve_1", **{
-            "type": "device", "class": "solenoid_valve",
-            "data": {}, "config": {},
-        })
-        # flask_water → solenoid_valve_1 → valve_1 → reactor_01
-        G.remove_edge("flask_water", "valve_1")
-        G.add_edge("flask_water", "solenoid_valve_1")
-        G.add_edge("solenoid_valve_1", "valve_1")
-
-        path = nx.shortest_path(G, "flask_water", "reactor_01")
-        print(f"\n含电磁阀的路径: {path}")
-        assert "solenoid_valve_1" in path
-
-        actions = generate_pump_protocol(
-            G=G,
-            from_vessel_id="flask_water",
-            to_vessel_id="reactor_01",
-            volume=10.0,
-        )
-
-        _dump_actions(actions, "PumpTransfer 含电磁阀: flask_water → solenoid → valve_1 → reactor_01")
-        # 电磁阀应被跳过，泵骨架只有 valve_1
-        assert len(actions) > 0
-
-
-# ==================== Separate 全链路 ====================
-
-class TestSeparateProtocolFullChain:
-    """Separate: 包含 bug 确认和正常路径测试"""
-
-    def test_separate_bug_line_128_fixed(self):
-        """验证 separate_protocol.py:128 的 bug 已修复（不再 crash）"""
-        from unilabos.compile.separate_protocol import generate_separate_protocol
-
-        G = _build_pump_transfer_graph()
-
-        raw_data = [_make_raw_resource(
-            id="reactor_01", klass="virtual_stirrer",
-            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
-        )]
-        enriched = _simulate_enrichment(raw_data)
-
-        # 修复前：final_vessel_id, _ = vessel_id 会 crash（字符串解包）
-        # 修复后：final_vessel_id = vessel_id，正常返回 action 列表
-        result = generate_separate_protocol(
-            G=G,
-            vessel=enriched,
-            purpose="extract",
-            product_phase="top",
-            product_vessel="product_flask",
-            waste_vessel="waste_workup",
-            solvent="dcm",
-            volume="100 mL",
-        )
-        assert isinstance(result, list)
-        assert len(result) > 0
-
-    def test_separate_manual_workaround(self):
-        """
-        绕过 line 128 bug，手动测试分离编译器中可以工作的子函数
-        """
-        from unilabos.compile.separate_protocol import (
-            find_separator_device,
-            find_separation_vessel_bottom,
-        )
-        from unilabos.compile.utils.vessel_parser import (
-            find_connected_stirrer,
-            find_solvent_vessel,
-        )
-        from unilabos.compile.utils.unit_parser import parse_volume_input
-        from unilabos.compile.utils.resource_helper import get_resource_liquid_volume as get_vessel_liquid_volume
-
-        G = _build_pump_transfer_graph()
-
-        # 1. get_vessel 解析 enriched dict
-        raw_data = [_make_raw_resource(
-            id="reactor_01", klass="virtual_stirrer",
-            data={"liquid": [{"liquid_type": "water", "volume": 100.0}]},
-        )]
-        enriched = _simulate_enrichment(raw_data)
-        vessel_id, vessel_data = get_vessel(enriched)
-        print(f"\nvessel_id: {vessel_id}")
-        print(f"vessel_data: {vessel_data}")
-        assert vessel_id == "reactor_01"
-        assert vessel_data["liquid"][0]["volume"] == 100.0
-
-        # 2. find_separator_device
-        sep = find_separator_device(G, vessel_id)
-        print(f"分离器设备: {sep}")
-        assert sep == "separator_1"
-
-        # 3. find_connected_stirrer
-        stirrer = find_connected_stirrer(G, vessel_id)
-        print(f"搅拌器设备: {stirrer}")
-        assert stirrer == "stirrer_1"
-
-        # 4. find_solvent_vessel
-        solvent_v = find_solvent_vessel(G, "dcm")
-        print(f"DCM溶剂容器: {solvent_v}")
-        assert solvent_v == "flask_dcm"
-
-        # 5. parse_volume_input
-        vol = parse_volume_input("200 mL")
-        print(f"体积解析: '200 mL' → {vol}")
-        assert vol == 200.0
-
-        vol2 = parse_volume_input("1.5 L")
-        print(f"体积解析: '1.5 L' → {vol2}")
-        assert vol2 == 1500.0
-
-        # 6. get_vessel_liquid_volume
-        liq_vol = get_vessel_liquid_volume(enriched)
-        print(f"液体体积 (enriched dict): {liq_vol}")
-        assert liq_vol == 100.0
-
-        # 7. find_separation_vessel_bottom
-        bottom = find_separation_vessel_bottom(G, vessel_id)
-        print(f"分离容器底部: {bottom}")
-        # 当前图中没有命名匹配的底部容器
-
-    def test_pump_transfer_for_separate_subflow(self):
-        """测试 separate 中调用的 pump 子流程（溶剂添加 → 分液漏斗）"""
-        from unilabos.compile.pump_protocol import generate_pump_protocol_with_rinsing
-
-        G = _build_pump_transfer_graph()
-
-        # 模拟分离前的溶剂添加步骤
-        actions = generate_pump_protocol_with_rinsing(
-            G=G,
-            from_vessel="flask_dcm",
-            to_vessel="reactor_01",
-            volume=100.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions, "Separate 子流程: flask_dcm → reactor_01, 100mL DCM")
-
-        assert isinstance(actions, list)
-        assert len(actions) > 0
-
-        # 模拟分离后产物转移
-        actions2 = generate_pump_protocol_with_rinsing(
-            G=G,
-            from_vessel="reactor_01",
-            to_vessel="product_flask",
-            volume=50.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions2, "Separate 子流程: reactor_01 → product_flask, 50mL 产物")
-
-        assert len(actions2) > 0
-
-        # 废液转移
-        actions3 = generate_pump_protocol_with_rinsing(
-            G=G,
-            from_vessel="reactor_01",
-            to_vessel="waste_workup",
-            volume=50.0,
-            flowrate=2.5,
-            transfer_flowrate=0.5,
-        )
-
-        _dump_actions(actions3, "Separate 子流程: reactor_01 → waste_workup, 50mL 废液")
-
-        assert len(actions3) > 0
-
-
-# ==================== 图路径可视化 ====================
-
-class TestGraphPathVisualization:
-    """输出图中关键路径信息"""
-
-    def test_all_shortest_paths(self):
-        """输出所有容器之间的最短路径"""
-        G = _build_pump_transfer_graph()
-
-        containers = [n for n in G.nodes() if G.nodes[n].get("type") == "container"]
-        devices = [n for n in G.nodes() if G.nodes[n].get("type") == "device"]
-
-        print(f"\n{'='*70}")
-        print(f"  设备图概览")
-        print(f"{'='*70}")
-        print(f"  容器节点 ({len(containers)}): {containers}")
-        print(f"  设备节点 ({len(devices)}): {devices}")
-        print(f"  边数: {G.number_of_edges()}")
-        print(f"  边列表:")
-        for u, v, data in G.edges(data=True):
-            port_info = data.get("port", "")
-            print(f"    {u} → {v}  {port_info if port_info else ''}")
-
-        print(f"\n  关键路径:")
-        pairs = [
-            ("flask_water", "reactor_01"),
-            ("flask_dcm", "reactor_01"),
-            ("reactor_01", "product_flask"),
-            ("reactor_01", "waste_workup"),
-            ("flask_water", "product_flask"),
-        ]
-        for src, dst in pairs:
-            try:
-                path = nx.shortest_path(G, src, dst)
-                length = len(path) - 1
-                # 标注路径上的节点类型
-                annotated = []
-                for n in path:
-                    ntype = G.nodes[n].get("type", "?")
-                    nclass = G.nodes[n].get("class", "")
-                    annotated.append(f"{n}({ntype}{'/' + nclass if nclass else ''})")
-                print(f"    {src} → {dst}: 距离={length}")
-                print(f"      路径: {' → '.join(annotated)}")
-            except nx.NetworkXNoPath:
-                print(f"    {src} → {dst}: 无路径!")
-
-        print(f"{'='*70}\n")

tests/compile/test_resource_conversion_path.py

@@ -1,324 +0,0 @@
-"""
-ROS Goal → Resource 转换 → 编译器路径的集成测试
-
-覆盖：
-1. Resource.msg 新字段(uuid, klass, extra)的往返转换
-2. dict → ROS Resource → dict 往返无损
-3. ResourceTreeSet → get_plr_nested_dict 保留 children 结构
-4. resource_helper 兼容 dict / ResourceDictInstance
-5. vessel_parser.get_vessel 兼容 ResourceDictInstance
-"""
-
-import json
-import pytest
-
-# 不依赖 ROS 的测试 —— 直接测试 resource 处理路径
-from unilabos.resources.resource_tracker import (
-    ResourceDict,
-    ResourceDictInstance,
-    ResourceTreeInstance,
-    ResourceTreeSet,
-)
-from unilabos.compile.utils.resource_helper import (
-    ensure_resource_instance,
-    resource_to_dict,
-    get_resource_id,
-    get_resource_data,
-    get_resource_display_info,
-    get_resource_liquid_volume,
-)
-from unilabos.compile.utils.vessel_parser import get_vessel
-
-
-# ============ 构建测试数据 ============
-
-
-def _make_resource_dict(
-    id="reactor_01",
-    uuid="uuid-reactor-01",
-    name="reactor_01",
-    klass="virtual_stirrer",
-    type_="device",
-    parent=None,
-    parent_uuid=None,
-    data=None,
-    config=None,
-    extra=None,
-):
-    return {
-        "id": id,
-        "uuid": uuid,
-        "name": name,
-        "class": klass,
-        "type": type_,
-        "parent": parent,
-        "parent_uuid": parent_uuid or "",
-        "description": "",
-        "config": config or {},
-        "data": data or {},
-        "extra": extra or {},
-        "position": {"x": 1.0, "y": 2.0, "z": 3.0},
-    }
-
-
-def _make_resource_instance(id="reactor_01", **kwargs):
-    d = _make_resource_dict(id=id, **kwargs)
-    return ResourceDictInstance.get_resource_instance_from_dict(d)
-
-
-def _make_tree_with_children():
-    """构建 StationA -> [R1, R2] 的资源树"""
-    raw_data = [
-        _make_resource_dict(
-            id="StationA",
-            uuid="uuid-station-a",
-            name="StationA",
-            klass="workstation",
-            type_="device",
-        ),
-        _make_resource_dict(
-            id="R1",
-            uuid="uuid-r1",
-            name="R1",
-            klass="",
-            type_="resource",
-            parent="StationA",
-            parent_uuid="uuid-station-a",
-            data={"liquid": [{"liquid_type": "water", "volume": 10.0}]},
-        ),
-        _make_resource_dict(
-            id="R2",
-            uuid="uuid-r2",
-            name="R2",
-            klass="",
-            type_="resource",
-            parent="StationA",
-            parent_uuid="uuid-station-a",
-            data={"liquid": [{"liquid_type": "ethanol", "volume": 5.0}]},
-        ),
-    ]
-    tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-    return tree_set
-
-
-# ============ resource_helper 测试 ============
-
-
-class TestResourceHelper:
-    """测试 resource_helper 对 dict / ResourceDictInstance 的兼容性"""
-
-    def test_ensure_resource_instance_from_dict(self):
-        d = _make_resource_dict()
-        inst = ensure_resource_instance(d)
-        assert isinstance(inst, ResourceDictInstance)
-        assert inst.res_content.id == "reactor_01"
-        assert inst.res_content.uuid == "uuid-reactor-01"
-
-    def test_ensure_resource_instance_passthrough(self):
-        inst = _make_resource_instance()
-        result = ensure_resource_instance(inst)
-        assert result is inst  # 同一个对象，不复制
-
-    def test_ensure_resource_instance_none(self):
-        assert ensure_resource_instance(None) is None
-
-    def test_get_resource_id_from_dict(self):
-        d = _make_resource_dict(id="my_device")
-        assert get_resource_id(d) == "my_device"
-
-    def test_get_resource_id_from_instance(self):
-        inst = _make_resource_instance(id="my_device")
-        assert get_resource_id(inst) == "my_device"
-
-    def test_get_resource_id_from_string(self):
-        assert get_resource_id("my_device") == "my_device"
-
-    def test_get_resource_id_from_wrapped_dict(self):
-        """兼容 {station_id: {...}} 格式"""
-        d = {"StationA": {"id": "StationA", "name": "StationA"}}
-        assert get_resource_id(d) == "StationA"
-
-    def test_get_resource_data_from_dict(self):
-        d = _make_resource_dict(data={"temperature": 25.0})
-        assert get_resource_data(d) == {"temperature": 25.0}
-
-    def test_get_resource_data_from_instance(self):
-        inst = _make_resource_instance(data={"temperature": 25.0})
-        data = get_resource_data(inst)
-        assert data["temperature"] == 25.0
-
-    def test_get_resource_display_info_from_dict(self):
-        d = _make_resource_dict(id="reactor_01", name="Reactor #1")
-        info = get_resource_display_info(d)
-        assert "reactor_01" in info
-        assert "Reactor #1" in info
-
-    def test_get_resource_display_info_from_instance(self):
-        inst = _make_resource_instance(id="reactor_01", name="Reactor #1")
-        info = get_resource_display_info(inst)
-        assert "reactor_01" in info
-
-    def test_get_resource_display_info_from_string(self):
-        assert get_resource_display_info("reactor_01") == "reactor_01"
-
-    def test_get_resource_liquid_volume(self):
-        d = _make_resource_dict(data={"liquid": [{"liquid_type": "water", "volume": 15.5}]})
-        assert get_resource_liquid_volume(d) == pytest.approx(15.5)
-
-    def test_resource_to_dict_from_instance(self):
-        inst = _make_resource_instance(id="reactor_01", klass="virtual_stirrer")
-        d = resource_to_dict(inst)
-        assert isinstance(d, dict)
-        assert d["id"] == "reactor_01"
-        assert d["class"] == "virtual_stirrer"
-
-    def test_resource_to_dict_passthrough(self):
-        d = _make_resource_dict()
-        result = resource_to_dict(d)
-        assert result is d  # 同一个 dict
-
-
-# ============ vessel_parser 兼容性测试 ============
-
-
-class TestVesselParser:
-    """测试 vessel_parser.get_vessel 对 ResourceDictInstance 的兼容"""
-
-    def test_get_vessel_from_dict(self):
-        d = _make_resource_dict(id="reactor_01", data={"temperature": 25.0})
-        vessel_id, vessel_data = get_vessel(d)
-        assert vessel_id == "reactor_01"
-        assert vessel_data["temperature"] == 25.0
-
-    def test_get_vessel_from_string(self):
-        vessel_id, vessel_data = get_vessel("reactor_01")
-        assert vessel_id == "reactor_01"
-        assert vessel_data == {}
-
-    def test_get_vessel_from_resource_instance(self):
-        inst = _make_resource_instance(id="reactor_01", data={"temperature": 25.0})
-        vessel_id, vessel_data = get_vessel(inst)
-        assert vessel_id == "reactor_01"
-        assert vessel_data["temperature"] == 25.0
-
-    def test_get_vessel_from_wrapped_dict(self):
-        """兼容 {station_id: {id: ..., data: {...}}} 格式"""
-        d = {"StationA": {"id": "StationA", "data": {"vol": 100}}}
-        vessel_id, vessel_data = get_vessel(d)
-        assert vessel_id == "StationA"
-
-
-# ============ ResourceTreeSet → get_plr_nested_dict 测试 ============
-
-
-class TestResourceTreeRoundTrip:
-    """测试 ResourceTreeSet → get_plr_nested_dict 保留树结构和关键字段"""
-
-    def test_tree_preserves_children(self):
-        tree_set = _make_tree_with_children()
-        assert len(tree_set.trees) == 1
-        root = tree_set.trees[0].root_node
-        assert root.res_content.id == "StationA"
-        assert len(root.children) == 2
-
-    def test_plr_nested_dict_has_children(self):
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        assert isinstance(nested, dict)
-        assert "children" in nested
-        assert isinstance(nested["children"], dict)
-        assert "R1" in nested["children"]
-        assert "R2" in nested["children"]
-
-    def test_plr_nested_dict_preserves_uuid(self):
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        assert nested["uuid"] == "uuid-station-a"
-        assert nested["children"]["R1"]["uuid"] == "uuid-r1"
-
-    def test_plr_nested_dict_preserves_klass(self):
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        assert nested["class"] == "workstation"
-
-    def test_plr_nested_dict_preserves_data(self):
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        r1_data = nested["children"]["R1"]["data"]
-        assert "liquid" in r1_data
-        assert r1_data["liquid"][0]["volume"] == 10.0
-
-    def test_plr_nested_dict_usable_by_get_vessel(self):
-        """get_plr_nested_dict 的结果可以直接传给 get_vessel"""
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        vessel_id, vessel_data = get_vessel(nested)
-        assert vessel_id == "StationA"
-
-    def test_dump_vs_plr_nested_dict(self):
-        """dump() 是扁平化的，get_plr_nested_dict 保留树结构"""
-        tree_set = _make_tree_with_children()
-        # dump 返回扁平列表
-        dumped = tree_set.dump()
-        assert isinstance(dumped[0], list)
-        assert len(dumped[0]) == 3  # StationA + R1 + R2，全部扁平
-
-        # get_plr_nested_dict 保留嵌套
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-        assert isinstance(nested["children"], dict)
-        assert len(nested["children"]) == 2  # 嵌套的 children
-
-
-# ============ 模拟 workstation 路径测试 ============
-
-
-class TestWorkstationPath:
-    """模拟 workstation.py 中的关键路径:
-    raw_data → ResourceTreeSet.from_raw_dict_list → get_plr_nested_dict → compiler
-    """
-
-    def test_single_resource_path(self):
-        """单个 Resource: 取第一棵树的根节点"""
-        raw_data = [
-            _make_resource_dict(id="reactor_01", uuid="uuid-r01", klass="virtual_stirrer"),
-        ]
-        tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        root = tree_set.trees[0].root_node
-        result = root.get_plr_nested_dict()
-        assert result["id"] == "reactor_01"
-        assert result["uuid"] == "uuid-r01"
-        assert result["class"] == "virtual_stirrer"
-
-    def test_resource_with_children_path(self):
-        """Resource 带 children: AGV/batch transfer 场景"""
-        tree_set = _make_tree_with_children()
-        root = tree_set.trees[0].root_node
-        nested = root.get_plr_nested_dict()
-
-        # 模拟编译器接收到的参数
-        from_repo = {"StationA": nested}
-        assert "A01" not in from_repo["StationA"]["children"]  # children 按 id 索引
-        assert "R1" in from_repo["StationA"]["children"]
-        assert from_repo["StationA"]["children"]["R1"]["uuid"] == "uuid-r1"
-
-    def test_multiple_resource_path(self):
-        """多个 Resource: 每棵树取根节点"""
-        raw_data1 = [_make_resource_dict(id="R1", uuid="uuid-r1")]
-        raw_data2 = [_make_resource_dict(id="R2", uuid="uuid-r2")]
-        # 模拟 host 返回多棵树
-        tree_set1 = ResourceTreeSet.from_raw_dict_list(raw_data1)
-        tree_set2 = ResourceTreeSet.from_raw_dict_list(raw_data2)
-        results = [
-            tree.root_node.get_plr_nested_dict()
-            for ts in [tree_set1, tree_set2]
-            for tree in ts.trees
-        ]
-        assert len(results) == 2
-        assert results[0]["id"] == "R1"
-        assert results[1]["id"] == "R2"

tests/devices/liquid_handling/README.md

@@ -0,0 +1,15 @@
+# Liquid handling 集成测试
+
+`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
+
+1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
+2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
+3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
+
+```bash
+export UNILAB_SIM_TEST=1
+pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
+```
+
+如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
+

tests/devices/liquid_handling/unit_test.py

@@ -0,0 +1,547 @@
+import asyncio
+from dataclasses import dataclass
+from typing import Any, Iterable, List, Optional, Sequence, Tuple
+
+import pytest
+
+from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
+
+
+@dataclass(frozen=True)
+class DummyContainer:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyContainer({self.name})"
+
+
+@dataclass(frozen=True)
+class DummyTipSpot:
+    name: str
+
+    def __repr__(self) -> str:  # pragma: no cover
+        return f"DummyTipSpot({self.name})"
+
+
+def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
+    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
+    for i in range(n):
+        yield [DummyTipSpot(f"tip_{i}")]
+
+
+class FakeLiquidHandler(LiquidHandlerAbstract):
+    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
+
+    def __init__(self, channel_num: int = 8):
+        # 不调用 super().__init__，避免真实硬件/后端依赖
+        self.channel_num = channel_num
+        self.support_touch_tip = True
+        self.current_tip = iter(make_tip_iter())
+        self.calls: List[Tuple[str, Any]] = []
+
+    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
+        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
+
+    async def aspirate(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "aspirate",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def dispense(
+        self,
+        resources: Sequence[Any],
+        vols: List[float],
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Any = None,
+        liquid_height: Any = None,
+        blow_out_air_volume: Any = None,
+        spread: str = "wide",
+        **backend_kwargs,
+    ):
+        self.calls.append(
+            (
+                "dispense",
+                {
+                    "resources": list(resources),
+                    "vols": list(vols),
+                    "use_channels": list(use_channels) if use_channels is not None else None,
+                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
+                    "offsets": list(offsets) if offsets is not None else None,
+                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
+                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
+                },
+            )
+        )
+
+    async def discard_tips(self, use_channels=None, *args, **kwargs):
+        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
+        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
+
+    async def custom_delay(self, seconds=0, msg=None):
+        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
+
+    async def touch_tip(self, targets):
+        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
+        self.calls.append(("touch_tip", {"targets": targets}))
+
+def run(coro):
+    return asyncio.run(coro)
+
+
+def test_one_to_one_single_channel_basic_calls():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[1, 2, 3],
+      dis_vols=[4, 5, 6],
+      mix_times=None,  # 应该仍能执行（不 mix）
+    )
+  )
+
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
+  assert [c[0] for c in lh.calls].count("aspirate") == 3
+  assert [c[0] for c in lh.calls].count("dispense") == 3
+  assert [c[0] for c in lh.calls].count("discard_tips") == 3
+
+  # 每次 aspirate/dispense 都是单孔列表
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [sources[0]]
+  assert aspirates[0]["vols"] == [1.0]
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[2]["resources"] == [targets[2]]
+  assert dispenses[2]["vols"] == [6.0]
+
+
+def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(16))
+
+  source = DummyContainer("S0")
+  target = DummyContainer("T0")
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5],
+      dis_vols=[5],
+      mix_stage="before",
+      mix_times=1,
+      mix_vol=3,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 2
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [3]
+  transfer_idx, transfer_payload = aspirate_calls[1]
+  assert transfer_payload["resources"] == [source]
+  assert mix_idx < transfer_idx
+
+
+def test_one_to_one_eight_channel_groups_by_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = list(range(1, 17))
+  dis_vols = list(range(101, 117))
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,  # 触发逻辑但不 mix
+    )
+  )
+
+  # 16 个任务 -> 2 组，每组 8 通道一起做
+  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == 2
+  assert len(dispenses) == 2
+
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
+  assert dispenses[1]["resources"] == targets[8:16]
+  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
+
+
+def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer(f"S{i}") for i in range(9)]
+  targets = [DummyContainer(f"T{i}") for i in range(9)]
+
+  with pytest.raises(ValueError, match="multiple of 8"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=list(range(8)),
+        asp_vols=[1] * 9,
+        dis_vols=[1] * 9,
+        mix_times=0,
+      )
+    )
+
+
+def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(512))
+
+  sources = [DummyContainer(f"S{i}") for i in range(16)]
+  targets = [DummyContainer(f"T{i}") for i in range(16)]
+  asp_vols = [i + 1 for i in range(16)]
+  dis_vols = [200 + i for i in range(16)]
+  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
+  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
+  offsets = [f"offset_{i}" for i in range(16)]
+  liquid_heights = [i * 0.5 for i in range(16)]
+  blow_out_air_volume = [i + 0.05 for i in range(16)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      asp_flow_rates=asp_flow_rates,
+      dis_flow_rates=dis_flow_rates,
+      offsets=offsets,
+      liquid_height=liquid_heights,
+      blow_out_air_volume=blow_out_air_volume,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+
+  for batch_idx in range(2):
+    start = batch_idx * 8
+    end = start + 8
+    asp_call = aspirates[batch_idx]
+    dis_call = dispenses[batch_idx]
+    assert asp_call["resources"] == sources[start:end]
+    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
+    assert asp_call["offsets"] == offsets[start:end]
+    assert asp_call["liquid_height"] == liquid_heights[start:end]
+    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
+    assert dis_call["offsets"] == offsets[start:end]
+    assert dis_call["liquid_height"] == liquid_heights[start:end]
+    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
+
+
+def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(1024))
+
+  sources = [DummyContainer(f"S{i}") for i in range(32)]
+  targets = [DummyContainer(f"T{i}") for i in range(32)]
+  asp_vols = [i + 1 for i in range(32)]
+  dis_vols = [300 + i for i in range(32)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(pick_calls) == 4
+  assert len(aspirates) == len(dispenses) == 4
+  assert aspirates[0]["resources"] == sources[0:8]
+  assert aspirates[-1]["resources"] == sources[24:32]
+  assert dispenses[0]["resources"] == targets[0:8]
+  assert dispenses[-1]["resources"] == targets[24:32]
+
+
+def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(3)]
+  dis_vols = [10, 20, 30]  # sum=60
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 1
+  assert aspirates[0]["resources"] == [source]
+  assert aspirates[0]["vols"] == [60.0]
+  assert aspirates[0]["use_channels"] == [0]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
+
+
+def test_one_to_many_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  source = DummyContainer("SRC")
+  targets = [DummyContainer(f"T{i}") for i in range(8)]
+  dis_vols = [i + 1 for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=[source],
+      targets=targets,
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
+      dis_vols=dis_vols,
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert aspirates[0]["resources"] == [source] * 8
+  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert dispenses[0]["resources"] == targets
+  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
+  assert all(d["resources"] == [target] for d in dispenses)
+
+
+def test_many_to_one_single_channel_before_stage_mixes_target_once():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  target = DummyContainer("T")
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=[5, 6],
+      dis_vols=1,
+      mix_stage="before",
+      mix_times=2,
+      mix_vol=4,
+    )
+  )
+
+  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
+  assert len(aspirate_calls) >= 1
+  mix_idx, mix_payload = aspirate_calls[0]
+  assert mix_payload["resources"] == [target]
+  assert mix_payload["vols"] == [4]
+  # 第一個 mix 之後會真正開始吸 source
+  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
+
+
+def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
+  lh = FakeLiquidHandler(channel_num=1)
+  lh.current_tip = iter(make_tip_iter(128))
+
+  sources = [DummyContainer(f"S{i}") for i in range(3)]
+  target = DummyContainer("T")
+  asp_vols = [5, 6, 7]
+  dis_vols = [1, 2, 3]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=[0],
+      asp_vols=asp_vols,
+      dis_vols=dis_vols,  # 比例模式
+      mix_times=0,
+    )
+  )
+
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
+
+
+def test_many_to_one_eight_channel_basic():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(256))
+
+  sources = [DummyContainer(f"S{i}") for i in range(8)]
+  target = DummyContainer("T")
+  asp_vols = [10 + i for i in range(8)]
+
+  run(
+    lh.transfer_liquid(
+      sources=sources,
+      targets=[target],
+      tip_racks=[],
+      use_channels=list(range(8)),
+      asp_vols=asp_vols,
+      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
+      mix_times=0,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert aspirates[0]["resources"] == sources
+  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
+  assert dispenses[0]["resources"] == [target] * 8
+  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
+
+
+def test_transfer_liquid_mode_detection_unsupported_shape_raises():
+  lh = FakeLiquidHandler(channel_num=8)
+  lh.current_tip = iter(make_tip_iter(64))
+
+  sources = [DummyContainer("S0"), DummyContainer("S1")]
+  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
+
+  with pytest.raises(ValueError, match="Unsupported transfer mode"):
+    run(
+      lh.transfer_liquid(
+        sources=sources,
+        targets=targets,
+        tip_racks=[],
+        use_channels=[0],
+        asp_vols=[1, 1],
+        dis_vols=[1, 1, 1],
+        mix_times=0,
+      )
+    )
+
+
+def test_mix_single_target_produces_matching_cycles():
+  lh = FakeLiquidHandler(channel_num=1)
+  target = DummyContainer("T_mix")
+
+  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
+  assert len(aspirates) == len(dispenses) == 2
+  assert all(call["resources"] == [target] for call in aspirates)
+  assert all(call["vols"] == [5] for call in aspirates)
+  assert all(call["resources"] == [target] for call in dispenses)
+  assert all(call["vols"] == [5] for call in dispenses)
+
+
+def test_mix_multiple_targets_supports_per_target_offsets():
+  lh = FakeLiquidHandler(channel_num=1)
+  targets = [DummyContainer("T0"), DummyContainer("T1")]
+  offsets = ["left", "right"]
+  heights = [0.1, 0.2]
+  rates = [0.5, 1.0]
+
+  run(
+    lh.mix(
+      targets=targets,
+      mix_time=1,
+      mix_vol=3,
+      offsets=offsets,
+      height_to_bottom=heights,
+      mix_rate=rates,
+    )
+  )
+
+  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
+  assert len(aspirates) == 2
+  assert aspirates[0]["resources"] == [targets[0]]
+  assert aspirates[0]["offsets"] == [offsets[0]]
+  assert aspirates[0]["liquid_height"] == [heights[0]]
+  assert aspirates[0]["flow_rates"] == [rates[0]]
+  assert aspirates[1]["resources"] == [targets[1]]
+  assert aspirates[1]["offsets"] == [offsets[1]]
+  assert aspirates[1]["liquid_height"] == [heights[1]]
+  assert aspirates[1]["flow_rates"] == [rates[1]]
+
+

tests/devices/test_agv_transport_station.py

@@ -1,137 +0,0 @@
-"""
-AGVTransportStation driver 测试
-
-覆盖：初始化、carrier property、slot 查询、路由查询、capacity 计算。
-"""
-
-import pytest
-from unittest.mock import MagicMock, patch
-
-from unilabos.devices.transport.agv_workstation import AGVTransportStation
-from unilabos.resources.warehouse import WareHouse, warehouse_factory
-
-
-class TestAGVTransportStation:
-    def _make_driver(self, route_table=None, device_roles=None):
-        """创建一个 AGVTransportStation 实例"""
-        return AGVTransportStation(
-            deck=None,
-            route_table=route_table or {
-                "A->B": {"nav_command": '{"target":"LM1"}', "arm_pick": "pick.urp", "arm_place": "place.urp"}
-            },
-            device_roles=device_roles or {"navigator": "agv_nav", "arm": "agv_arm"},
-        )
-
-    def _make_warehouse(self, name="agv_platform", nx=2, ny=1, nz=1):
-        """创建一个测试用 Warehouse"""
-        return warehouse_factory(name=name, num_items_x=nx, num_items_y=ny, num_items_z=nz)
-
-    def test_init_deck_none(self):
-        """AGVTransportStation 初始化时 deck=None"""
-        driver = self._make_driver()
-        assert driver.deck is None
-
-    def test_init_route_table(self):
-        """路由表正确存储"""
-        driver = self._make_driver()
-        assert "A->B" in driver.route_table
-
-    def test_init_device_roles(self):
-        """设备角色正确存储"""
-        driver = self._make_driver()
-        assert driver.device_roles["navigator"] == "agv_nav"
-        assert driver.device_roles["arm"] == "agv_arm"
-
-    def test_carrier_without_ros_node(self):
-        """未 post_init 时 carrier 返回 None"""
-        driver = self._make_driver()
-        assert driver.carrier is None
-
-    def test_carrier_with_warehouse(self):
-        """post_init 后 carrier 返回正确的 WareHouse"""
-        driver = self._make_driver()
-        wh = self._make_warehouse()
-
-        # 模拟 ros_node 和 resource_tracker
-        mock_ros_node = MagicMock()
-        mock_ros_node.resource_tracker.resources = [wh]
-        mock_ros_node.device_id = "AGV"
-        driver.post_init(mock_ros_node)
-
-        assert driver.carrier is wh
-        assert isinstance(driver.carrier, WareHouse)
-
-    def test_capacity(self):
-        """容量计算正确"""
-        driver = self._make_driver()
-        wh = self._make_warehouse(nx=2, ny=1, nz=1)
-        mock_ros_node = MagicMock()
-        mock_ros_node.resource_tracker.resources = [wh]
-        mock_ros_node.device_id = "AGV"
-        driver.post_init(mock_ros_node)
-
-        assert driver.capacity == 2
-
-    def test_capacity_multi_layer(self):
-        """多层 Warehouse 容量"""
-        driver = self._make_driver()
-        wh = self._make_warehouse(nx=1, ny=2, nz=3)
-        mock_ros_node = MagicMock()
-        mock_ros_node.resource_tracker.resources = [wh]
-        mock_ros_node.device_id = "AGV"
-        driver.post_init(mock_ros_node)
-
-        assert driver.capacity == 6
-
-    def test_capacity_no_carrier(self):
-        """无 carrier 时容量为 0"""
-        driver = self._make_driver()
-        assert driver.capacity == 0
-
-    def test_free_slots(self):
-        """空载时所有 slot 为空闲"""
-        driver = self._make_driver()
-        wh = self._make_warehouse(nx=2, ny=1, nz=1)
-        mock_ros_node = MagicMock()
-        mock_ros_node.resource_tracker.resources = [wh]
-        mock_ros_node.device_id = "AGV"
-        driver.post_init(mock_ros_node)
-
-        free = driver.free_slots
-        assert len(free) == 2
-
-    def test_occupied_slots_empty(self):
-        """空载时 occupied_slots 为空"""
-        driver = self._make_driver()
-        wh = self._make_warehouse(nx=2, ny=1, nz=1)
-        mock_ros_node = MagicMock()
-        mock_ros_node.resource_tracker.resources = [wh]
-        mock_ros_node.device_id = "AGV"
-        driver.post_init(mock_ros_node)
-
-        assert len(driver.occupied_slots) == 0
-
-    def test_resolve_route(self):
-        """路由查询返回正确的指令"""
-        driver = self._make_driver()
-        route = driver.resolve_route("A", "B")
-        assert route["nav_command"] == '{"target":"LM1"}'
-        assert route["arm_pick"] == "pick.urp"
-
-    def test_resolve_route_not_found(self):
-        """查询不存在的路线时抛出 KeyError"""
-        driver = self._make_driver()
-        with pytest.raises(KeyError, match="路由表"):
-            driver.resolve_route("X", "Y")
-
-    def test_get_device_id(self):
-        """获取子设备 ID"""
-        driver = self._make_driver()
-        assert driver.get_device_id("navigator") == "agv_nav"
-        assert driver.get_device_id("arm") == "agv_arm"
-
-    def test_get_device_id_not_found(self):
-        """获取不存在的角色时抛出 KeyError"""
-        driver = self._make_driver()
-        with pytest.raises(KeyError, match="未配置设备角色"):
-            driver.get_device_id("gripper")

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.10.17"

unilabos/__main__.py

@@ -1,6 +0,0 @@
-"""Entry point for `python -m unilabos`."""
-
-from unilabos.app.main import main
-
-if __name__ == "__main__":
-    main()

unilabos/app/main.py

@@ -1,10 +1,8 @@
 import argparse
 import asyncio
 import os
-import platform
 import shutil
 import signal
-import subprocess
 import sys
 import threading
 import time
@@ -26,84 +24,6 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 _restart_requested: bool = False
 _restart_reason: str = ""
 
-RESTART_EXIT_CODE = 42
-
-
-def _build_child_argv():
-    """Build sys.argv for child process, stripping supervisor-only arguments."""
-    result = []
-    skip_next = False
-    for arg in sys.argv:
-        if skip_next:
-            skip_next = False
-            continue
-        if arg in ("--restart_mode", "--restart-mode"):
-            continue
-        if arg in ("--auto_restart_count", "--auto-restart-count"):
-            skip_next = True
-            continue
-        if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
-            continue
-        result.append(arg)
-    return result
-
-
-def _run_as_supervisor(max_restarts: int):
-    """
-    Supervisor process that spawns and monitors child processes.
-
-    Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
-    it only launches the real process as a child and restarts it when the child
-    exits with RESTART_EXIT_CODE.
-    """
-    child_argv = [sys.executable] + _build_child_argv()
-    restart_count = 0
-
-    print_status(
-        f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
-        f"child command: {' '.join(child_argv)}",
-        "info",
-    )
-
-    while True:
-        print_status(
-            f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
-            "info",
-        )
-
-        try:
-            process = subprocess.Popen(child_argv)
-            exit_code = process.wait()
-        except KeyboardInterrupt:
-            print_status("[Supervisor] Interrupted, terminating child process...", "info")
-            process.terminate()
-            try:
-                process.wait(timeout=10)
-            except subprocess.TimeoutExpired:
-                process.kill()
-                process.wait()
-            sys.exit(1)
-
-        if exit_code == RESTART_EXIT_CODE:
-            restart_count += 1
-            if restart_count > max_restarts:
-                print_status(
-                    f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
-                    "warning",
-                )
-                sys.exit(1)
-            print_status(
-                f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
-                "info",
-            )
-            time.sleep(2)
-        else:
-            if exit_code != 0:
-                print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
-            else:
-                print_status("[Supervisor] Child exited normally", "info")
-            sys.exit(exit_code)
-
 
 def load_config_from_file(config_path):
     if config_path is None:
@@ -145,13 +65,6 @@ def parse_args():
         action="append",
         help="Path to the registry directory",
     )
-    parser.add_argument(
-        "--devices",
-        type=str,
-        default=None,
-        action="append",
-        help="Path to Python code directory for AST-based device/resource scanning",
-    )
     parser.add_argument(
         "--working_dir",
         type=str,
@@ -241,53 +154,23 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="Complete registry information",
+    )
     parser.add_argument(
         "--check_mode",
         action="store_true",
         default=False,
         help="Run in check mode for CI: validates registry imports and ensures no file changes",
     )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete and rewrite YAML registry files using AST analysis results",
-    )
     parser.add_argument(
         "--no_update_feedback",
         action="store_true",
         help="Disable sending update feedback to server",
     )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
-    parser.add_argument(
-        "--external_devices_only",
-        action="store_true",
-        default=False,
-        help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
-    )
-    parser.add_argument(
-        "--extra_resource",
-        action="store_true",
-        default=False,
-        help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
-    )
-    parser.add_argument(
-        "--restart_mode",
-        action="store_true",
-        default=False,
-        help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
-    )
-    parser.add_argument(
-        "--auto_restart_count",
-        type=int,
-        default=500,
-        help="Maximum number of automatic restarts in restart mode (default: 500)",
-    )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
@@ -321,12 +204,6 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
     return parser
 
 
@@ -338,88 +215,68 @@ def main():
     args = parser.parse_args()
     args_dict = vars(args)
 
-    # Supervisor mode: spawn child processes and monitor for restart
-    if args_dict.get("restart_mode", False):
-        _run_as_supervisor(args_dict.get("auto_restart_count", 5))
-        return
-
     # 环境检查 - 检查并自动安装必需的包 (可选)
     skip_env_check = args_dict.get("skip_env_check", False)
     check_mode = args_dict.get("check_mode", False)
 
     if not skip_env_check:
-        from unilabos.utils.environment_check import check_environment, check_device_package_requirements
+        from unilabos.utils.environment_check import check_environment
 
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
-
-        # 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
-        devices_dirs_for_req = args_dict.get("devices", None)
-        if devices_dirs_for_req:
-            if not check_device_package_requirements(devices_dirs_for_req):
-                print_status("设备包依赖检查失败，程序退出", "error")
-                os._exit(1)
     else:
         print_status("跳过环境依赖检查", "warning")
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
 
-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
+    if check_mode:
+        args_dict["working_dir"] = os.path.abspath(os.getcwd())
+    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
+    if skip_env_check and not args_dict.get("working_dir") and not config_path:
         working_dir = os.path.abspath(os.getcwd())
-
-    # unilabos_data 子目录自动检测
-    if os.path.basename(working_dir) != "unilabos_data":
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
-        if os.path.isdir(unilabos_data_sub):
-            working_dir = unilabos_data_sub
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
-            # 未显式指定路径，默认使用 cwd/unilabos_data
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
+        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
+        # 检查当前目录是否有 local_config.py
+        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(local_config_in_cwd):
+            config_path = local_config_in_cwd
             print_status(f"发现本地配置文件: {config_path}", "info")
         else:
             print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
+    elif os.getcwd().endswith("unilabos_data"):
+        working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir", "")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not skip_env_check and not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)
 
     # 加载配置文件 (check_mode 跳过)
     print_status(f"当前工作目录为 {working_dir}", "info")
@@ -431,9 +288,7 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -477,66 +332,46 @@ def main():
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
-    BasicConfig.extra_resource = args_dict.get("extra_resource", False)
-    if BasicConfig.extra_resource:
-        print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
     BasicConfig.communication_protocol = "websocket"
-    machine_name = platform.node()
+    machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
     BasicConfig.vis_2d_enable = args_dict["2d_vis"]
     BasicConfig.check_mode = check_mode
 
-    from unilabos.registry.registry import build_registry
-
-    # 显示启动横幅
-    print_unilab_banner(args_dict)
-
-    # Step 0: AST 分析优先 + YAML 注册表加载
-    # check_mode 和 upload_registry 都会执行实际 import 验证
-    devices_dirs = args_dict.get("devices", None)
-    complete_registry = args_dict.get("complete_registry", False) or check_mode
-    external_only = args_dict.get("external_devices_only", False)
-    lab_registry = build_registry(
-        registry_paths=args_dict["registry_path"],
-        devices_dirs=devices_dirs,
-        upload_registry=BasicConfig.upload_registry,
-        check_mode=check_mode,
-        complete_registry=complete_registry,
-        external_only=external_only,
-    )
-
-    # Check mode: 注册表验证完成后直接退出
-    if check_mode:
-        device_count = len(lab_registry.device_type_registry)
-        resource_count = len(lab_registry.resource_type_registry)
-        print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
-        os._exit(0)
-
-    # 以下导入依赖 ROS2 环境，check_mode 已退出不需要
     from unilabos.resources.graphio import (
         read_node_link_json,
         read_graphml,
         dict_from_graph,
-        modify_to_backend_format,
     )
     from unilabos.app.communication import get_communication_client
+    from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
     from unilabos.app.register import register_devices_and_resources
+    from unilabos.resources.graphio import modify_to_backend_format
     from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
 
-    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
+    # 显示启动横幅
+    print_unilab_banner(args_dict)
+
+    # 注册表 - check_mode 时强制启用 complete_registry
+    complete_registry = args_dict.get("complete_registry", False) or check_mode
+    lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
+
+    # Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
+    if check_mode:
+        print_status("Check mode: complete_registry 完成，退出", "info")
+        os._exit(0)
+
     if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
         if BasicConfig.ak and BasicConfig.sk:
-            # print_status("开始注册设备到服务端...", "info")
+            print_status("开始注册设备到服务端...", "info")
             try:
                 register_devices_and_resources(lab_registry)
-                # print_status("设备注册完成", "info")
+                print_status("设备注册完成", "info")
             except Exception as e:
                 print_status(f"设备注册失败: {e}", "error")
         else:
@@ -553,13 +388,8 @@ def main():
         os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
-        if BasicConfig.test_mode:
-            print_status("测试模式：跳过 ak/sk 检查，使用占位凭据", "warning")
-            BasicConfig.ak = BasicConfig.ak or "test_ak"
-            BasicConfig.sk = BasicConfig.sk or "test_sk"
-        else:
-            print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
-            os._exit(1)
+        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+        os._exit(1)
     graph: nx.Graph
     resource_tree_set: ResourceTreeSet
     resource_links: List[Dict[str, Any]]
@@ -626,16 +456,12 @@ def main():
             continue
 
     # 如果从远端获取了物料信息，则与本地物料进行同步
-    if file_path is not None and request_startup_json and "nodes" in request_startup_json:
+    if request_startup_json and "nodes" in request_startup_json:
         print_status("开始同步远端物料到本地...", "info")
         remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
         resource_tree_set.merge_remote_resources(remote_tree_set)
         print_status("远端物料同步完成", "info")
 
-    # 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
-    # TODO: 当 community device package 功能上线后，在这里调用
-    #   install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
-
     # 使用 ResourceTreeSet 代替 list
     args_dict["resources_config"] = resource_tree_set
     args_dict["devices_config"] = resource_tree_set
@@ -727,10 +553,6 @@ def main():
             open_browser=not args_dict["disable_browser"],
             port=BasicConfig.port,
         )
-        if restart_requested:
-            print_status("[Main] Restart requested, cleaning up...", "info")
-            cleanup_for_restart()
-            os._exit(RESTART_EXIT_CODE)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -54,7 +54,6 @@ class JobAddReq(BaseModel):
     action_type: str = Field(
         examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
     )
-    sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid")
     action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
     task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")

unilabos/app/register.py

@@ -1,8 +1,9 @@
+import json
 import time
-from typing import Any, Dict, Optional, Tuple
+from typing import Optional, Tuple, Dict, Any
 
 from unilabos.utils.log import logger
-from unilabos.utils.tools import normalize_json as _normalize_device
+from unilabos.utils.type_check import TypeEncoder
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
     注册设备和资源到服务器（仅支持HTTP）
     """
 
+    # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
+    # 注册设备信息
     devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = _normalize_device(device_info)
-        logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
+        devices_to_register[device_info["id"]] = json.loads(
+            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
+        )
+        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
 
     resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
         resources_to_register[resource_info["id"]] = resource_info
-        logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
     if gather_only:
         return devices_to_register, resources_to_register
-
+    # 注册设备
     if devices_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry(
-                {"resources": list(devices_to_register.values())},
-                tag="device_registry",
-            )
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
             cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
-            skipped = res_data.get("data", {}).get("skipped", False)
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 设备注册跳过（内容未变化）"
-                    f" {len(devices_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
+    # 注册资源
     if resources_to_register:
         try:
             start_time = time.time()
-            response = http_client.resource_registry(
-                {"resources": list(resources_to_register.values())},
-                tag="resource_registry",
-            )
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
             cost_time = time.time() - start_time
-            res_data = response.json() if response.status_code == 200 else {}
-            skipped = res_data.get("data", {}).get("skipped", False)
-            if skipped:
-                logger.info(
-                    f"[UniLab Register] 资源注册跳过（内容未变化）"
-                    f" {len(resources_to_register)} 个 {cost_time:.3f}s"
-                )
-            elif response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
+
+    logger.info("[UniLab Register] 设备和资源注册完成.")

unilabos/app/web/api.py

@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
                                 "result": {},
                                 "schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
                                 "goal_default": {i["name"]: i["default"] for i in v["args"]},
-                                "handles": {},
+                                "handles": [],
                             }
                             # 不生成已配置action的动作
                             for k, v in enhanced_info["action_methods"].items()
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
     # 启动广播任务
     @app.on_event("startup")
     async def startup_event():
-        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
-        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
+        asyncio.create_task(broadcast_device_status())
+        asyncio.create_task(broadcast_status_page_data())

unilabos/app/web/client.py

@@ -3,13 +3,11 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-import gzip
+
 import json
 import os
 from typing import List, Dict, Any, Optional
 
-from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
-
 import requests
 from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
@@ -282,54 +280,22 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(
-        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
-    ) -> requests.Response:
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
         """
-        注册资源到服务器，同步保存请求/响应到 unilabos_data
+        注册资源到服务器
 
         Args:
             registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
-            tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
 
         Returns:
             Response: API响应对象
         """
-        # 序列化一次，同时用于保存和发送
-        json_bytes = _fast_dumps(registry_data)
-
-        # 保存请求数据到 unilabos_data
-        req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
-        try:
-            os.makedirs(BasicConfig.working_dir, exist_ok=True)
-            with open(req_path, "wb") as f:
-                f.write(_fast_dumps_pretty(registry_data))
-            logger.trace(f"注册表请求数据已保存: {req_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表请求数据失败: {e}")
-
-        compressed_body = gzip.compress(json_bytes)
-        headers = {
-            "Authorization": f"Lab {self.auth}",
-            "Content-Type": "application/json",
-            "Content-Encoding": "gzip",
-        }
         response = requests.post(
             f"{self.remote_addr}/lab/resource",
-            data=compressed_body,
-            headers=headers,
+            json=registry_data,
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=30,
         )
-
-        # 保存响应数据到 unilabos_data
-        res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
-        try:
-            with open(res_path, "w", encoding="utf-8") as f:
-                f.write(f"{response.status_code}\n{response.text}")
-            logger.trace(f"注册表响应数据已保存: {res_path}")
-        except Exception as e:
-            logger.warning(f"保存注册表响应数据失败: {e}")
-
         if response.status_code not in [200, 201]:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
         if response.status_code == 200:
@@ -377,10 +343,9 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
-        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
+        导入工作流到服务器
 
         Args:
             name: 工作流名称（顶层）
@@ -390,7 +355,6 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
@@ -403,6 +367,7 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
+                "published": published,
             },
         }
         # 保存请求到文件
@@ -423,51 +388,11 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controller.py

@@ -58,14 +58,14 @@ class JobResultStore:
                 feedback=feedback or {},
                 timestamp=time.time(),
             )
-            logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
 
     def get_and_remove(self, job_id: str) -> Optional[JobResult]:
         """获取并删除任务结果"""
         with self._results_lock:
             result = self._results.pop(job_id, None)
             if result:
-                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:
@@ -327,7 +327,6 @@ def job_add(req: JobAddReq) -> JobData:
             queue_item,
             action_type=action_type,
             action_kwargs=action_args,
-            sample_material=req.sample_material,
             server_info=server_info,
         )
 

unilabos/app/web/server.py

@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
     # 设置页面路由
     try:
         setup_web_pages(pages)
-        # info("[Web] 已加载Web UI模块")
+        info("[Web] 已加载Web UI模块")
     except ImportError as e:
         info(f"[Web] 未找到Web页面模块: {str(e)}")
     except Exception as e:
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
     server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
     server_thread.start()
 
-    # info("[Web] Server started, monitoring for restart requests...")
+    info("[Web] Server started, monitoring for restart requests...")
 
     # 监控重启标志
     import unilabos.app.main as main_module

unilabos/app/ws_client.py

@@ -23,10 +23,9 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from typing_extensions import TypedDict
+from jedi.inference.gradual.typing import TypedDict
 
 from unilabos.app.model import JobAddReq
-from unilabos.resources.resource_tracker import ResourceDictType
 from unilabos.ros.nodes.presets.host_node import HostNode
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.app.communication import BaseCommunicationClient
@@ -77,7 +76,6 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
-    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -129,15 +127,6 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
-            # always_free的动作不受排队限制，直接设为READY
-            if job_info.always_free:
-                job_info.status = JobStatus.READY
-                job_info.update_timestamp()
-                job_info.set_ready_timeout(10)
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
-                return True
-
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -165,7 +154,7 @@ class DeviceActionManager:
             job_info.set_ready_timeout(10)  # 设置10秒超时
             self.active_jobs[device_key] = job_info
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -187,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # always_free的job不需要检查active_jobs
-            if not job_info.always_free:
-                # 检查设备上是否是这个job
-                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                    job_log = format_job_log(
-                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
-                    )
-                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                    return False
+            # 检查设备上是否是这个job
+            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -218,13 +203,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理，不影响队列
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                job_info.update_timestamp()
-                del self.all_jobs[job_id]
-                return None
-
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -232,9 +210,8 @@ class DeviceActionManager:
                 job_info.update_timestamp()
                 # 从all_jobs中移除已结束的job
                 del self.all_jobs[job_id]
-                # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
-                pass
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
             else:
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
                 logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}")
@@ -250,20 +227,15 @@ class DeviceActionManager:
                 next_job_log = format_job_log(
                     next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                 )
-                logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
                 return next_job
 
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            jobs = list(self.active_jobs.values())
-            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
-                    jobs.append(job)
-            return jobs
+            return list(self.active_jobs.values())
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -288,14 +260,6 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
-            # always_free的job直接清理
-            if job_info.always_free:
-                job_info.status = JobStatus.ENDED
-                del self.all_jobs[job_id]
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
-                return True
-
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -304,7 +268,7 @@ class DeviceActionManager:
                 # 从all_jobs中移除
                 del self.all_jobs[job_id]
                 job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
 
                 # 启动下一个任务
                 if device_key in self.device_queues and self.device_queues[device_key]:
@@ -317,7 +281,7 @@ class DeviceActionManager:
                     next_job_log = format_job_log(
                         next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -331,7 +295,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
                     return True
 
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
@@ -369,18 +333,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
-            ready_candidates = list(self.active_jobs.values())
-            for job in self.all_jobs.values():
-                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
-                    ready_candidates.append(job)
-
-            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
+            # 统计READY状态的任务数量
+            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -409,7 +368,6 @@ class MessageProcessor:
         # 线程控制
         self.is_running = False
         self.thread = None
-        self._loop = None  # asyncio event loop引用，用于外部关闭websocket
         self.reconnect_count = 0
 
         logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
@@ -436,31 +394,22 @@ class MessageProcessor:
     def stop(self) -> None:
         """停止消息处理线程"""
         self.is_running = False
-        # 主动关闭websocket以快速中断消息接收循环
-        ws = self.websocket
-        loop = self._loop
-        if ws and loop and loop.is_running():
-            try:
-                asyncio.run_coroutine_threadsafe(ws.close(), loop)
-            except Exception:
-                pass
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[MessageProcessor] Stopped")
 
     def _run(self):
         """运行消息处理主循环"""
-        self._loop = asyncio.new_event_loop()
+        loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(self._loop)
-            self._loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(loop)
+            loop.run_until_complete(self._connection_handler())
         except Exception as e:
             logger.error(f"[MessageProcessor] Thread error: {str(e)}")
             logger.error(traceback.format_exc())
         finally:
-            if self._loop:
-                self._loop.close()
-            self._loop = None
+            if loop:
+                loop.close()
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -477,10 +426,8 @@ class MessageProcessor:
                 async with websockets.connect(
                     self.websocket_url,
                     ssl=ssl_context,
-                    open_timeout=20,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
-                    close_timeout=5,
                     additional_headers={
                         "Authorization": f"Lab {BasicConfig.auth_secret()}",
                         "EdgeSession": f"{self.session_id}",
@@ -491,94 +438,77 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
+                    logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
 
                     # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
-
-                    # 每次连接（含重连）后重新向服务端注册，
-                    # 否则服务端不知道客户端已上线，不会推送消息。
-                    if self.websocket_client:
-                        self.websocket_client.publish_host_ready()
+                    send_task = asyncio.create_task(self._send_handler())
 
                     try:
                         # 接收消息循环
                         await self._message_handler()
                     finally:
-                        # 必须在 async with __aexit__ 之前停止 send_task，
-                        # 否则 send_task 会在关闭握手期间继续发送数据，
-                        # 干扰 websockets 库的内部清理，导致 task 泄漏。
-                        self.connected = False
                         send_task.cancel()
                         try:
                             await send_task
                         except asyncio.CancelledError:
                             pass
+                        self.connected = False
 
             except websockets.exceptions.ConnectionClosed:
-                logger.warning("[MessageProcessor] 与服务端连接中断")
-            except TimeoutError:
-                logger.warning(
-                    f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
-                )
-            except websockets.exceptions.InvalidStatus as e:
-                logger.warning(
-                    f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
-                )
-            except Exception as e:
-                logger.error(traceback.format_exc())
-                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
-            finally:
+                logger.warning("[MessageProcessor] Connection closed")
                 self.connected = False
+            except Exception as e:
+                logger.error(f"[MessageProcessor] Connection error: {str(e)}")
+                logger.error(traceback.format_exc())
+                self.connected = False
+            finally:
                 self.websocket = None
 
             # 重连逻辑
-            if not self.is_running:
-                break
-            if self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
-                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
+                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(backoff)
-            else:
+                await asyncio.sleep(WSConfig.reconnect_interval)
+            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
                 logger.error("[MessageProcessor] Max reconnection attempts reached")
                 break
+            else:
+                self.reconnect_count -= 1
 
     async def _message_handler(self):
-        """处理接收到的消息。
-
-        ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
-        以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
-        正确清理内部 task，避免 task 泄漏。
-        """
+        """处理接收到的消息"""
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        async for message in self.websocket:
-            try:
-                data = json.loads(message)
-                message_type = data.get("action", "")
-                message_data = data.get("data")
-                if self.session_id and self.session_id == data.get("edge_session"):
-                    await self._process_message(message_type, message_data)
-                else:
-                    if message_type.endswith("_material"):
-                        logger.trace(
-                            f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
-                        )
-                        logger.debug(
-                            f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
-                        )
-                    else:
+        try:
+            async for message in self.websocket:
+                try:
+                    data = json.loads(message)
+                    message_type = data.get("action", "")
+                    message_data = data.get("data")
+                    if self.session_id and self.session_id == data.get("edge_session"):
                         await self._process_message(message_type, message_data)
-            except json.JSONDecodeError:
-                logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
-            except Exception as e:
-                logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
-                logger.error(traceback.format_exc())
+                    else:
+                        if message_type.endswith("_material"):
+                            logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}")
+                            logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}")
+                        else:
+                            await self._process_message(message_type, message_data)
+                except json.JSONDecodeError:
+                    logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
+                except Exception as e:
+                    logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
+                    logger.error(traceback.format_exc())
+
+        except websockets.exceptions.ConnectionClosed:
+            logger.info("[MessageProcessor] Message handler stopped - connection closed")
+        except Exception as e:
+            logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
+            logger.error(traceback.format_exc())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
@@ -610,7 +540,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -627,7 +557,6 @@ class MessageProcessor:
 
         except asyncio.CancelledError:
             logger.debug("[MessageProcessor] Send handler cancelled")
-            raise
         except Exception as e:
             logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
             logger.error(traceback.format_exc())
@@ -636,7 +565,7 @@ class MessageProcessor:
 
     async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
+        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -659,10 +588,6 @@ class MessageProcessor:
             # elif message_type == "session_id":
             #     self.session_id = message_data.get("session_id")
             #     logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
-            elif message_type == "add_device":
-                await self._handle_device_manage(message_data, "add")
-            elif message_type == "remove_device":
-                await self._handle_device_manage(message_data, "remove")
             elif message_type == "request_restart":
                 await self._handle_request_restart(message_data)
             else:
@@ -678,24 +603,6 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
-    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
-        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
-        try:
-            host_node = HostNode.get_instance(0)
-            if not host_node:
-                return False
-            # noinspection PyProtectedMember
-            action_mappings = host_node._action_value_mappings.get(device_id)
-            if not action_mappings:
-                return False
-            # 尝试直接匹配或 auto- 前缀匹配
-            for key in [action_name, f"auto-{action_name}"]:
-                if key in action_mappings:
-                    return action_mappings[key].get("always_free", False)
-            return False
-        except Exception:
-            return False
-
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -710,9 +617,6 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
-        # 检查action是否为always_free
-        action_always_free = self._check_action_always_free(device_id, action_name)
-
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -722,7 +626,6 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
-            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -734,13 +637,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
         else:
             # 需要排队
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", False, 10
             )
-            logger.trace(f"[MessageProcessor] Job {job_log} queued")
+            logger.info(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -749,37 +652,9 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
-            if not data.get("sample_material"):
-                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
-
-            # 服务端对always_free动作可能跳过query_action_state直接发job_start，
-            # 此时job尚未注册，需要自动补注册
-            existing_job = self.device_manager.get_job_info(req.job_id)
-            if not existing_job:
-                action_name = req.action
-                device_action_key = f"/devices/{req.device_id}/{action_name}"
-                action_always_free = self._check_action_always_free(req.device_id, action_name)
-
-                if action_always_free:
-                    job_info = JobInfo(
-                        job_id=req.job_id,
-                        task_id=req.task_id,
-                        device_id=req.device_id,
-                        action_name=action_name,
-                        device_action_key=device_action_key,
-                        status=JobStatus.QUEUE,
-                        start_time=time.time(),
-                        always_free=True,
-                    )
-                    self.device_manager.add_queue_request(job_info)
-                    logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
-                else:
-                    logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
-                    return
-
             success = self.device_manager.start_job(req.job_id)
             if not success:
                 logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -808,7 +683,6 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
-                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -973,7 +847,9 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}")
+                    logger.info(
+                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                    )
                 else:
                     # 正常update
                     key = (device_id, "update")
@@ -987,9 +863,7 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.trace(
-            f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}"
-        )
+        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
@@ -1025,77 +899,45 @@ class MessageProcessor:
             )
             thread.start()
 
-    async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
-        """Handle add_device / remove_device from LabGo server."""
-        if not device_list:
-            return
-
-        for item in device_list:
-            target_node_id = item.get("target_node_id", "host_node")
-
-            def _notify(target_id: str, act: str, cfg: ResourceDictType):
-                try:
-                    host_node = HostNode.get_instance(timeout=5)
-                    if not host_node:
-                        logger.error(f"[DeviceManage] HostNode not available for {act}_device")
-                        return
-                    success = host_node.notify_device_manage(target_id, act, cfg)
-                    if success:
-                        logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
-                    else:
-                        logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
-                except Exception as e:
-                    logger.error(f"[DeviceManage] Error in {act}_device: {e}")
-                    logger.error(traceback.format_exc())
-
-            thread = threading.Thread(
-                target=_notify,
-                args=(target_node_id, action, item),
-                daemon=True,
-                name=f"DeviceManage-{action}-{item.get('id', '')}",
-            )
-            thread.start()
-
     async def _handle_request_restart(self, data: Dict[str, Any]):
         """
         处理重启请求
-
+        
         当LabGo发送request_restart时，执行清理并触发重启
         """
         reason = data.get("reason", "unknown")
         delay = data.get("delay", 2)  # 默认延迟2秒
         logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
-
+        
         # 发送确认消息
-        self.send_message(
-            {"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
-        )
-
+        if self.websocket_client:
+            await self.websocket_client.send_message({
+                "action": "restart_acknowledged",
+                "data": {"reason": reason, "delay": delay}
+            })
+        
         # 设置全局重启标志
         import unilabos.app.main as main_module
-
         main_module._restart_requested = True
         main_module._restart_reason = reason
-
+        
         # 延迟后执行清理
         await asyncio.sleep(delay)
-
+        
         # 在新线程中执行清理，避免阻塞当前事件循环
         def do_cleanup():
             import time
-
             time.sleep(0.5)  # 给当前消息处理完成的时间
             logger.info(f"[MessageProcessor] Starting cleanup for restart, reason: {reason}")
             try:
                 from unilabos.app.utils import cleanup_for_restart
-
                 if cleanup_for_restart():
                     logger.info("[MessageProcessor] Cleanup successful, main() will restart")
                 else:
                     logger.error("[MessageProcessor] Cleanup failed")
             except Exception as e:
                 logger.error(f"[MessageProcessor] Error during cleanup: {e}")
-
+        
         cleanup_thread = threading.Thread(target=do_cleanup, name="RestartCleanupThread", daemon=True)
         cleanup_thread.start()
         logger.info(f"[MessageProcessor] Restart cleanup scheduled")
@@ -1171,7 +1013,6 @@ class QueueProcessor:
     def stop(self) -> None:
         """停止队列处理线程"""
         self.is_running = False
-        self.queue_update_event.set()  # 立即唤醒等待中的线程
         if self.thread and self.thread.is_alive():
             self.thread.join(timeout=2)
         logger.info("[QueueProcessor] Stopped")
@@ -1272,11 +1113,6 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
-            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
-            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
-            if job_info.status != JobStatus.QUEUE:
-                continue
-
             message = {
                 "action": "report_action_state",
                 "data": {
@@ -1292,7 +1128,7 @@ class QueueProcessor:
             success = self.message_processor.send_message(message)
             job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
             if success:
-                logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
             else:
                 logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}")
 
@@ -1315,7 +1151,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
 
         # 结束任务，获取下一个可执行的任务
         next_job = self.device_manager.end_job(job_id)
@@ -1335,8 +1171,8 @@ class QueueProcessor:
                 },
             }
             self.message_processor.send_message(message)
-            # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
-            # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start")
+            next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name)
+            logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start")
 
             # 立即触发下一轮状态检查
             self.notify_queue_update()
@@ -1425,8 +1261,8 @@ class WebSocketClient(BaseCommunicationClient):
                 message = {"action": "normal_exit", "data": {"session_id": session_id}}
                 self.message_processor.send_message(message)
                 logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
-                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
-                time.sleep(0.3)
+                # 给一点时间让消息发送出去
+                time.sleep(1)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 
@@ -1458,7 +1294,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
@@ -1478,7 +1314,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
 
             # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
@@ -1539,17 +1375,15 @@ class WebSocketClient(BaseCommunicationClient):
         # 收集设备信息
         devices = []
         machine_name = BasicConfig.machine_name
-
+        
         try:
             host_node = HostNode.get_instance(0)
             if host_node:
                 # 获取设备信息
                 for device_id, namespace in host_node.devices_names.items():
-                    device_key = (
-                        f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
-                    )
+                    device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
                     is_online = device_key in host_node._online_devices
-
+                    
                     # 获取设备的动作信息
                     actions = {}
                     for action_id, client in host_node._action_clients.items():
@@ -1560,18 +1394,16 @@ class WebSocketClient(BaseCommunicationClient):
                                 "action_path": action_id,
                                 "action_type": str(type(client).__name__),
                             }
-
-                    devices.append(
-                        {
-                            "device_id": device_id,
-                            "namespace": namespace,
-                            "device_key": device_key,
-                            "is_online": is_online,
-                            "machine_name": host_node.device_machine_names.get(device_id, machine_name),
-                            "actions": actions,
-                        }
-                    )
-
+                    
+                    devices.append({
+                        "device_id": device_id,
+                        "namespace": namespace,
+                        "device_key": device_key,
+                        "is_online": is_online,
+                        "machine_name": host_node.device_machine_names.get(device_id, machine_name),
+                        "actions": actions,
+                    })
+                
                 logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
         except Exception as e:
             logger.warning(f"[WebSocketClient] Error collecting device info: {e}")

unilabos/compile/__init__.py

@@ -5,7 +5,6 @@ from .separate_protocol import generate_separate_protocol
 from .evaporate_protocol import generate_evaporate_protocol
 from .evacuateandrefill_protocol import generate_evacuateandrefill_protocol
 from .agv_transfer_protocol import generate_agv_transfer_protocol
-from .batch_transfer_protocol import generate_batch_transfer_protocol
 from .add_protocol import generate_add_protocol
 from .centrifuge_protocol import generate_centrifuge_protocol
 from .filter_protocol import generate_filter_protocol
@@ -32,7 +31,6 @@ from .hydrogenate_protocol import generate_hydrogenate_protocol
 action_protocol_generators = {
     AddProtocol: generate_add_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
-    BatchTransferProtocol: generate_batch_transfer_protocol,
     AdjustPHProtocol: generate_adjust_ph_protocol,
     CentrifugeProtocol: generate_centrifuge_protocol,
     CleanProtocol: generate_clean_protocol,

unilabos/compile/_agv_utils.py

@@ -1,127 +0,0 @@
-"""
-AGV 编译器共用工具函数
-
-从 physical_setup_graph 中发现 AGV 节点配置，
-供 agv_transfer_protocol 和 batch_transfer_protocol 复用。
-"""
-
-from typing import Any, Dict, List, Optional
-
-import networkx as nx
-
-
-def find_agv_config(G: nx.Graph, agv_id: Optional[str] = None) -> Dict[str, Any]:
-    """从设备图中发现 AGV 节点，返回其配置
-
-    查找策略：
-    1. 如果指定 agv_id，直接读取该节点
-    2. 否则查找 class 为 "agv_transport_station" 的节点
-    3. 兜底查找 config 中包含 device_roles 的 workstation 节点
-
-    Returns:
-        {
-            "agv_id": str,
-            "device_roles": {"navigator": "...", "arm": "..."},
-            "route_table": {"A->B": {"nav_command": ..., "arm_pick": ..., "arm_place": ...}},
-            "capacity": int,
-        }
-    """
-    if agv_id and agv_id in G.nodes:
-        node_data = G.nodes[agv_id]
-        config = _extract_config(node_data)
-        if config and "device_roles" in config:
-            return _build_agv_cfg(agv_id, config, G)
-
-    # 查找 agv_transport_station 类型
-    for nid, ndata in G.nodes(data=True):
-        node_class = _get_node_class(ndata)
-        if node_class == "agv_transport_station":
-            config = _extract_config(ndata)
-            return _build_agv_cfg(nid, config or {}, G)
-
-    # 兜底：查找带有 device_roles 的 workstation
-    for nid, ndata in G.nodes(data=True):
-        node_class = _get_node_class(ndata)
-        if node_class == "workstation":
-            config = _extract_config(ndata)
-            if config and "device_roles" in config:
-                return _build_agv_cfg(nid, config, G)
-
-    raise ValueError("设备图中未找到 AGV 节点（需 class=agv_transport_station 或 config.device_roles）")
-
-
-def get_agv_capacity(G: nx.Graph, agv_id: str) -> int:
-    """从 AGV 的 Warehouse 子节点计算载具容量"""
-    for neighbor in G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id):
-        ndata = G.nodes[neighbor]
-        node_type = _get_node_type(ndata)
-        if node_type == "warehouse":
-            config = _extract_config(ndata)
-            if config:
-                x = config.get("num_items_x", 1)
-                y = config.get("num_items_y", 1)
-                z = config.get("num_items_z", 1)
-                return x * y * z
-    # 如果没有 warehouse 子节点，尝试从配置中读取
-    return 0
-
-
-def split_batches(items: list, capacity: int) -> List[list]:
-    """按 AGV 容量分批
-
-    Args:
-        items: 待转运的物料列表
-        capacity: AGV 单批次容量
-
-    Returns:
-        分批后的列表的列表
-    """
-    if capacity <= 0:
-        raise ValueError(f"AGV 容量必须 > 0，当前: {capacity}")
-    return [items[i:i + capacity] for i in range(0, len(items), capacity)]
-
-
-def _extract_config(node_data: dict) -> Optional[dict]:
-    """从节点数据中提取 config 字段，兼容多种格式"""
-    # 直接 config 字段
-    config = node_data.get("config")
-    if isinstance(config, dict):
-        return config
-    # res_content 嵌套格式
-    res_content = node_data.get("res_content")
-    if hasattr(res_content, "config"):
-        return res_content.config if isinstance(res_content.config, dict) else None
-    if isinstance(res_content, dict):
-        return res_content.get("config")
-    return None
-
-
-def _get_node_class(node_data: dict) -> str:
-    """获取节点的 class 字段"""
-    res_content = node_data.get("res_content")
-    if hasattr(res_content, "model_dump"):
-        d = res_content.model_dump()
-        return d.get("class_", d.get("class", ""))
-    if isinstance(res_content, dict):
-        return res_content.get("class_", res_content.get("class", ""))
-    return node_data.get("class_", node_data.get("class", ""))
-
-
-def _get_node_type(node_data: dict) -> str:
-    """获取节点的 type 字段"""
-    res_content = node_data.get("res_content")
-    if hasattr(res_content, "type"):
-        return res_content.type or ""
-    if isinstance(res_content, dict):
-        return res_content.get("type", "")
-    return node_data.get("type", "")
-
-
-def _build_agv_cfg(agv_id: str, config: dict, G: nx.Graph) -> Dict[str, Any]:
-    """构建标准化的 AGV 配置"""
-    return {
-        "agv_id": agv_id,
-        "device_roles": config.get("device_roles", {}),
-        "route_table": config.get("route_table", {}),
-        "capacity": get_agv_capacity(G, agv_id),
-    }

unilabos/compile/add_protocol.py

@@ -2,13 +2,20 @@ from functools import partial
 
 import networkx as nx
 import re
+import logging
 from typing import List, Dict, Any, Union
 
 from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
 from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
-from .utils.logger_util import action_log, debug_print
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[ADD] {message}")
+
 
 # 🆕 创建进度日志动作
 create_action_log = partial(action_log, prefix="[ADD]")

unilabos/compile/adjustph_protocol.py

@@ -1,12 +1,14 @@
-from functools import partial
-
 import networkx as nx
+import logging
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel, find_connected_stirrer
-from .utils.logger_util import action_log, debug_print
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
-create_action_log = partial(action_log, prefix="[ADJUST_PH]")
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[ADJUST_PH] {message}")
 
 def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     """
@@ -19,6 +21,8 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     Returns:
         str: 试剂容器ID
     """
+    debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
+    
     # 常见酸碱试剂的别名映射
     reagent_aliases = {
         "hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
@@ -32,13 +36,17 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     
     # 构建搜索名称列表
     search_names = [reagent.lower()]
-
+    debug_print(f"📋 基础搜索名称: {reagent.lower()}")
+    
     # 添加别名
     for base_name, aliases in reagent_aliases.items():
         if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
             search_names.extend([alias.lower() for alias in aliases])
+            debug_print(f"🔗 添加别名: {aliases}")
             break
     
+    debug_print(f"📝 完整搜索列表: {search_names}")
+    
     # 构建可能的容器名称
     possible_names = []
     for name in search_names:
@@ -53,15 +61,17 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             name_clean
         ])
     
-    debug_print(f"搜索容器: {len(possible_names)} 个候选名称")
-
+    debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
+    
     # 第一步：通过容器名称匹配
+    debug_print(f"📋 方法1: 精确名称匹配...")
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
-            debug_print(f"通过名称匹配找到容器: {vessel_name}")
+            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
             return vessel_name
-
+    
     # 第二步：通过模糊匹配
+    debug_print(f"📋 方法2: 模糊名称匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             node_name = G.nodes[node_id].get('name', '').lower()
@@ -69,10 +79,11 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
             # 检查是否包含任何搜索名称
             for search_name in search_names:
                 if search_name in node_id.lower() or search_name in node_name:
-                    debug_print(f"通过模糊匹配找到容器: {node_id}")
+                    debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
                     return node_id
-
+    
     # 第三步：通过液体类型匹配
+    debug_print(f"📋 方法3: 液体类型匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             vessel_data = G.nodes[node_id].get('data', {})
@@ -85,15 +96,56 @@ def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
                     
                     for search_name in search_names:
                         if search_name in liquid_type or search_name in reagent_name:
-                            debug_print(f"通过液体类型匹配找到容器: {node_id}")
+                            debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
                             return node_id
     
     # 列出可用容器帮助调试
-    available_containers = [node_id for node_id in G.nodes()
-                           if G.nodes[node_id].get('type') == 'container']
-    debug_print(f"所有匹配方法失败，可用容器: {available_containers}")
+    debug_print(f"📊 列出可用容器帮助调试...")
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    debug_print(f"📋 可用容器列表:")
+    for container in available_containers:
+        debug_print(f"  - 🧪 {container['id']}: {container['name']}")
+        debug_print(f"    💧 液体: {container['liquids']}")
+        debug_print(f"    🏷️ 试剂: {container['reagent_name']}")
+    
+    debug_print(f"❌ 所有匹配方法都失败了")
     raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
 
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找与容器相连的搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
+    
+    stirrer_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    
+    debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
+    
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
+            return stirrer
+    
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
+        return stirrer_nodes[0]
+    
+    debug_print(f"❌ 未找到任何搅拌器")
+    return None
+
 def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
     """
     估算需要的试剂体积来调节pH
@@ -106,30 +158,44 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
     Returns:
         float: 估算的试剂体积 (mL)
     """
-    debug_print(f"计算试剂体积: pH={target_ph_value}, reagent={reagent}, vessel={vessel_volume}mL")
-
-    # 简化的pH调节体积估算
+    debug_print(f"🧮 计算试剂体积...")
+    debug_print(f"  📍 目标pH: {target_ph_value}")
+    debug_print(f"  🧪 试剂: {reagent}")
+    debug_print(f"  📏 容器体积: {vessel_volume}mL")
+    
+    # 简化的pH调节体积估算（实际应用中需要更精确的计算）
     if "acid" in reagent.lower() or "hcl" in reagent.lower():
+        debug_print(f"🍋 检测到酸性试剂")
+        # 酸性试剂：pH越低需要的体积越大
         if target_ph_value < 3:
-            volume = vessel_volume * 0.05
+            volume = vessel_volume * 0.05  # 5%
+            debug_print(f"  💪 强酸性 (pH<3): 使用 5% 体积")
         elif target_ph_value < 5:
-            volume = vessel_volume * 0.02
+            volume = vessel_volume * 0.02  # 2%
+            debug_print(f"  🔸 中酸性 (pH<5): 使用 2% 体积")
         else:
-            volume = vessel_volume * 0.01
-
+            volume = vessel_volume * 0.01  # 1%
+            debug_print(f"  🔹 弱酸性 (pH≥5): 使用 1% 体积")
+    
     elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
+        debug_print(f"🧂 检测到碱性试剂")
+        # 碱性试剂：pH越高需要的体积越大
         if target_ph_value > 11:
-            volume = vessel_volume * 0.05
+            volume = vessel_volume * 0.05  # 5%
+            debug_print(f"  💪 强碱性 (pH>11): 使用 5% 体积")
         elif target_ph_value > 9:
-            volume = vessel_volume * 0.02
+            volume = vessel_volume * 0.02  # 2%
+            debug_print(f"  🔸 中碱性 (pH>9): 使用 2% 体积")
         else:
-            volume = vessel_volume * 0.01
-
+            volume = vessel_volume * 0.01  # 1%
+            debug_print(f"  🔹 弱碱性 (pH≤9): 使用 1% 体积")
+    
     else:
         # 未知试剂，使用默认值
         volume = vessel_volume * 0.01
-
-    debug_print(f"估算试剂体积: {volume:.2f}mL")
+        debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
+    
+    debug_print(f"📊 计算结果: {volume:.2f}mL")
     return volume
 
 def generate_adjust_ph_protocol(
@@ -154,67 +220,96 @@ def generate_adjust_ph_protocol(
     """
     
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     if not vessel_id:
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
         raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
-
-    debug_print(f"pH调节协议: vessel={vessel_id}, ph={ph_value}, reagent='{reagent}'")
-
+    
+    debug_print("=" * 60)
+    debug_print("🧪 开始生成pH调节协议")
+    debug_print(f"📋 原始参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  📊 ph_value: {ph_value}")
+    debug_print(f"  🧪 reagent: '{reagent}'")
+    debug_print(f"  📦 kwargs: {kwargs}")
+    debug_print("=" * 60)
+    
     action_sequence = []
-
-    # 从kwargs中获取可选参数
-    volume = kwargs.get('volume', 0.0)
-    stir = kwargs.get('stir', True)
-    stir_speed = kwargs.get('stir_speed', 300.0)
-    stir_time = kwargs.get('stir_time', 60.0)
-    settling_time = kwargs.get('settling_time', 30.0)
-
+    
+    # 从kwargs中获取可选参数，如果没有则使用默认值
+    volume = kwargs.get('volume', 0.0)           # 自动估算体积
+    stir = kwargs.get('stir', True)              # 默认搅拌
+    stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
+    stir_time = kwargs.get('stir_time', 60.0)    # 默认搅拌时间
+    settling_time = kwargs.get('settling_time', 30.0)  # 默认平衡时间
+    
+    debug_print(f"🔧 处理后的参数:")
+    debug_print(f"  📏 volume: {volume}mL (0.0表示自动估算)")
+    debug_print(f"  🌪️ stir: {stir}")
+    debug_print(f"  🔄 stir_speed: {stir_speed}rpm")
+    debug_print(f"  ⏱️ stir_time: {stir_time}s")
+    debug_print(f"  ⏳ settling_time: {settling_time}s")
+    
     # 开始处理
     action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
     action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
     action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
-
+    
     # 1. 验证目标容器存在
+    debug_print(f"🔍 步骤1: 验证目标容器...")
     if vessel_id not in G.nodes():
+        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-
+    
+    debug_print(f"✅ 目标容器验证通过")
     action_sequence.append(create_action_log("目标容器验证通过", "✅"))
-
+    
     # 2. 查找酸碱试剂容器
+    debug_print(f"🔍 步骤2: 查找试剂容器...")
     action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
     
     try:
         reagent_vessel = find_acid_base_vessel(G, reagent)
+        debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
         action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
     except ValueError as e:
+        debug_print(f"❌ 无法找到试剂容器: {str(e)}")
         action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
         raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
-
+    
     # 3. 体积估算
+    debug_print(f"🔍 步骤3: 体积处理...")
     if volume <= 0:
         action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
         
         # 获取目标容器的体积信息
         vessel_data = G.nodes[vessel_id].get('data', {})
-        vessel_volume = vessel_data.get('max_volume', 100.0)
-
+        vessel_volume = vessel_data.get('max_volume', 100.0)  # 默认100mL
+        debug_print(f"📏 容器最大体积: {vessel_volume}mL")
+        
         estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
         volume = estimated_volume
+        debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
         action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
     else:
+        debug_print(f"📏 使用指定体积: {volume}mL")
         action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
-
+    
     # 4. 验证路径存在
+    debug_print(f"🔍 步骤4: 路径验证...")
     action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
     
     try:
         path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
-        action_sequence.append(create_action_log(f"找到转移路径: {' -> '.join(path)}", "🛤️"))
+        debug_print(f"✅ 找到路径: {' → '.join(path)}")
+        action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
     except nx.NetworkXNoPath:
+        debug_print(f"❌ 无法找到转移路径")
         action_sequence.append(create_action_log("转移路径不存在", "❌"))
         raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-
+    
     # 5. 搅拌器设置
+    debug_print(f"🔍 步骤5: 搅拌器设置...")
     stirrer_id = None
     if stir:
         action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
@@ -223,6 +318,7 @@ def generate_adjust_ph_protocol(
             stirrer_id = find_connected_stirrer(G, vessel_id)
             
             if stirrer_id:
+                debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
                 action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
                 
                 action_sequence.append({
@@ -242,18 +338,23 @@ def generate_adjust_ph_protocol(
                     "action_kwargs": {"time": 5}
                 })
             else:
+                debug_print(f"⚠️ 未找到搅拌器，继续执行")
                 action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
-
+        
         except Exception as e:
+            debug_print(f"❌ 搅拌器配置出错: {str(e)}")
             action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
     else:
+        debug_print(f"📋 跳过搅拌设置")
         action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
-
+    
     # 6. 试剂添加
+    debug_print(f"🔍 步骤6: 试剂添加...")
     action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
     
     # 计算添加时间（pH调节需要缓慢添加）
-    addition_time = max(30.0, volume * 2.0)
+    addition_time = max(30.0, volume * 2.0)  # 至少30秒，每mL需要2秒
+    debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
     action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
     
     try:
@@ -276,28 +377,35 @@ def generate_adjust_ph_protocol(
         )
         
         action_sequence.extend(pump_actions)
+        debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
         action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-
-        # 体积运算 - 试剂添加成功后更新容器液体体积
+        
+        # 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
+        debug_print(f"🔧 更新容器液体体积...")
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
-
+            debug_print(f"📊 添加前容器体积: {current_volume}")
+            
             # 处理不同的体积数据格式
             if isinstance(current_volume, list):
                 if len(current_volume) > 0:
                     # 增加体积（添加试剂）
                     vessel["data"]["liquid_volume"][0] += volume
+                    debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                 else:
                     # 如果列表为空，创建新的体积记录
                     vessel["data"]["liquid_volume"] = [volume]
+                    debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
             elif isinstance(current_volume, (int, float)):
                 # 直接数值类型
                 vessel["data"]["liquid_volume"] += volume
+                debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
             else:
-                debug_print(f"未知的体积数据格式: {type(current_volume)}")
+                debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
                 # 创建新的体积记录
                 vessel["data"]["liquid_volume"] = volume
         else:
+            debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
             # 确保vessel有data字段
             if "data" not in vessel:
                 vessel["data"] = {}
@@ -315,16 +423,19 @@ def generate_adjust_ph_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-
+                
+            debug_print(f"✅ 图节点体积数据已更新")
+        
         action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
         
     except Exception as e:
-        debug_print(f"生成泵协议时出错: {str(e)}")
+        debug_print(f"❌ 生成泵协议时出错: {str(e)}")
         action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
         raise ValueError(f"生成泵协议时出错: {str(e)}")
     
     # 7. 混合搅拌
     if stir and stirrer_id:
+        debug_print(f"🔍 步骤7: 混合搅拌...")
         action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
         
         action_sequence.append({
@@ -337,10 +448,14 @@ def generate_adjust_ph_protocol(
                 "purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
             }
         })
+        
+        debug_print(f"✅ 混合搅拌设置完成")
     else:
+        debug_print(f"⏭️ 跳过混合搅拌")
         action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
-
+    
     # 8. 等待平衡
+    debug_print(f"🔍 步骤8: 反应平衡...")
     action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
     
     action_sequence.append({
@@ -353,7 +468,17 @@ def generate_adjust_ph_protocol(
     
     # 9. 完成总结
     total_time = addition_time + stir_time + settling_time
-    debug_print(f"pH调节协议完成: {len(action_sequence)} 个动作, {total_time:.0f}s, {volume:.2f}mL {reagent} → {vessel_id} pH {ph_value}")
+    
+    debug_print("=" * 60)
+    debug_print(f"🎉 pH调节协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
+    debug_print(f"  🧪 试剂: {reagent}")
+    debug_print(f"  📏 体积: {volume:.2f}mL")
+    debug_print(f"  📊 目标pH: {ph_value}")
+    debug_print(f"  🥼 目标容器: {vessel_id}")
+    debug_print("=" * 60)
     
     # 添加完成日志
     summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
@@ -385,18 +510,28 @@ def generate_adjust_ph_protocol_stepwise(
     """
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id = vessel["id"]
-
-    debug_print(f"分步pH调节: vessel={vessel_id}, ph={ph_value}, reagent={reagent}, max_volume={max_volume}mL, steps={steps}")
+    
+    debug_print("=" * 60)
+    debug_print(f"🔄 开始分步pH调节")
+    debug_print(f"📋 分步参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  📊 ph_value: {ph_value}")
+    debug_print(f"  🧪 reagent: {reagent}")
+    debug_print(f"  📏 max_volume: {max_volume}mL")
+    debug_print(f"  🔢 steps: {steps}")
+    debug_print("=" * 60)
     
     action_sequence = []
     
     # 每步添加的体积
     step_volume = max_volume / steps
+    debug_print(f"📊 每步体积: {step_volume:.2f}mL")
     
     action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
     action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
     
     for i in range(steps):
+        debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
         
         # 生成单步协议
@@ -413,10 +548,12 @@ def generate_adjust_ph_protocol_stepwise(
         )
         
         action_sequence.extend(step_actions)
+        debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
         action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
         
         # 步骤间等待
         if i < steps - 1:
+            debug_print(f"⏳ 步骤间等待30s")
             action_sequence.append(create_action_log("步骤间等待...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
@@ -426,7 +563,7 @@ def generate_adjust_ph_protocol_stepwise(
                 }
             })
     
-    debug_print(f"分步pH调节完成: {len(action_sequence)} 个动作")
+    debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
     action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
     
     return action_sequence
@@ -440,7 +577,7 @@ def generate_acidify_protocol(
 ) -> List[Dict[str, Any]]:
     """酸化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"酸化协议: {vessel_id} → pH {target_ph} ({acid})")
+    debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, acid
     )
@@ -453,7 +590,7 @@ def generate_basify_protocol(
 ) -> List[Dict[str, Any]]:
     """碱化协议"""
     vessel_id = vessel["id"]
-    debug_print(f"碱化协议: {vessel_id} → pH {target_ph} ({base})")
+    debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
     return generate_adjust_ph_protocol(
         G, vessel, target_ph, base
     )
@@ -465,7 +602,7 @@ def generate_neutralize_protocol(
 ) -> List[Dict[str, Any]]:
     """中和协议（pH=7）"""
     vessel_id = vessel["id"]
-    debug_print(f"中和协议: {vessel_id} → pH 7.0 ({reagent})")
+    debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
     return generate_adjust_ph_protocol(
         G, vessel, 7.0, reagent
     )
@@ -473,7 +610,10 @@ def generate_neutralize_protocol(
 # 测试函数
 def test_adjust_ph_protocol():
     """测试pH调节协议"""
+    debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
+    
     # 测试体积计算
+    debug_print("🧮 测试体积计算...")
     test_cases = [
         (2.0, "hydrochloric acid", 100.0),
         (4.0, "hydrochloric acid", 100.0),
@@ -481,12 +621,12 @@ def test_adjust_ph_protocol():
         (10.0, "sodium hydroxide", 100.0),
         (7.0, "unknown reagent", 100.0)
     ]
-
+    
     for ph, reagent, volume in test_cases:
         result = calculate_reagent_volume(ph, reagent, volume)
-        debug_print(f"{reagent} → pH {ph}: {result:.2f}mL")
-
-    debug_print("测试完成")
+        debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
+    
+    debug_print("✅ 测试完成")
 
 if __name__ == "__main__":
     test_adjust_ph_protocol()

unilabos/compile/agv_transfer_protocol.py

@@ -1,12 +1,4 @@
-"""
-AGV 单物料转运编译器
-
-从 physical_setup_graph 中查询 AGV 配置（device_roles, route_table），
-不再硬编码 device_id 和路由表。
-"""
-
 import networkx as nx
-from unilabos.compile._agv_utils import find_agv_config
 
 
 def generate_agv_transfer_protocol(
@@ -25,32 +17,37 @@ def generate_agv_transfer_protocol(
     from_repo_id = from_repo_["id"]
     to_repo_id = to_repo_["id"]
 
-    # 从 G 中查询 AGV 配置
-    agv_cfg = find_agv_config(G)
-    device_roles = agv_cfg["device_roles"]
-    route_table = agv_cfg["route_table"]
+    wf_list = {
+        ("AiChemEcoHiWo", "zhixing_agv"): {"nav_command" : '{"target" : "LM14"}',
+                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
+        ("AiChemEcoHiWo", "AGV"): {"nav_command" : '{"target" : "LM14"}',
+                             "arm_command": '{"task_name" : "camera/250111_biaozhi.urp"}'},
 
-    route_key = f"{from_repo_id}->{to_repo_id}"
-    if route_key not in route_table:
-        raise KeyError(f"AGV 路由表中未找到路线: {route_key}，可用路线: {list(route_table.keys())}")
+        ("zhixing_agv", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
+                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
 
-    route = route_table[route_key]
-    nav_device = device_roles.get("navigator", device_roles.get("nav"))
-    arm_device = device_roles.get("arm")
+        ("AGV", "Revvity"): {"nav_command" : '{"target" : "LM13"}',
+                             "arm_command": '{"task_name" : "camera/250111_put_board.urp"}'},
 
+        ("Revvity", "HPLC"): {"nav_command": '{"target" : "LM13"}',
+                              "arm_command": '{"task_name" : "camera/250111_hplc.urp"}'},
+
+        ("HPLC", "Revvity"): {"nav_command": '{"target" : "LM13"}',
+                              "arm_command": '{"task_name" : "camera/250111_lfp.urp"}'},
+    }
     return [
         {
-            "device_id": nav_device,
+            "device_id": "zhixing_agv",
             "action_name": "send_nav_task",
             "action_kwargs": {
-                "command": route["nav_command"]
+                "command": wf_list[(from_repo_id, to_repo_id)]["nav_command"]
             }
         },
         {
-            "device_id": arm_device,
+            "device_id": "zhixing_ur_arm",
             "action_name": "move_pos_task",
             "action_kwargs": {
-                "command": route.get("arm_command", route.get("arm_place", ""))
+                "command": wf_list[(from_repo_id, to_repo_id)]["arm_command"]
             }
         }
     ]

unilabos/compile/batch_transfer_protocol.py

@@ -1,228 +0,0 @@
-"""
-批量物料转运编译器
-
-将 BatchTransferProtocol 编译为多批次的 nav → pick × N → nav → place × N 动作序列。
-自动按 AGV 容量分批，全程维护三方 children dict 的物料系统一致性。
-"""
-
-import copy
-from typing import Any, Dict, List
-
-import networkx as nx
-
-from unilabos.compile._agv_utils import find_agv_config, split_batches
-
-
-def generate_batch_transfer_protocol(
-    G: nx.Graph,
-    from_repo: dict,
-    to_repo: dict,
-    transfer_resources: list,
-    from_positions: list,
-    to_positions: list,
-) -> List[Dict[str, Any]]:
-    """编译批量转运协议为可执行的 action steps
-
-    Args:
-        G: 设备图 (physical_setup_graph)
-        from_repo: 来源工站资源 dict（{station_id: {..., children: {...}}}）
-        to_repo: 目标工站资源 dict（含堆栈和位置信息）
-        transfer_resources: 被转运的物料列表（Resource dict）
-        from_positions: 来源 slot 位置列表（与 transfer_resources 平行）
-        to_positions: 目标 slot 位置列表（与 transfer_resources 平行）
-
-    Returns:
-        action steps 列表，ROS2WorkstationNode 按序执行
-    """
-    if not transfer_resources:
-        return []
-
-    n = len(transfer_resources)
-    if len(from_positions) != n or len(to_positions) != n:
-        raise ValueError(
-            f"transfer_resources({n}), from_positions({len(from_positions)}), "
-            f"to_positions({len(to_positions)}) 长度不一致"
-        )
-
-    # 组合为内部 transfer_items 便于分批处理
-    transfer_items = []
-    for i in range(n):
-        res = transfer_resources[i] if isinstance(transfer_resources[i], dict) else {}
-        transfer_items.append({
-            "resource_id": res.get("id", res.get("name", "")),
-            "resource_uuid": res.get("sample_id", ""),
-            "from_position": from_positions[i],
-            "to_position": to_positions[i],
-            "resource": res,
-        })
-
-    # 查询 AGV 配置
-    agv_cfg = find_agv_config(G)
-    agv_id = agv_cfg["agv_id"]
-    device_roles = agv_cfg["device_roles"]
-    route_table = agv_cfg["route_table"]
-    capacity = agv_cfg["capacity"]
-
-    if capacity <= 0:
-        raise ValueError(f"AGV {agv_id} 容量为 0，请检查 Warehouse 子节点配置")
-
-    nav_device = device_roles.get("navigator", device_roles.get("nav"))
-    arm_device = device_roles.get("arm")
-    if not nav_device or not arm_device:
-        raise ValueError(f"AGV {agv_id} device_roles 缺少 navigator 或 arm: {device_roles}")
-
-    from_repo_ = list(from_repo.values())[0]
-    to_repo_ = list(to_repo.values())[0]
-    from_station_id = from_repo_["id"]
-    to_station_id = to_repo_["id"]
-
-    # 查找路由
-    route_to_source = _find_route(route_table, agv_id, from_station_id)
-    route_to_target = _find_route(route_table, from_station_id, to_station_id)
-
-    # 构建 AGV carrier 的 children dict（用于 compile 阶段状态追踪）
-    agv_carrier_children: Dict[str, Any] = {}
-
-    # 计算 slot 名称（A01, A02, B01, ...）
-    agv_slot_names = _get_agv_slot_names(G, agv_cfg)
-
-    # 分批
-    batches = split_batches(transfer_items, capacity)
-
-    steps: List[Dict[str, Any]] = []
-
-    for batch_idx, batch in enumerate(batches):
-        is_last_batch = (batch_idx == len(batches) - 1)
-
-        # 阶段 1: AGV 导航到来源工站
-        steps.append({
-            "device_id": nav_device,
-            "action_name": "send_nav_task",
-            "action_kwargs": {
-                "command": route_to_source.get("nav_command", "")
-            },
-            "_comment": f"批次{batch_idx + 1}/{len(batches)}: AGV 导航至来源 {from_station_id}"
-        })
-
-        # 阶段 2: 逐个 pick
-        for item_idx, item in enumerate(batch):
-            from_pos = item["from_position"]
-            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
-
-            # compile 阶段更新 children dict
-            if from_pos in from_repo_.get("children", {}):
-                resource_data = from_repo_["children"].pop(from_pos)
-                resource_data["parent"] = agv_id
-                agv_carrier_children[slot] = resource_data
-
-            steps.append({
-                "device_id": arm_device,
-                "action_name": "move_pos_task",
-                "action_kwargs": {
-                    "command": route_to_source.get("arm_pick", route_to_source.get("arm_command", ""))
-                },
-                "_transfer_meta": {
-                    "phase": "pick",
-                    "resource_uuid": item.get("resource_uuid", ""),
-                    "resource_id": item.get("resource_id", ""),
-                    "from_parent": from_station_id,
-                    "from_position": from_pos,
-                    "agv_slot": slot,
-                },
-                "_comment": f"Pick {item.get('resource_id', from_pos)} → AGV.{slot}"
-            })
-
-        # 阶段 3: AGV 导航到目标工站
-        steps.append({
-            "device_id": nav_device,
-            "action_name": "send_nav_task",
-            "action_kwargs": {
-                "command": route_to_target.get("nav_command", "")
-            },
-            "_comment": f"批次{batch_idx + 1}: AGV 导航至目标 {to_station_id}"
-        })
-
-        # 阶段 4: 逐个 place
-        for item_idx, item in enumerate(batch):
-            to_pos = item["to_position"]
-            slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
-
-            # compile 阶段更新 children dict
-            if slot in agv_carrier_children:
-                resource_data = agv_carrier_children.pop(slot)
-                resource_data["parent"] = to_repo_["id"]
-                to_repo_["children"][to_pos] = resource_data
-
-            steps.append({
-                "device_id": arm_device,
-                "action_name": "move_pos_task",
-                "action_kwargs": {
-                    "command": route_to_target.get("arm_place", route_to_target.get("arm_command", ""))
-                },
-                "_transfer_meta": {
-                    "phase": "place",
-                    "resource_uuid": item.get("resource_uuid", ""),
-                    "resource_id": item.get("resource_id", ""),
-                    "to_parent": to_station_id,
-                    "to_position": to_pos,
-                    "agv_slot": slot,
-                },
-                "_comment": f"Place AGV.{slot} → {to_station_id}.{to_pos}"
-            })
-
-        # 如果还有下一批，AGV 需要返回来源取料
-        if not is_last_batch:
-            steps.append({
-                "device_id": nav_device,
-                "action_name": "send_nav_task",
-                "action_kwargs": {
-                    "command": route_to_source.get("nav_command", "")
-                },
-                "_comment": f"AGV 返回来源 {from_station_id} 取下一批"
-            })
-
-    return steps
-
-
-def _find_route(route_table: Dict[str, Any], from_id: str, to_id: str) -> Dict[str, str]:
-    """在路由表中查找路线，支持 A->B 和 (A, B) 两种 key 格式"""
-    # 优先 "A->B" 格式
-    key = f"{from_id}->{to_id}"
-    if key in route_table:
-        return route_table[key]
-    # 兼容 tuple key（JSON 中以逗号分隔字符串表示）
-    tuple_key = f"({from_id}, {to_id})"
-    if tuple_key in route_table:
-        return route_table[tuple_key]
-    raise KeyError(f"路由表中未找到: {key}，可用路线: {list(route_table.keys())}")
-
-
-def _get_agv_slot_names(G: nx.Graph, agv_cfg: dict) -> List[str]:
-    """从设备图中获取 AGV Warehouse 的 slot 名称列表"""
-    agv_id = agv_cfg["agv_id"]
-    neighbors = G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id)
-    for neighbor in neighbors:
-        ndata = G.nodes[neighbor]
-        node_type = ndata.get("type", "")
-        res_content = ndata.get("res_content")
-        if hasattr(res_content, "type"):
-            node_type = res_content.type or node_type
-        elif isinstance(res_content, dict):
-            node_type = res_content.get("type", node_type)
-        if node_type == "warehouse":
-            config = ndata.get("config", {})
-            if hasattr(res_content, "config") and isinstance(res_content.config, dict):
-                config = res_content.config
-            elif isinstance(res_content, dict):
-                config = res_content.get("config", config)
-            num_x = config.get("num_items_x", 1)
-            num_y = config.get("num_items_y", 1)
-            num_z = config.get("num_items_z", 1)
-            # 与 warehouse_factory 一致的命名
-            letters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-            len_x = num_x if num_z == 1 else (num_y if num_x == 1 else num_x)
-            len_y = num_y if num_z == 1 else (num_z if num_x == 1 else num_z)
-            return [f"{letters[j]}{i + 1:02d}" for i in range(len_x) for j in range(len_y)]
-    # 兜底生成通用名称
-    capacity = agv_cfg.get("capacity", 4)
-    return [f"S{i + 1}" for i in range(capacity)]

unilabos/compile/clean_vessel_protocol.py

@@ -1,9 +1,7 @@
 from typing import List, Dict, Any
 import networkx as nx
-from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill
-from .utils.logger_util import debug_print
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .pump_protocol import generate_pump_protocol
-from .utils.resource_helper import get_resource_liquid_volume
 
 
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
@@ -19,23 +17,43 @@ def find_waste_vessel(G: nx.DiGraph) -> str:
     """
     possible_waste_names = [
         "waste_workup",
-        "flask_waste",
+        "flask_waste", 
         "bottle_waste",
         "waste",
         "waste_vessel",
         "waste_container"
     ]
-
+    
     for waste_name in possible_waste_names:
         if waste_name in G.nodes():
             return waste_name
-
+    
     raise ValueError(f"未找到废液容器。尝试了以下名称: {possible_waste_names}")
 
 
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与指定容器相连的加热冷却设备
+    """
+    # 查找所有加热冷却设备节点
+    heatchill_nodes = [node for node in G.nodes() 
+                      if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
+    
+    # 检查哪个加热设备与目标容器相连（机械连接）
+    for heatchill in heatchill_nodes:
+        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+            return heatchill
+    
+    # 如果没有直接连接，返回第一个可用的加热设备
+    if heatchill_nodes:
+        return heatchill_nodes[0]
+    
+    return None  # 没有加热设备也可以工作，只是不能加热
+
+
 def generate_clean_vessel_protocol(
     G: nx.DiGraph,
-    vessel: dict,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     solvent: str,
     volume: float,
     temp: float,
@@ -43,7 +61,7 @@ def generate_clean_vessel_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成容器清洗操作的协议序列，复用 pump_protocol 的成熟算法
-
+    
     清洗流程：
     1. 查找溶剂容器和废液容器
     2. 如果需要加热，启动加热设备
@@ -52,50 +70,63 @@ def generate_clean_vessel_protocol(
        b. (可选) 等待清洗作用时间
        c. 使用 pump_protocol 将清洗液从目标容器转移到废液容器
     4. 如果加热了，停止加热
-
+    
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         vessel: 要清洗的容器字典（包含id字段）
-        solvent: 用于清洗的溶剂名称
+        solvent: 用于清洗的溶剂名称  
         volume: 每次清洗使用的溶剂体积
         temp: 清洗时的温度
         repeats: 清洗操作的重复次数，默认为 1
-
+    
     Returns:
         List[Dict[str, Any]]: 容器清洗操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的容器或设备时抛出异常
+    
+    Examples:
+        clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     action_sequence = []
-
-    debug_print(f"开始生成容器清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}mL, temp={temp}°C, repeats={repeats}")
-
+    
+    print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
+    print(f"  - 目标容器: {vessel} (ID: {vessel_id})")
+    print(f"  - 清洗溶剂: {solvent}")
+    print(f"  - 清洗体积: {volume} mL")
+    print(f"  - 清洗温度: {temp}°C")
+    print(f"  - 重复次数: {repeats}")
+    
     # 验证目标容器存在
     if vessel_id not in G.nodes():
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-
+    
     # 查找溶剂容器
     try:
         solvent_vessel = find_solvent_vessel(G, solvent)
-        debug_print(f"找到溶剂容器: {solvent_vessel}")
+        print(f"CLEAN_VESSEL: 找到溶剂容器: {solvent_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到溶剂容器: {str(e)}")
-
+    
     # 查找废液容器
     try:
         waste_vessel = find_waste_vessel(G)
-        debug_print(f"找到废液容器: {waste_vessel}")
+        print(f"CLEAN_VESSEL: 找到废液容器: {waste_vessel}")
     except ValueError as e:
         raise ValueError(f"无法找到废液容器: {str(e)}")
-
+    
     # 查找加热设备（可选）
-    heatchill_id = find_connected_heatchill(G, vessel_id)
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
     if heatchill_id:
-        debug_print(f"找到加热设备: {heatchill_id}")
+        print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
     else:
-        debug_print(f"未找到加热设备，将在室温下清洗")
-
-    # 记录清洗前的容器状态
+        print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
+    
+    # 🔧 新增：记录清洗前的容器状态
+    print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -103,69 +134,79 @@ def generate_clean_vessel_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
+    print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
+    
     # 第一步：如果需要加热且有加热设备，启动加热
     if temp > 25.0 and heatchill_id:
-        debug_print(f"启动加热至 {temp}°C")
+        print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
         heatchill_start_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
         }
         action_sequence.append(heatchill_start_action)
-
+        
+        # 等待温度稳定
         wait_action = {
-            "action_name": "wait",
-            "action_kwargs": {"time": 30}
+            "action_name": "wait", 
+            "action_kwargs": {"time": 30}  # 等待30秒让温度稳定
         }
         action_sequence.append(wait_action)
-
+    
     # 第二步：重复清洗操作
     for repeat in range(repeats):
-        debug_print(f"执行第 {repeat + 1}/{repeats} 次清洗")
-
+        print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
+        
         # 2a. 使用 pump_protocol 将溶剂转移到目标容器
+        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
         try:
+            # 调用成熟的 pump_protocol 算法
             add_solvent_actions = generate_pump_protocol(
                 G=G,
                 from_vessel=solvent_vessel,
-                to_vessel=vessel_id,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=volume,
-                flowrate=2.5,
+                flowrate=2.5,  # 适中的流速，避免飞溅
                 transfer_flowrate=2.5
             )
             action_sequence.extend(add_solvent_actions)
-
-            # 更新容器体积（添加清洗溶剂）
+            
+            # 🔧 新增：更新容器体积（添加清洗溶剂）
+            print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
             if "data" not in vessel:
                 vessel["data"] = {}
-
+            
             if "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] += volume
+                        print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [volume]
+                        print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] += volume
+                    print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = volume
+                    print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
             else:
                 vessel["data"]["liquid_volume"] = volume
-
-            # 同时更新图中的容器数据
+                print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
+            
+            # 🔧 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-
+                
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+                
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
@@ -173,48 +214,58 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
-
+                
+                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
+            
         except Exception as e:
             raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
-
-        # 2b. 等待清洗作用时间
-        cleaning_wait_time = 60 if temp > 50.0 else 30
+        
+        # 2b. 等待清洗作用时间（让溶剂充分清洗容器）
+        cleaning_wait_time = 60 if temp > 50.0 else 30  # 高温下等待更久
+        print(f"CLEAN_VESSEL: 等待清洗作用 {cleaning_wait_time} 秒")
         wait_action = {
-            "action_name": "wait",
+            "action_name": "wait", 
             "action_kwargs": {"time": cleaning_wait_time}
         }
         action_sequence.append(wait_action)
-
+        
         # 2c. 使用 pump_protocol 将清洗液转移到废液容器
+        print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
         try:
+            # 调用成熟的 pump_protocol 算法
             remove_waste_actions = generate_pump_protocol(
                 G=G,
-                from_vessel=vessel_id,
+                from_vessel=vessel_id,  # 🔧 使用 vessel_id
                 to_vessel=waste_vessel,
                 volume=volume,
-                flowrate=2.5,
+                flowrate=2.5,  # 适中的流速
                 transfer_flowrate=2.5
             )
             action_sequence.extend(remove_waste_actions)
-
-            # 更新容器体积（移除清洗液）
+            
+            # 🔧 新增：更新容器体积（移除清洗液）
+            print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     if len(current_volume) > 0:
                         vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
+                        print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = [0.0]
+                        print(f"CLEAN_VESSEL: 重置体积为0mL")
                 elif isinstance(current_volume, (int, float)):
                     vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
+                    print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
                 else:
                     vessel["data"]["liquid_volume"] = 0.0
-
-            # 同时更新图中的容器数据
+                    print(f"CLEAN_VESSEL: 重置体积为0mL")
+            
+            # 🔧 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 vessel_node_data = G.nodes[vessel_id].get('data', {})
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+                
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
@@ -222,30 +273,34 @@ def generate_clean_vessel_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
-
+                
+                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
+            
         except Exception as e:
             raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
-
+        
         # 2d. 清洗循环间的短暂等待
-        if repeat < repeats - 1:
+        if repeat < repeats - 1:  # 不是最后一次清洗
+            print(f"CLEAN_VESSEL: 清洗循环间等待")
             wait_action = {
-                "action_name": "wait",
+                "action_name": "wait", 
                 "action_kwargs": {"time": 10}
             }
             action_sequence.append(wait_action)
-
+    
     # 第三步：如果加热了，停止加热
     if temp > 25.0 and heatchill_id:
+        print(f"CLEAN_VESSEL: 停止加热")
         heatchill_stop_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             }
         }
         action_sequence.append(heatchill_stop_action)
-
-    # 清洗完成后的状态
+    
+    # 🔧 新增：清洗完成后的状态报告
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -253,17 +308,20 @@ def generate_clean_vessel_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-
-    debug_print(f"清洗完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
-
+    
+    print(f"CLEAN_VESSEL: 清洗完成")
+    print(f"  - 清洗前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 清洗后体积: {final_liquid_volume:.2f}mL")
+    print(f"  - 生成了 {len(action_sequence)} 个动作")
+    
     return action_sequence
 
 
-# 便捷函数
+# 便捷函数：常用清洗方案
 def generate_quick_clean_protocol(
-    G: nx.DiGraph,
-    vessel: dict,
-    solvent: str = "water",
+    G: nx.DiGraph, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    solvent: str = "water", 
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """快速清洗：室温，单次清洗"""
@@ -271,9 +329,9 @@ def generate_quick_clean_protocol(
 
 
 def generate_thorough_clean_protocol(
-    G: nx.DiGraph,
-    vessel: dict,
-    solvent: str = "water",
+    G: nx.DiGraph, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    solvent: str = "water", 
     volume: float = 150.0,
     temp: float = 60.0
 ) -> List[Dict[str, Any]]:
@@ -282,13 +340,13 @@ def generate_thorough_clean_protocol(
 
 
 def generate_organic_clean_protocol(
-    G: nx.DiGraph,
-    vessel: dict,
+    G: nx.DiGraph, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """有机清洗：先用有机溶剂，再用水清洗"""
     action_sequence = []
-
+    
     # 第一步：有机溶剂清洗
     try:
         organic_actions = generate_clean_vessel_protocol(
@@ -296,71 +354,96 @@ def generate_organic_clean_protocol(
         )
         action_sequence.extend(organic_actions)
     except ValueError:
+        # 如果没有丙酮，尝试乙醇
         try:
             organic_actions = generate_clean_vessel_protocol(
                 G, vessel, "ethanol", volume, 25.0, 2
             )
             action_sequence.extend(organic_actions)
         except ValueError:
-            debug_print("未找到有机溶剂，跳过有机清洗步骤")
-
+            print("警告：未找到有机溶剂，跳过有机清洗步骤")
+    
     # 第二步：水清洗
     water_actions = generate_clean_vessel_protocol(
         G, vessel, "water", volume, 25.0, 2
     )
     action_sequence.extend(water_actions)
-
+    
     return action_sequence
 
 
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积（修复版）"""
+    if vessel not in G.nodes():
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    total_volume = 0.0
+    for liquid in liquids:
+        if isinstance(liquid, dict):
+            # 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
+            volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
+            total_volume += volume
+    
+    return total_volume
+
+
 def get_vessel_liquid_types(G: nx.DiGraph, vessel: str) -> List[str]:
     """获取容器中所有液体的类型"""
     if vessel not in G.nodes():
         return []
-
+    
     vessel_data = G.nodes[vessel].get('data', {})
     liquids = vessel_data.get('liquid', [])
-
+    
     liquid_types = []
     for liquid in liquids:
         if isinstance(liquid, dict):
+            # 支持两种格式的液体类型字段
             liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
             if liquid_type:
                 liquid_types.append(liquid_type)
-
+    
     return liquid_types
 
 
 def find_vessel_by_content(G: nx.DiGraph, content: str) -> List[str]:
     """
     根据内容物查找所有匹配的容器
+    返回匹配容器的ID列表
     """
     matching_vessels = []
-
+    
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
+            # 检查容器名称匹配
             node_name = G.nodes[node_id].get('name', '').lower()
             if content.lower() in node_id.lower() or content.lower() in node_name:
                 matching_vessels.append(node_id)
                 continue
-
+            
+            # 检查液体类型匹配
             vessel_data = G.nodes[node_id].get('data', {})
             liquids = vessel_data.get('liquid', [])
             config_data = G.nodes[node_id].get('config', {})
-
+            
+            # 检查 reagent_name 和 config.reagent
             reagent_name = vessel_data.get('reagent_name', '').lower()
             config_reagent = config_data.get('reagent', '').lower()
-
-            if (content.lower() == reagent_name or
+            
+            if (content.lower() == reagent_name or 
                 content.lower() == config_reagent):
                 matching_vessels.append(node_id)
                 continue
-
+            
+            # 检查液体列表
             for liquid in liquids:
                 if isinstance(liquid, dict):
                     liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
                     if liquid_type.lower() == content.lower():
                         matching_vessels.append(node_id)
                         break
-
-    return matching_vessels
+    
+    return matching_vessels

unilabos/compile/dissolve_protocol.py

@@ -1,19 +1,402 @@
 from functools import partial
 
 import networkx as nx
+import re
 import logging
 from typing import List, Dict, Any, Union
 
-from .utils.logger_util import debug_print, action_log
-from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input, parse_temperature_input
-from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_heatchill, find_connected_stirrer, find_solid_dispenser
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
-# 创建进度日志动作
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[DISSOLVE] {message}")
+
+# 🆕 创建进度日志动作
 create_action_log = partial(action_log, prefix="[DISSOLVE]")
 
+def parse_volume_input(volume_input: Union[str, float]) -> float:
+    """
+    解析体积输入，支持带单位的字符串
+    
+    Args:
+        volume_input: 体积输入（如 "10 mL", "?", 10.0）
+    
+    Returns:
+        float: 体积（毫升）
+    """
+    if isinstance(volume_input, (int, float)):
+        debug_print(f"📏 体积输入为数值: {volume_input}")
+        return float(volume_input)
+    
+    if not volume_input or not str(volume_input).strip():
+        debug_print(f"⚠️ 体积输入为空，返回0.0mL")
+        return 0.0
+    
+    volume_str = str(volume_input).lower().strip()
+    debug_print(f"🔍 解析体积输入: '{volume_str}'")
+    
+    # 处理未知体积
+    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_volume = 50.0  # 默认50mL
+        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
+        return default_volume
+    
+    # 移除空格并提取数字和单位
+    volume_clean = re.sub(r'\s+', '', volume_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值50mL")
+        return 50.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'ml'  # 默认单位为毫升
+    
+    # 转换为毫升
+    if unit in ['l', 'liter']:
+        volume = value * 1000.0  # L -> mL
+        debug_print(f"🔄 体积转换: {value}L → {volume}mL")
+    elif unit in ['μl', 'ul', 'microliter']:
+        volume = value / 1000.0  # μL -> mL
+        debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
+    else:  # ml, milliliter 或默认
+        volume = value  # 已经是mL
+        debug_print(f"✅ 体积已为mL: {volume}mL")
+    
+    return volume
+
+def parse_mass_input(mass_input: Union[str, float]) -> float:
+    """
+    解析质量输入，支持带单位的字符串
+    
+    Args:
+        mass_input: 质量输入（如 "2.9 g", "?", 2.5）
+    
+    Returns:
+        float: 质量（克）
+    """
+    if isinstance(mass_input, (int, float)):
+        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
+        return float(mass_input)
+    
+    if not mass_input or not str(mass_input).strip():
+        debug_print(f"⚠️ 质量输入为空，返回0.0g")
+        return 0.0
+    
+    mass_str = str(mass_input).lower().strip()
+    debug_print(f"🔍 解析质量输入: '{mass_str}'")
+    
+    # 处理未知质量
+    if mass_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_mass = 1.0  # 默认1g
+        debug_print(f"❓ 检测到未知质量，使用默认值: {default_mass}g 🎯")
+        return default_mass
+    
+    # 移除空格并提取数字和单位
+    mass_clean = re.sub(r'\s+', '', mass_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
+        return 0.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'g'  # 默认单位为克
+    
+    # 转换为克
+    if unit in ['mg', 'milligram']:
+        mass = value / 1000.0  # mg -> g
+        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
+    elif unit in ['kg', 'kilogram']:
+        mass = value * 1000.0  # kg -> g
+        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
+    else:  # g, gram 或默认
+        mass = value  # 已经是g
+        debug_print(f"✅ 质量已为g: {mass}g")
+    
+    return mass
+
+def parse_time_input(time_input: Union[str, float]) -> float:
+    """
+    解析时间输入，支持带单位的字符串
+    
+    Args:
+        time_input: 时间输入（如 "30 min", "1 h", "?", 60.0）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if isinstance(time_input, (int, float)):
+        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
+        return float(time_input)
+    
+    if not time_input or not str(time_input).strip():
+        debug_print(f"⚠️ 时间输入为空，返回0秒")
+        return 0.0
+    
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间输入: '{time_str}'")
+    
+    # 处理未知时间
+    if time_str in ['?', 'unknown', 'tbd']:
+        default_time = 600.0  # 默认10分钟
+        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (10分钟) ⏰")
+        return default_time
+    
+    # 移除空格并提取数字和单位
+    time_clean = re.sub(r'\s+', '', time_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
+        return 0.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 's'  # 默认单位为秒
+    
+    # 转换为秒
+    if unit in ['min', 'minute']:
+        time_sec = value * 60.0  # min -> s
+        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
+    elif unit in ['h', 'hr', 'hour']:
+        time_sec = value * 3600.0  # h -> s
+        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
+    elif unit in ['d', 'day']:
+        time_sec = value * 86400.0  # d -> s
+        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
+    else:  # s, sec, second 或默认
+        time_sec = value  # 已经是s
+        debug_print(f"✅ 时间已为秒: {time_sec}秒")
+    
+    return time_sec
+
+def parse_temperature_input(temp_input: Union[str, float]) -> float:
+    """
+    解析温度输入，支持带单位的字符串
+    
+    Args:
+        temp_input: 温度输入（如 "60 °C", "room temperature", "?", 25.0）
+    
+    Returns:
+        float: 温度（摄氏度）
+    """
+    if isinstance(temp_input, (int, float)):
+        debug_print(f"🌡️ 温度输入为数值: {temp_input}°C")
+        return float(temp_input)
+    
+    if not temp_input or not str(temp_input).strip():
+        debug_print(f"⚠️ 温度输入为空，使用默认室温25°C")
+        return 25.0  # 默认室温
+    
+    temp_str = str(temp_input).lower().strip()
+    debug_print(f"🔍 解析温度输入: '{temp_str}'")
+    
+    # 处理特殊温度描述
+    temp_aliases = {
+        'room temperature': 25.0,
+        'rt': 25.0,
+        'ambient': 25.0,
+        'cold': 4.0,
+        'ice': 0.0,
+        'reflux': 80.0,  # 默认回流温度
+        '?': 25.0,
+        'unknown': 25.0
+    }
+    
+    if temp_str in temp_aliases:
+        result = temp_aliases[temp_str]
+        debug_print(f"🏷️ 温度别名解析: '{temp_str}' → {result}°C")
+        return result
+    
+    # 移除空格并提取数字和单位
+    temp_clean = re.sub(r'\s+', '', temp_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(°c|c|celsius|°f|f|fahrenheit|k|kelvin)?', temp_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析温度: '{temp_str}'，使用默认值25°C")
+        return 25.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'c'  # 默认单位为摄氏度
+    
+    # 转换为摄氏度
+    if unit in ['°f', 'f', 'fahrenheit']:
+        temp_c = (value - 32) * 5/9  # F -> C
+        debug_print(f"🔄 温度转换: {value}°F → {temp_c:.1f}°C")
+    elif unit in ['k', 'kelvin']:
+        temp_c = value - 273.15  # K -> C
+        debug_print(f"🔄 温度转换: {value}K → {temp_c:.1f}°C")
+    else:  # °c, c, celsius 或默认
+        temp_c = value  # 已经是C
+        debug_print(f"✅ 温度已为°C: {temp_c}°C")
+    
+    return temp_c
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """增强版溶剂容器查找，支持多种匹配模式"""
+    debug_print(f"🔍 开始查找溶剂 '{solvent}' 的容器...")
+    
+    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
+    debug_print(f"📋 方法1: 搜索reagent字段...")
+    for node in G.nodes():
+        node_data = G.nodes[node].get('data', {})
+        node_type = G.nodes[node].get('type', '')
+        config_data = G.nodes[node].get('config', {})
+        
+        # 只搜索容器类型的节点
+        if node_type == 'container':
+            reagent_name = node_data.get('reagent_name', '').lower()
+            config_reagent = config_data.get('reagent', '').lower()
+            
+            # 精确匹配
+            if reagent_name == solvent.lower() or config_reagent == solvent.lower():
+                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
+                return node
+            
+            # 模糊匹配
+            if (solvent.lower() in reagent_name and reagent_name) or \
+               (solvent.lower() in config_reagent and config_reagent):
+                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
+                return node
+    
+    # 🔧 方法2：常见的容器命名规则
+    debug_print(f"📋 方法2: 使用命名规则查找...")
+    solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
+    possible_names = [
+        solvent_clean,
+        f"flask_{solvent_clean}",
+        f"bottle_{solvent_clean}",
+        f"vessel_{solvent_clean}",
+        f"{solvent_clean}_flask",
+        f"{solvent_clean}_bottle",
+        f"solvent_{solvent_clean}",
+        f"reagent_{solvent_clean}",
+        f"reagent_bottle_{solvent_clean}",
+        f"reagent_bottle_1",  # 通用试剂瓶
+        f"reagent_bottle_2",
+        f"reagent_bottle_3"
+    ]
+    
+    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
+    
+    for name in possible_names:
+        if name in G.nodes():
+            node_type = G.nodes[name].get('type', '')
+            if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
+                return name
+    
+    # 🔧 方法3：节点名称模糊匹配
+    debug_print(f"📋 方法3: 节点名称模糊匹配...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if node_data.get('type') == 'container':
+            # 检查节点名称是否包含溶剂名称
+            if solvent_clean in node_id.lower():
+                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
+                return node_id
+            
+            # 检查液体类型匹配
+            vessel_data = node_data.get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type.lower() == solvent.lower():
+                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
+                        return node_id
+    
+    # 🔧 方法4：使用第一个试剂瓶作为备选
+    debug_print(f"📋 方法4: 查找备选试剂瓶...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if (node_data.get('type') == 'container' and 
+            ('reagent' in node_id.lower() or 'bottle' in node_id.lower() or 'flask' in node_id.lower())):
+            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
+            return node_id
+    
+    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的加热搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的加热搅拌器...")
+    
+    heatchill_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'heatchill' in node_class:
+            heatchill_nodes.append(node)
+            debug_print(f"📋 发现加热搅拌器: {node}")
+    
+    debug_print(f"📊 共找到 {len(heatchill_nodes)} 个加热搅拌器")
+    
+    # 查找连接到容器的加热器
+    for heatchill in heatchill_nodes:
+        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+            debug_print(f"✅ 找到连接的加热搅拌器: {heatchill} 🔗")
+            return heatchill
+    
+    # 返回第一个加热器
+    if heatchill_nodes:
+        debug_print(f"⚠️ 未找到直接连接的加热搅拌器，使用第一个: {heatchill_nodes[0]} 🔄")
+        return heatchill_nodes[0]
+    
+    debug_print(f"❌ 未找到任何加热搅拌器")
+    return ""
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
+    
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+    
+    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
+    
+    # 查找连接到容器的搅拌器
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
+            return stirrer
+    
+    # 返回第一个搅拌器
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
+        return stirrer_nodes[0]
+    
+    debug_print(f"❌ 未找到任何搅拌器")
+    return ""
+
+def find_solid_dispenser(G: nx.DiGraph) -> str:
+    """查找固体加样器"""
+    debug_print(f"🔍 查找固体加样器...")
+    
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
+            debug_print(f"✅ 找到固体加样器: {node} 🥄")
+            return node
+    
+    debug_print(f"❌ 未找到固体加样器")
+    return ""
+
 def generate_dissolve_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
@@ -53,21 +436,43 @@ def generate_dissolve_protocol(
     - mol: "0.12 mol", "16.2 mmol"
     """
     
-    # 从字典中提取容器ID
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
-    debug_print(f"溶解协议: vessel={vessel_id}, solvent='{solvent}', volume={volume}, "
-                f"mass={mass}, temp={temp}, time={time}")
-
+    
+    debug_print("=" * 60)
+    debug_print("🧪 开始生成溶解协议")
+    debug_print(f"📋 原始参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  💧 solvent: '{solvent}'")
+    debug_print(f"  📏 volume: {volume} (类型: {type(volume)})")
+    debug_print(f"  ⚖️ mass: {mass} (类型: {type(mass)})")
+    debug_print(f"  🌡️ temp: {temp} (类型: {type(temp)})")
+    debug_print(f"  ⏱️ time: {time} (类型: {type(time)})")
+    debug_print(f"  🧪 reagent: '{reagent}'")
+    debug_print(f"  🧬 mol: '{mol}'")
+    debug_print(f"  🎯 event: '{event}'")
+    debug_print(f"  📦 kwargs: {kwargs}")  # 显示额外参数
+    debug_print("=" * 60)
+    
     action_sequence = []
-
+    
+    # === 参数验证 ===
+    debug_print("🔍 步骤1: 参数验证...")
+    action_sequence.append(create_action_log(f"开始溶解操作 - 容器: {vessel_id}", "🎬"))
+    
     if not vessel_id:
+        debug_print("❌ vessel 参数不能为空")
         raise ValueError("vessel 参数不能为空")
     
     if vessel_id not in G.nodes():
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中")
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-
-    # 记录溶解前的容器状态
+    
+    debug_print("✅ 基本参数验证通过")
+    action_sequence.append(create_action_log("参数验证通过", "✅"))
+    
+    # 🔧 新增：记录溶解前的容器状态
+    debug_print("🔍 记录溶解前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -75,16 +480,30 @@ def generate_dissolve_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
-    # === 参数解析 ===
+    debug_print(f"📊 溶解前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # === 🔧 关键修复：参数解析 ===
+    debug_print("🔍 步骤2: 参数解析...")
+    action_sequence.append(create_action_log("正在解析溶解参数...", "🔍"))
+    
+    # 解析各种参数为数值
     final_volume = parse_volume_input(volume)
     final_mass = parse_mass_input(mass)
     final_temp = parse_temperature_input(temp)
     final_time = parse_time_input(time)
-
-    debug_print(f"参数解析: vol={final_volume}mL, mass={final_mass}g, temp={final_temp}°C, time={final_time}s")
-
+    
+    debug_print(f"📊 解析结果:")
+    debug_print(f"  📏 体积: {final_volume}mL")
+    debug_print(f"  ⚖️ 质量: {final_mass}g")
+    debug_print(f"  🌡️ 温度: {final_temp}°C")
+    debug_print(f"  ⏱️ 时间: {final_time}s")
+    debug_print(f"  🧪 试剂: '{reagent}'")
+    debug_print(f"  🧬 摩尔: '{mol}'")
+    debug_print(f"  🎯 事件: '{event}'")
+    
     # === 判断溶解类型 ===
+    debug_print("🔍 步骤3: 判断溶解类型...")
+    action_sequence.append(create_action_log("正在判断溶解类型...", "🔍"))
     
     # 判断是固体溶解还是液体溶解
     is_solid_dissolve = (final_mass > 0 or (mol and mol.strip() != "") or (reagent and reagent.strip() != ""))
@@ -96,31 +515,49 @@ def generate_dissolve_protocol(
         final_volume = 50.0
         if not solvent:
             solvent = "water"  # 默认溶剂
-        debug_print("未明确指定溶解参数，默认为50mL水溶解")
+        debug_print("⚠️ 未明确指定溶解参数，默认为50mL水溶解")
     
     dissolve_type = "固体溶解" if is_solid_dissolve else "液体溶解"
-    debug_print(f"溶解类型: {dissolve_type}")
-
-    action_sequence.append(create_action_log(f"溶解类型: {dissolve_type}", "📋"))
-
+    dissolve_emoji = "🧂" if is_solid_dissolve else "💧"
+    debug_print(f"📋 溶解类型: {dissolve_type} {dissolve_emoji}")
+    
+    action_sequence.append(create_action_log(f"确定溶解类型: {dissolve_type} {dissolve_emoji}", "📋"))
+    
     # === 查找设备 ===
+    debug_print("🔍 步骤4: 查找设备...")
+    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
+    
+    # 查找加热搅拌器
     heatchill_id = find_connected_heatchill(G, vessel_id)
     stirrer_id = find_connected_stirrer(G, vessel_id)
     
     # 优先使用加热搅拌器，否则使用独立搅拌器
     stir_device_id = heatchill_id or stirrer_id
-    debug_print(f"设备: heatchill='{heatchill_id}', stirrer='{stirrer_id}'")
-
-    if not stir_device_id:
+    
+    debug_print(f"📊 设备映射:")
+    debug_print(f"  🔥 加热器: '{heatchill_id}'")
+    debug_print(f"  🌪️ 搅拌器: '{stirrer_id}'")
+    debug_print(f"  🎯 使用设备: '{stir_device_id}'")
+    
+    if heatchill_id:
+        action_sequence.append(create_action_log(f"找到加热搅拌器: {heatchill_id}", "🔥"))
+    elif stirrer_id:
+        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
+    else:
         action_sequence.append(create_action_log("未找到搅拌设备，将跳过搅拌", "⚠️"))
     
     # === 执行溶解流程 ===
+    debug_print("🔍 步骤5: 执行溶解流程...")
+    
     try:
-        # 启动加热搅拌（如果需要）
+        # 步骤5.1: 启动加热搅拌（如果需要）
         if stir_device_id and (final_temp > 25.0 or final_time > 0 or stir_speed > 0):
-
+            debug_print(f"🔍 5.1: 启动加热搅拌，温度: {final_temp}°C")
+            action_sequence.append(create_action_log(f"准备加热搅拌 (目标温度: {final_temp}°C)", "🔥"))
+            
             if heatchill_id and (final_temp > 25.0 or final_time > 0):
                 # 使用加热搅拌器
+                action_sequence.append(create_action_log(f"启动加热搅拌器 {heatchill_id}", "🔥"))
                 
                 heatchill_action = {
                     "device_id": heatchill_id,
@@ -136,6 +573,7 @@ def generate_dissolve_protocol(
                 # 等待温度稳定
                 if final_temp > 25.0:
                     wait_time = min(60, abs(final_temp - 25.0) * 1.5)
+                    action_sequence.append(create_action_log(f"等待温度稳定 ({wait_time:.0f}秒)", "⏳"))
                     action_sequence.append({
                         "action_name": "wait",
                         "action_kwargs": {"time": wait_time}
@@ -143,6 +581,7 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用独立搅拌器
+                action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -154,8 +593,9 @@ def generate_dissolve_protocol(
                     }
                 }
                 action_sequence.append(stir_action)
-
+                
                 # 等待搅拌稳定
+                action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
@@ -163,8 +603,12 @@ def generate_dissolve_protocol(
         
         if is_solid_dissolve:
             # === 固体溶解路径 ===
+            debug_print(f"🔍 5.2: 使用固体溶解路径")
+            action_sequence.append(create_action_log("开始固体溶解流程", "🧂"))
+            
             solid_dispenser = find_solid_dispenser(G)
             if solid_dispenser:
+                action_sequence.append(create_action_log(f"找到固体加样器: {solid_dispenser}", "🥄"))
                 
                 # 固体加样
                 add_kwargs = {
@@ -176,27 +620,42 @@ def generate_dissolve_protocol(
                 
                 if final_mass > 0:
                     add_kwargs["mass"] = str(final_mass)
+                    action_sequence.append(create_action_log(f"准备添加固体: {final_mass}g", "⚖️"))
                 if mol and mol.strip():
                     add_kwargs["mol"] = mol
-
+                    action_sequence.append(create_action_log(f"按摩尔数添加: {mol}", "🧬"))
+                
+                action_sequence.append(create_action_log("开始固体加样操作", "🥄"))
                 action_sequence.append({
                     "device_id": solid_dispenser,
                     "action_name": "add_solid",
                     "action_kwargs": add_kwargs
                 })
-
-                # 固体溶解体积运算 - 固体本身不会显著增加体积
+                
+                debug_print(f"✅ 固体加样完成")
+                action_sequence.append(create_action_log("固体加样完成", "✅"))
+                
+                # 🔧 新增：固体溶解体积运算 - 固体本身不会显著增加体积，但可能有少量变化
+                debug_print(f"🔧 固体溶解 - 体积变化很小，主要是质量变化")
+                # 固体通常不会显著改变液体体积，这里只记录日志
+                action_sequence.append(create_action_log(f"固体已添加: {final_mass}g", "📊"))
                 
             else:
-                debug_print("未找到固体加样器，跳过固体添加")
+                debug_print("⚠️ 未找到固体加样器，跳过固体添加")
                 action_sequence.append(create_action_log("未找到固体加样器，无法添加固体", "❌"))
         
         elif is_liquid_dissolve:
             # === 液体溶解路径 ===
+            debug_print(f"🔍 5.3: 使用液体溶解路径")
+            action_sequence.append(create_action_log("开始液体溶解流程", "💧"))
+            
+            # 查找溶剂容器
+            action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
             try:
                 solvent_vessel = find_solvent_vessel(G, solvent)
+                action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "🧪"))
             except ValueError as e:
-                debug_print(f"溶剂容器查找失败: {str(e)}，跳过溶剂添加")
+                debug_print(f"⚠️ {str(e)}，跳过溶剂添加")
                 action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
                 solvent_vessel = None
             
@@ -204,7 +663,10 @@ def generate_dissolve_protocol(
                 # 计算流速 - 溶解时通常用较慢的速度，避免飞溅
                 flowrate = 1.0  # 较慢的注入速度
                 transfer_flowrate = 0.5  # 较慢的转移速度
-
+                
+                action_sequence.append(create_action_log(f"设置流速: {flowrate}mL/min (缓慢注入)", "⚡"))
+                action_sequence.append(create_action_log(f"开始转移 {final_volume}mL {solvent}", "🚰"))
+                
                 # 调用pump protocol
                 pump_actions = generate_pump_protocol_with_rinsing(
                     G=G,
@@ -226,9 +688,12 @@ def generate_dissolve_protocol(
                     **kwargs
                 )
                 action_sequence.extend(pump_actions)
-
-                # 液体溶解体积运算 - 添加溶剂后更新容器体积
-
+                debug_print(f"✅ 溶剂转移完成，添加了 {len(pump_actions)} 个动作")
+                action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
+                
+                # 🔧 新增：液体溶解体积运算 - 添加溶剂后更新容器体积
+                debug_print(f"🔧 更新容器液体体积 - 添加溶剂 {final_volume:.2f}mL")
+                
                 # 确保vessel有data字段
                 if "data" not in vessel:
                     vessel["data"] = {}
@@ -238,14 +703,19 @@ def generate_dissolve_protocol(
                     if isinstance(current_volume, list):
                         if len(current_volume) > 0:
                             vessel["data"]["liquid_volume"][0] += final_volume
+                            debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{final_volume:.2f}mL)")
                         else:
                             vessel["data"]["liquid_volume"] = [final_volume]
+                            debug_print(f"📊 初始化溶解体积: {final_volume:.2f}mL")
                     elif isinstance(current_volume, (int, float)):
                         vessel["data"]["liquid_volume"] += final_volume
+                        debug_print(f"📊 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{final_volume:.2f}mL)")
                     else:
                         vessel["data"]["liquid_volume"] = final_volume
+                        debug_print(f"📊 重置体积为: {final_volume:.2f}mL")
                 else:
                     vessel["data"]["liquid_volume"] = final_volume
+                    debug_print(f"📊 创建新体积记录: {final_volume:.2f}mL")
                 
                 # 🔧 同时更新图中的容器数据
                 if vessel_id in G.nodes():
@@ -262,19 +732,27 @@ def generate_dissolve_protocol(
                             G.nodes[vessel_id]['data']['liquid_volume'] = [final_volume]
                     else:
                         G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + final_volume
-
+                    
+                    debug_print(f"✅ 图节点体积数据已更新")
+                
+                action_sequence.append(create_action_log(f"容器体积已更新 (+{final_volume:.2f}mL)", "📊"))
+                
                 # 溶剂添加后等待
+                action_sequence.append(create_action_log("溶剂添加后短暂等待...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
                 })
         
-        # 等待溶解完成
+        # 步骤5.4: 等待溶解完成
         if final_time > 0:
+            debug_print(f"🔍 5.4: 等待溶解完成 - {final_time}s")
             wait_minutes = final_time / 60
-
+            action_sequence.append(create_action_log(f"开始溶解等待 ({wait_minutes:.1f}分钟)", "⏰"))
+            
             if heatchill_id:
                 # 使用定时加热搅拌
+                action_sequence.append(create_action_log(f"使用加热搅拌器进行定时溶解", "🔥"))
                 
                 dissolve_action = {
                     "device_id": heatchill_id,
@@ -292,6 +770,7 @@ def generate_dissolve_protocol(
             
             elif stirrer_id:
                 # 使用定时搅拌
+                action_sequence.append(create_action_log(f"使用搅拌器进行定时溶解", "🌪️"))
                 
                 stir_action = {
                     "device_id": stirrer_id,
@@ -308,6 +787,7 @@ def generate_dissolve_protocol(
             
             else:
                 # 简单等待
+                action_sequence.append(create_action_log(f"简单等待溶解完成", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": final_time}
@@ -315,7 +795,9 @@ def generate_dissolve_protocol(
         
         # 步骤5.5: 停止加热搅拌（如果需要）
         if heatchill_id and final_time == 0 and final_temp > 25.0:
-
+            debug_print(f"🔍 5.5: 停止加热器")
+            action_sequence.append(create_action_log("停止加热搅拌器", "🛑"))
+            
             stop_action = {
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
@@ -326,7 +808,7 @@ def generate_dissolve_protocol(
             action_sequence.append(stop_action)
         
     except Exception as e:
-        debug_print(f"溶解流程执行失败: {str(e)}")
+        debug_print(f"❌ 溶解流程执行失败: {str(e)}")
         action_sequence.append(create_action_log(f"溶解流程失败: {str(e)}", "❌"))
         # 添加错误日志
         action_sequence.append({
@@ -347,8 +829,23 @@ def generate_dissolve_protocol(
             final_liquid_volume = current_volume
     
     # === 最终结果 ===
-    debug_print(f"溶解协议完成: {vessel_id}, 类型={dissolve_type}, "
-                f"动作数={len(action_sequence)}, 体积={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
+    debug_print("=" * 60)
+    debug_print(f"🎉 溶解协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  🥼 容器: {vessel_id}")
+    debug_print(f"  {dissolve_emoji} 溶解类型: {dissolve_type}")
+    if is_liquid_dissolve:
+        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL)")
+    if is_solid_dissolve:
+        debug_print(f"  🧪 试剂: {reagent}")
+        debug_print(f"  ⚖️ 质量: {final_mass}g")
+        debug_print(f"  🧬 摩尔: {mol}")
+    debug_print(f"  🌡️ 温度: {final_temp}°C")
+    debug_print(f"  ⏱️ 时间: {final_time}s")
+    debug_print(f"  📊 溶解前体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  📊 溶解后体积: {final_liquid_volume:.2f}mL")
+    debug_print("=" * 60)
     
     # 添加完成日志
     summary_msg = f"溶解协议完成: {vessel_id}"
@@ -357,7 +854,7 @@ def generate_dissolve_protocol(
     if is_solid_dissolve:
         summary_msg += f" (溶解 {final_mass}g {reagent})"
     
-    action_sequence.append(create_action_log(summary_msg, "✅"))
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
     
     return action_sequence
 
@@ -369,7 +866,7 @@ def dissolve_solid_by_mass(G: nx.DiGraph, vessel: dict, reagent: str, mass: Unio
                           temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按质量溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"快速固体溶解: {reagent} ({mass}) → {vessel_id}")
+    debug_print(f"🧂 快速固体溶解: {reagent} ({mass}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mass=mass, 
@@ -382,7 +879,7 @@ def dissolve_solid_by_moles(G: nx.DiGraph, vessel: dict, reagent: str, mol: str,
                            temp: Union[str, float] = 25.0, time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """按摩尔数溶解固体"""
     vessel_id = vessel["id"]
-    debug_print(f"按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
+    debug_print(f"🧬 按摩尔数溶解固体: {reagent} ({mol}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         mol=mol, 
@@ -395,7 +892,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = 25.0, time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
     """用溶剂溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"溶剂溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"💧 溶剂溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -407,7 +904,7 @@ def dissolve_with_solvent(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 def dissolve_at_room_temp(G: nx.DiGraph, vessel: dict, solvent: str, volume: Union[str, float]) -> List[Dict[str, Any]]:
     """室温溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"室温溶解: {solvent} ({volume}) → {vessel_id}")
+    debug_print(f"🌡️ 室温溶解: {solvent} ({volume}) → {vessel_id}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -420,7 +917,7 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
                          temp: Union[str, float] = "60 °C", time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
     """加热溶解"""
     vessel_id = vessel["id"]
-    debug_print(f"加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
+    debug_print(f"🔥 加热溶解: {solvent} ({volume}) → {vessel_id} @ {temp}")
     return generate_dissolve_protocol(
         G, vessel, 
         solvent=solvent, 
@@ -432,31 +929,37 @@ def dissolve_with_heating(G: nx.DiGraph, vessel: dict, solvent: str, volume: Uni
 # 测试函数
 def test_dissolve_protocol():
     """测试溶解协议的各种参数解析"""
+    debug_print("=== DISSOLVE PROTOCOL 增强版测试 ===")
+    
     # 测试体积解析
+    debug_print("💧 测试体积解析...")
     volumes = ["10 mL", "?", 10.0, "1 L", "500 μL"]
     for vol in volumes:
         result = parse_volume_input(vol)
-        debug_print(f"体积解析: {vol} → {result}mL")
-
+        debug_print(f"📏 体积解析: {vol} → {result}mL")
+    
     # 测试质量解析
+    debug_print("⚖️ 测试质量解析...")
     masses = ["2.9 g", "?", 2.5, "500 mg"]
     for mass in masses:
         result = parse_mass_input(mass)
-        debug_print(f"质量解析: {mass} → {result}g")
-
+        debug_print(f"⚖️ 质量解析: {mass} → {result}g")
+    
     # 测试温度解析
+    debug_print("🌡️ 测试温度解析...")
     temps = ["60 °C", "room temperature", "?", 25.0, "reflux"]
     for temp in temps:
         result = parse_temperature_input(temp)
-        debug_print(f"温度解析: {temp} → {result}°C")
-
+        debug_print(f"🌡️ 温度解析: {temp} → {result}°C")
+    
     # 测试时间解析
+    debug_print("⏱️ 测试时间解析...")
     times = ["30 min", "1 h", "?", 60.0]
     for time in times:
         result = parse_time_input(time)
-        debug_print(f"时间解析: {time} → {result}s")
-
-    debug_print("测试完成")
+        debug_print(f"⏱️ 时间解析: {time} → {result}s")
+    
+    debug_print("✅ 测试完成")
 
 if __name__ == "__main__":
     test_dissolve_protocol()

unilabos/compile/dry_protocol.py

@@ -1,40 +1,87 @@
 import networkx as nx
 from typing import List, Dict, Any
 
-from .utils.vessel_parser import get_vessel, find_connected_heatchill
-from .utils.logger_util import debug_print
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与容器相连的加热器
+    
+    Args:
+        G: 网络图
+        vessel: 容器名称
+    
+    Returns:
+        str: 加热器ID，如果没有则返回None
+    """
+    print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
+    
+    # 查找所有加热器节点
+    heater_nodes = [node for node in G.nodes() 
+                   if ('heater' in node.lower() or 
+                       'heat' in node.lower() or
+                       G.nodes[node].get('class') == 'virtual_heatchill' or
+                       G.nodes[node].get('type') == 'heater')]
+    
+    print(f"DRY: 找到的加热器节点: {heater_nodes}")
+    
+    # 检查是否有加热器与目标容器相连
+    for heater in heater_nodes:
+        if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
+            print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
+            return heater
+    
+    # 如果没有直接连接，查找距离最近的加热器
+    for heater in heater_nodes:
+        try:
+            path = nx.shortest_path(G, source=heater, target=vessel)
+            if len(path) <= 3:  # 最多2个中间节点
+                print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
+                return heater
+        except nx.NetworkXNoPath:
+            continue
+    
+    print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
+    return None
 
 
 def generate_dry_protocol(
     G: nx.DiGraph,
-    vessel: dict,
-    compound: str = "",
-    **kwargs
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    compound: str = "",  # 🔧 修改：参数顺序调整，并设置默认值
+    **kwargs  # 接收其他可能的参数但不使用
 ) -> List[Dict[str, Any]]:
     """
     生成干燥协议序列
-
+    
     Args:
         G: 有向图，节点为容器和设备
         vessel: 目标容器字典（从XDL传入）
         compound: 化合物名称（从XDL传入，可选）
         **kwargs: 其他可选参数，但不使用
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     action_sequence = []
-
+    
     # 默认参数
-    dry_temp = 60.0
-    dry_time = 3600.0
-    simulation_time = 60.0
-
-    debug_print(f"开始生成干燥协议: vessel={vessel_id}, compound={compound or '未指定'}, temp={dry_temp}°C")
-
-    # 记录干燥前的容器状态
+    dry_temp = 60.0  # 默认干燥温度 60°C
+    dry_time = 3600.0  # 默认干燥时间 1小时（3600秒）
+    simulation_time = 60.0  # 模拟时间 1分钟
+    
+    print(f"🌡️ DRY: 开始生成干燥协议 ✨")
+    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    print(f"  🧪 化合物: {compound or '未指定'}")
+    print(f"  🔥 干燥温度: {dry_temp}°C")
+    print(f"  ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
+    
+    # 🔧 新增：记录干燥前的容器状态
+    print(f"🔍 记录干燥前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -42,30 +89,39 @@ def generate_dry_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
+    print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
+    
     # 1. 验证目标容器存在
+    print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
     if vessel_id not in G.nodes():
-        debug_print(f"容器 '{vessel_id}' 不存在于系统中，跳过干燥")
+        print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
         return action_sequence
-
+    print(f"✅ 容器 '{vessel_id}' 验证通过!")
+    
     # 2. 查找相连的加热器
-    heater_id = find_connected_heatchill(G, vessel_id)
-
+    print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
+    heater_id = find_connected_heater(G, vessel_id)  # 🔧 使用 vessel_id
+    
     if heater_id is None:
-        debug_print(f"未找到与容器 '{vessel_id}' 相连的加热器，添加模拟干燥动作")
+        print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
+        print(f"🎭 添加模拟干燥动作...")
+        # 添加一个等待动作，表示干燥过程（模拟）
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {
-                "time": 10.0,
+                "time": 10.0,  # 模拟等待时间
                 "description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
             }
         })
-
-        # 模拟干燥的体积变化
+        
+        # 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
+        print(f"🔧 模拟干燥过程的体积减少...")
         if original_liquid_volume > 0:
+            # 假设干燥过程中损失10%的体积（溶剂蒸发）
             volume_loss = original_liquid_volume * 0.1
             new_volume = max(0.0, original_liquid_volume - volume_loss)
-
+            
+            # 更新vessel字典中的体积
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
@@ -77,14 +133,15 @@ def generate_dry_protocol(
                     vessel["data"]["liquid_volume"] = new_volume
                 else:
                     vessel["data"]["liquid_volume"] = new_volume
-
+            
+            # 🔧 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
-
+                
                 vessel_node_data = G.nodes[vessel_id]['data']
                 current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+                
                 if isinstance(current_node_volume, list):
                     if len(current_node_volume) > 0:
                         G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -92,27 +149,33 @@ def generate_dry_protocol(
                         G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
                 else:
                     G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-
-            debug_print(f"模拟干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL")
-
-        debug_print(f"协议生成完成，共 {len(action_sequence)} 个动作")
+            
+            print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
+        
+        print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
         return action_sequence
-
-    debug_print(f"找到加热器: {heater_id}")
-
+    
+    print(f"🎉 找到加热器: {heater_id}!")
+    
     # 3. 启动加热器进行干燥
+    print(f"\n🚀 步骤3: 开始执行干燥流程...")
+    print(f"🔥 启动加热器 {heater_id} 进行干燥")
+    
     # 3.1 启动加热
+    print(f"  ⚡ 动作1: 启动加热到 {dry_temp}°C...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
     })
-
+    print(f"  ✅ 加热器启动命令已添加 🔥")
+    
     # 3.2 等待温度稳定
+    print(f"  ⏳ 动作2: 等待温度稳定...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -120,27 +183,34 @@ def generate_dry_protocol(
             "description": f"等待温度稳定到 {dry_temp}°C"
         }
     })
-
+    print(f"  ✅ 温度稳定等待命令已添加 🌡️")
+    
     # 3.3 保持干燥温度
+    print(f"  🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
         }
     })
-
-    # 干燥过程中的体积变化计算
+    print(f"  ✅ 温度保持命令已添加 🌡️⏰")
+    
+    # 🔧 新增：干燥过程中的体积变化计算
+    print(f"🔧 计算干燥过程中的体积变化...")
     if original_liquid_volume > 0:
-        evaporation_rate = 0.001 * dry_temp
-        total_evaporation = min(original_liquid_volume * 0.8,
-                               evaporation_rate * simulation_time)
-
+        # 干燥过程中，溶剂会蒸发，固体保留
+        # 根据温度和时间估算蒸发量
+        evaporation_rate = 0.001 * dry_temp  # 每秒每°C蒸发0.001mL
+        total_evaporation = min(original_liquid_volume * 0.8, 
+                               evaporation_rate * simulation_time)  # 最多蒸发80%
+        
         new_volume = max(0.0, original_liquid_volume - total_evaporation)
-
+        
+        # 更新vessel字典中的体积
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
             if isinstance(current_volume, list):
@@ -152,14 +222,15 @@ def generate_dry_protocol(
                 vessel["data"]["liquid_volume"] = new_volume
             else:
                 vessel["data"]["liquid_volume"] = new_volume
-
+        
+        # 🔧 同时更新图中的容器数据
         if vessel_id in G.nodes():
             if 'data' not in G.nodes[vessel_id]:
                 G.nodes[vessel_id]['data'] = {}
-
+            
             vessel_node_data = G.nodes[vessel_id]['data']
             current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+            
             if isinstance(current_node_volume, list):
                 if len(current_node_volume) > 0:
                     G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -167,29 +238,37 @@ def generate_dry_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-
-        debug_print(f"干燥体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{total_evaporation:.2f}mL)")
-
+        
+        print(f"📊 干燥体积变化计算:")
+        print(f"  - 初始体积: {original_liquid_volume:.2f}mL")
+        print(f"  - 蒸发量: {total_evaporation:.2f}mL")
+        print(f"  - 剩余体积: {new_volume:.2f}mL")
+        print(f"  - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
+    
     # 3.4 停止加热
+    print(f"  ⏹️ 动作4: 停止加热...")
     action_sequence.append({
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
             "purpose": f"干燥完成，停止加热"
         }
     })
-
+    print(f"  ✅ 停止加热命令已添加 🛑")
+    
     # 3.5 等待冷却
+    print(f"  ❄️ 动作5: 等待冷却...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 10.0,
+            "time": 10.0,  # 等待10秒冷却
             "description": f"等待 {compound or '化合物'} 冷却"
         }
     })
-
-    # 最终状态
+    print(f"  ✅ 冷却等待命令已添加 🧊")
+    
+    # 🔧 新增：干燥完成后的状态报告
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -197,37 +276,60 @@ def generate_dry_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-
-    debug_print(f"干燥协议生成完成: {len(action_sequence)} 个动作, 体积 {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
-
+    
+    print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
+    print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
+    print(f"📊 干燥结果:")
+    print(f"  - 容器: {vessel_id}")
+    print(f"  - 化合物: {compound or '未指定'}")
+    print(f"  - 干燥前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 干燥后体积: {final_liquid_volume:.2f}mL")
+    print(f"  - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
+    print(f"🏁 所有动作序列准备就绪! ✨")
+    
     return action_sequence
 
 
-# 便捷函数
-def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
+# 🔧 新增：便捷函数
+def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
                                temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
     """快速干燥：低温短时间"""
+    vessel_id = vessel["id"]
+    print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
+    
+    # 临时修改默认参数
+    import types
+    temp_func = types.FunctionType(
+        generate_dry_protocol.__code__, 
+        generate_dry_protocol.__globals__
+    )
+    
+    # 直接调用原函数，但修改内部参数
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
+def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
                                   temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
     """深度干燥：高温长时间"""
+    vessel_id = vessel["id"]
+    print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
-def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "",
+def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
                                 temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
     """温和干燥：低温长时间"""
+    vessel_id = vessel["id"]
+    print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
     return generate_dry_protocol(G, vessel, compound)
 
 
 # 测试函数
 def test_dry_protocol():
     """测试干燥协议"""
-    debug_print("=== DRY PROTOCOL 测试 ===")
-    debug_print("测试完成")
+    print("=== DRY PROTOCOL 测试 ===")
+    print("测试完成")
 
 
 if __name__ == "__main__":
-    test_dry_protocol()
+    test_dry_protocol()

unilabos/compile/evacuateandrefill_protocol.py

@@ -3,14 +3,38 @@ from functools import partial
 import networkx as nx
 import logging
 import uuid
+import sys
 from typing import List, Dict, Any, Optional
-from .utils.vessel_parser import get_vessel, find_connected_stirrer
-from .utils.logger_util import debug_print, action_log
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
 
 # 设置日志
 logger = logging.getLogger(__name__)
 
+# 确保输出编码为UTF-8
+if hasattr(sys.stdout, 'reconfigure'):
+    try:
+        sys.stdout.reconfigure(encoding='utf-8')
+        sys.stderr.reconfigure(encoding='utf-8')
+    except:
+        pass
+
+def debug_print(message):
+    """调试输出函数 - 支持中文"""
+    try:
+        # 确保消息是字符串格式
+        safe_message = str(message)
+        logger.info(f"[抽真空充气] {safe_message}")
+    except UnicodeEncodeError:
+        # 如果编码失败，尝试替换不支持的字符
+        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        logger.info(f"[抽真空充气] {safe_message}")
+    except Exception as e:
+        # 最后的安全措施
+        fallback_message = f"日志输出错误: {repr(message)}"
+        logger.info(f"[抽真空充气] {fallback_message}")
+
 create_action_log = partial(action_log, prefix="[抽真空充气]")
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
@@ -20,9 +44,10 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
     2. 气体类型匹配（data.gas_type）
     3. 默认气源
     """
-    debug_print(f"正在查找气体 '{gas}' 的气源...")
-
-    # 通过容器名称匹配
+    debug_print(f"🔍 正在查找气体 '{gas}' 的气源...")
+    
+    # 第一步：通过容器名称匹配
+    debug_print(f"📋 方法1: 容器名称匹配...")
     gas_source_patterns = [
         f"gas_source_{gas}",
         f"gas_{gas}",
@@ -32,178 +57,254 @@ def find_gas_source(G: nx.DiGraph, gas: str) -> str:
         f"reagent_bottle_{gas}",
         f"bottle_{gas}"
     ]
-
+    
+    debug_print(f"🎯 尝试的容器名称: {gas_source_patterns}")
+    
     for pattern in gas_source_patterns:
         if pattern in G.nodes():
-            debug_print(f"通过名称找到气源: {pattern}")
+            debug_print(f"✅ 通过名称找到气源: {pattern}")
             return pattern
-
-    # 通过气体类型匹配 (data.gas_type)
+    
+    # 第二步：通过气体类型匹配 (data.gas_type)
+    debug_print(f"📋 方法2: 气体类型匹配...")
     for node_id in G.nodes():
         node_data = G.nodes[node_id]
         node_class = node_data.get('class', '') or ''
-
-        if ('gas_source' in node_class or
-            'gas' in node_id.lower() or
+        
+        # 检查是否是气源设备
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or 
             node_id.startswith('flask_')):
-
+            
+            # 检查 data.gas_type
             data = node_data.get('data', {})
             gas_type = data.get('gas_type', '')
-
+            
             if gas_type.lower() == gas.lower():
-                debug_print(f"通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
+                debug_print(f"✅ 通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
                 return node_id
-
+            
+            # 检查 config.gas_type  
             config = node_data.get('config', {})
             config_gas_type = config.get('gas_type', '')
-
+            
             if config_gas_type.lower() == gas.lower():
-                debug_print(f"通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
+                debug_print(f"✅ 通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
                 return node_id
-
-    # 查找所有可用的气源设备
+    
+    # 第三步：查找所有可用的气源设备
+    debug_print(f"📋 方法3: 查找可用气源...")
     available_gas_sources = []
     for node_id in G.nodes():
         node_data = G.nodes[node_id]
         node_class = node_data.get('class', '') or ''
-
-        if ('gas_source' in node_class or
+        
+        if ('gas_source' in node_class or 
             'gas' in node_id.lower() or
             (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
-
+            
             data = node_data.get('data', {})
             gas_type = data.get('gas_type', '未知')
             available_gas_sources.append(f"{node_id} (气体类型: {gas_type})")
-
-    # 如果找不到特定气体，使用默认的第一个气源
+    
+    debug_print(f"📊 可用气源: {available_gas_sources}")
+    
+    # 第四步：如果找不到特定气体，使用默认的第一个气源
+    debug_print(f"📋 方法4: 查找默认气源...")
     default_gas_sources = [
-        node for node in G.nodes()
+        node for node in G.nodes() 
         if ((G.nodes[node].get('class') or '').find('virtual_gas_source') != -1
             or 'gas_source' in node)
     ]
-
+    
     if default_gas_sources:
         default_source = default_gas_sources[0]
-        debug_print(f"未找到特定气体 '{gas}'，使用默认气源: {default_source}")
+        debug_print(f"⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
         return default_source
-
+    
+    debug_print(f"❌ 所有方法都失败了！")
     raise ValueError(f"无法找到气体 '{gas}' 的气源。可用气源: {available_gas_sources}")
 
 def find_vacuum_pump(G: nx.DiGraph) -> str:
     """查找真空泵设备"""
+    debug_print("🔍 正在查找真空泵...")
+    
     vacuum_pumps = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
-        if ('virtual_vacuum_pump' in node_class or
-            'vacuum_pump' in node.lower() or
+        
+        if ('virtual_vacuum_pump' in node_class or 
+            'vacuum_pump' in node.lower() or 
             'vacuum' in node_class.lower()):
             vacuum_pumps.append(node)
-
+            debug_print(f"📋 发现真空泵: {node}")
+    
     if not vacuum_pumps:
+        debug_print(f"❌ 系统中未找到真空泵")
         raise ValueError("系统中未找到真空泵")
-
-    debug_print(f"使用真空泵: {vacuum_pumps[0]}")
+    
+    debug_print(f"✅ 使用真空泵: {vacuum_pumps[0]}")
     return vacuum_pumps[0]
 
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
+    """查找与指定容器相连的搅拌器"""
+    debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
+    
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'virtual_stirrer' in node_class or 'stirrer' in node.lower():
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+    
+    debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
+    
+    # 检查哪个搅拌器与目标容器相连
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
+            return stirrer
+    
+    # 如果没有连接的搅拌器，返回第一个可用的
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
+        return stirrer_nodes[0]
+    
+    debug_print("❌ 未找到搅拌器")
+    return None
+
 def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]:
     """查找真空泵相关的电磁阀"""
+    debug_print(f"🔍 正在查找真空泵 {vacuum_pump} 的电磁阀...")
+    
+    # 查找所有电磁阀
     solenoid_valves = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
+        
         if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
             solenoid_valves.append(node)
-
+            debug_print(f"📋 发现电磁阀: {node}")
+    
+    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
+    
     # 检查连接关系
+    debug_print(f"📋 方法1: 检查连接关系...")
     for solenoid in solenoid_valves:
         if G.has_edge(solenoid, vacuum_pump) or G.has_edge(vacuum_pump, solenoid):
-            debug_print(f"找到连接的真空电磁阀: {solenoid}")
+            debug_print(f"✅ 找到连接的真空电磁阀: {solenoid}")
             return solenoid
-
+    
     # 通过命名规则查找
+    debug_print(f"📋 方法2: 检查命名规则...")
     for solenoid in solenoid_valves:
         if 'vacuum' in solenoid.lower() or solenoid == 'solenoid_valve_1':
-            debug_print(f"通过命名找到真空电磁阀: {solenoid}")
+            debug_print(f"✅ 通过命名找到真空电磁阀: {solenoid}")
             return solenoid
-
-    debug_print("未找到真空电磁阀")
+    
+    debug_print("⚠️ 未找到真空电磁阀")
     return None
 
 def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
     """查找气源相关的电磁阀"""
+    debug_print(f"🔍 正在查找气源 {gas_source} 的电磁阀...")
+    
+    # 查找所有电磁阀
     solenoid_valves = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
+        
         if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
             solenoid_valves.append(node)
-
+    
+    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
+    
     # 检查连接关系
+    debug_print(f"📋 方法1: 检查连接关系...")
     for solenoid in solenoid_valves:
         if G.has_edge(gas_source, solenoid) or G.has_edge(solenoid, gas_source):
-            debug_print(f"找到连接的气源电磁阀: {solenoid}")
+            debug_print(f"✅ 找到连接的气源电磁阀: {solenoid}")
             return solenoid
-
+    
     # 通过命名规则查找
+    debug_print(f"📋 方法2: 检查命名规则...")
     for solenoid in solenoid_valves:
         if 'gas' in solenoid.lower() or solenoid == 'solenoid_valve_2':
-            debug_print(f"通过命名找到气源电磁阀: {solenoid}")
+            debug_print(f"✅ 通过命名找到气源电磁阀: {solenoid}")
             return solenoid
-
-    debug_print("未找到气源电磁阀")
+    
+    debug_print("⚠️ 未找到气源电磁阀")
     return None
 
 def generate_evacuateandrefill_protocol(
     G: nx.DiGraph,
-    vessel: dict,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     gas: str,
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成抽真空和充气操作的动作序列
-
+    生成抽真空和充气操作的动作序列 - 中文版
+    
     Args:
         G: 设备图
         vessel: 目标容器字典（必需）
-        gas: 气体名称（必需）
+        gas: 气体名称（必需）  
         **kwargs: 其他参数（兼容性）
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-
+    
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     # 硬编码重复次数为 3
     repeats = 3
-
+    
+    # 生成协议ID
     protocol_id = str(uuid.uuid4())
-
-    debug_print(f"开始生成抽真空充气协议: vessel={vessel_id}, gas={gas}, repeats={repeats}")
-
+    debug_print(f"🆔 生成协议ID: {protocol_id}")
+    
+    debug_print("=" * 60)
+    debug_print("🧪 开始生成抽真空充气协议")
+    debug_print(f"📋 原始参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  💨 气体: '{gas}'")
+    debug_print(f"  🔄 循环次数: {repeats} (硬编码)")
+    debug_print(f"  📦 其他参数: {kwargs}")
+    debug_print("=" * 60)
+    
     action_sequence = []
-
+    
     # === 参数验证和修正 ===
+    debug_print("🔍 步骤1: 参数验证和修正...")
     action_sequence.append(create_action_log(f"开始抽真空充气操作 - 容器: {vessel_id}", "🎬"))
     action_sequence.append(create_action_log(f"目标气体: {gas}", "💨"))
     action_sequence.append(create_action_log(f"循环次数: {repeats}", "🔄"))
-
+    
+    # 验证必需参数
     if not vessel_id:
+        debug_print("❌ 容器参数不能为空")
         raise ValueError("容器参数不能为空")
-
+    
     if not gas:
+        debug_print("❌ 气体参数不能为空")
         raise ValueError("气体参数不能为空")
-
-    if vessel_id not in G.nodes():
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 在系统中不存在")
         raise ValueError(f"容器 '{vessel_id}' 在系统中不存在")
-
+    
+    debug_print("✅ 基本参数验证通过")
     action_sequence.append(create_action_log("参数验证通过", "✅"))
-
+    
     # 标准化气体名称
+    debug_print("🔧 标准化气体名称...")
     gas_aliases = {
         'n2': 'nitrogen',
         'ar': 'argon',
@@ -218,54 +319,61 @@ def generate_evacuateandrefill_protocol(
         '二氧化碳': 'carbon_dioxide',
         '氢气': 'hydrogen'
     }
-
+    
     original_gas = gas
     gas_lower = gas.lower().strip()
     if gas_lower in gas_aliases:
         gas = gas_aliases[gas_lower]
-        debug_print(f"标准化气体名称: {original_gas} -> {gas}")
+        debug_print(f"🔄 标准化气体名称: {original_gas} -> {gas}")
         action_sequence.append(create_action_log(f"气体名称标准化: {original_gas} -> {gas}", "🔄"))
-
-    debug_print(f"最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
-
+    
+    debug_print(f"📋 最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
+    
     # === 查找设备 ===
+    debug_print("🔍 步骤2: 查找设备...")
     action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-
+    
     try:
         vacuum_pump = find_vacuum_pump(G)
         action_sequence.append(create_action_log(f"找到真空泵: {vacuum_pump}", "🌪️"))
-
+        
         gas_source = find_gas_source(G, gas)
         action_sequence.append(create_action_log(f"找到气源: {gas_source}", "💨"))
-
+        
         vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
         if vacuum_solenoid:
             action_sequence.append(create_action_log(f"找到真空电磁阀: {vacuum_solenoid}", "🚪"))
         else:
             action_sequence.append(create_action_log("未找到真空电磁阀", "⚠️"))
-
+        
         gas_solenoid = find_gas_solenoid_valve(G, gas_source)
         if gas_solenoid:
             action_sequence.append(create_action_log(f"找到气源电磁阀: {gas_solenoid}", "🚪"))
         else:
             action_sequence.append(create_action_log("未找到气源电磁阀", "⚠️"))
-
-        stirrer_id = find_connected_stirrer(G, vessel_id)
+        
+        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
         if stirrer_id:
             action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
         else:
             action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
-
-        debug_print(f"设备配置: 真空泵={vacuum_pump}, 气源={gas_source}, 搅拌器={stirrer_id}")
-
+        
+        debug_print(f"📊 设备配置:")
+        debug_print(f"  🌪️ 真空泵: {vacuum_pump}")
+        debug_print(f"  💨 气源: {gas_source}")
+        debug_print(f"  🚪 真空电磁阀: {vacuum_solenoid}")
+        debug_print(f"  🚪 气源电磁阀: {gas_solenoid}")
+        debug_print(f"  🌪️ 搅拌器: {stirrer_id}")
+        
     except Exception as e:
-        debug_print(f"设备查找失败: {str(e)}")
+        debug_print(f"❌ 设备查找失败: {str(e)}")
         action_sequence.append(create_action_log(f"设备查找失败: {str(e)}", "❌"))
         raise ValueError(f"设备查找失败: {str(e)}")
-
+    
     # === 参数设置 ===
+    debug_print("🔍 步骤3: 参数设置...")
     action_sequence.append(create_action_log("设置操作参数...", "⚙️"))
-
+    
     # 根据气体类型调整参数
     if gas.lower() in ['nitrogen', 'argon']:
         VACUUM_VOLUME = 25.0
@@ -273,6 +381,7 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 2.0
         VACUUM_TIME = 30.0
         REFILL_TIME = 20.0
+        debug_print("💨 惰性气体: 使用标准参数")
         action_sequence.append(create_action_log("检测到惰性气体，使用标准参数", "💨"))
     elif gas.lower() in ['air', 'oxygen']:
         VACUUM_VOLUME = 20.0
@@ -280,6 +389,7 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 1.5
         VACUUM_TIME = 45.0
         REFILL_TIME = 25.0
+        debug_print("🔥 活性气体: 使用保守参数")
         action_sequence.append(create_action_log("检测到活性气体，使用保守参数", "🔥"))
     else:
         VACUUM_VOLUME = 15.0
@@ -287,88 +397,116 @@ def generate_evacuateandrefill_protocol(
         PUMP_FLOW_RATE = 1.0
         VACUUM_TIME = 60.0
         REFILL_TIME = 30.0
+        debug_print("❓ 未知气体: 使用安全参数")
         action_sequence.append(create_action_log("未知气体类型，使用安全参数", "❓"))
-
+    
     STIR_SPEED = 200.0
-
+    
+    debug_print(f"⚙️ 操作参数:")
+    debug_print(f"  📏 真空体积: {VACUUM_VOLUME}mL")
+    debug_print(f"  📏 充气体积: {REFILL_VOLUME}mL")
+    debug_print(f"  ⚡ 泵流速: {PUMP_FLOW_RATE}mL/s")
+    debug_print(f"  ⏱️ 真空时间: {VACUUM_TIME}s")
+    debug_print(f"  ⏱️ 充气时间: {REFILL_TIME}s")
+    debug_print(f"  🌪️ 搅拌速度: {STIR_SPEED}RPM")
+    
     action_sequence.append(create_action_log(f"真空体积: {VACUUM_VOLUME}mL", "📏"))
     action_sequence.append(create_action_log(f"充气体积: {REFILL_VOLUME}mL", "📏"))
     action_sequence.append(create_action_log(f"泵流速: {PUMP_FLOW_RATE}mL/s", "⚡"))
-
+    
     # === 路径验证 ===
+    debug_print("🔍 步骤4: 路径验证...")
     action_sequence.append(create_action_log("验证传输路径...", "🛤️"))
-
+    
     try:
-        if nx.has_path(G, vessel_id, vacuum_pump):
+        # 验证抽真空路径
+        if nx.has_path(G, vessel_id, vacuum_pump):  # 🔧 使用 vessel_id
             vacuum_path = nx.shortest_path(G, source=vessel_id, target=vacuum_pump)
+            debug_print(f"✅ 真空路径: {' -> '.join(vacuum_path)}")
             action_sequence.append(create_action_log(f"真空路径: {' -> '.join(vacuum_path)}", "🛤️"))
         else:
+            debug_print(f"⚠️ 真空路径不存在，继续执行但可能有问题")
             action_sequence.append(create_action_log("真空路径检查: 路径不存在", "⚠️"))
-
-        if nx.has_path(G, gas_source, vessel_id):
+        
+        # 验证充气路径
+        if nx.has_path(G, gas_source, vessel_id):  # 🔧 使用 vessel_id
             gas_path = nx.shortest_path(G, source=gas_source, target=vessel_id)
+            debug_print(f"✅ 气体路径: {' -> '.join(gas_path)}")
             action_sequence.append(create_action_log(f"气体路径: {' -> '.join(gas_path)}", "🛤️"))
         else:
+            debug_print(f"⚠️ 气体路径不存在，继续执行但可能有问题")
             action_sequence.append(create_action_log("气体路径检查: 路径不存在", "⚠️"))
-
+        
     except Exception as e:
+        debug_print(f"⚠️ 路径验证失败: {str(e)}，继续执行")
         action_sequence.append(create_action_log(f"路径验证失败: {str(e)}", "⚠️"))
-
+    
     # === 启动搅拌器 ===
+    debug_print("🔍 步骤5: 启动搅拌器...")
+    
     if stirrer_id:
+        debug_print(f"🌪️ 启动搅拌器: {stirrer_id}")
         action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {STIR_SPEED}rpm)", "🌪️"))
-
+        
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "stir_speed": STIR_SPEED,
                 "purpose": "抽真空充气前预搅拌"
             }
         })
-
+        
+        # 等待搅拌稳定
         action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": 5.0}
         })
     else:
+        debug_print("⚠️ 未找到搅拌器，跳过搅拌器启动")
         action_sequence.append(create_action_log("跳过搅拌器启动", "⏭️"))
-
+    
     # === 执行循环 ===
+    debug_print("🔍 步骤6: 执行抽真空-充气循环...")
     action_sequence.append(create_action_log(f"开始 {repeats} 次抽真空-充气循环", "🔄"))
-
+    
     for cycle in range(repeats):
+        debug_print(f"=== 第 {cycle+1}/{repeats} 轮循环 ===")
         action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环开始", "🚀"))
-
+        
         # ============ 抽真空阶段 ============
+        debug_print(f"🌪️ 抽真空阶段开始")
         action_sequence.append(create_action_log("开始抽真空阶段", "🌪️"))
-
+        
         # 启动真空泵
+        debug_print(f"🔛 启动真空泵: {vacuum_pump}")
         action_sequence.append(create_action_log(f"启动真空泵: {vacuum_pump}", "🔛"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
             "action_kwargs": {"string": "ON"}
         })
-
+        
         # 开启真空电磁阀
         if vacuum_solenoid:
+            debug_print(f"🚪 打开真空电磁阀: {vacuum_solenoid}")
             action_sequence.append(create_action_log(f"打开真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
-
+        
         # 抽真空操作
+        debug_print(f"🌪️ 抽真空操作: {vessel_id} -> {vacuum_pump}")
         action_sequence.append(create_action_log(f"开始抽真空: {vessel_id} -> {vacuum_pump}", "🌪️"))
-
+        
         try:
             vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel=vessel_id,
+                from_vessel=vessel_id,  # 🔧 使用 vessel_id
                 to_vessel=vacuum_pump,
                 volume=VACUUM_VOLUME,
                 amount="",
@@ -381,25 +519,27 @@ def generate_evacuateandrefill_protocol(
                 flowrate=PUMP_FLOW_RATE,
                 transfer_flowrate=PUMP_FLOW_RATE
             )
-
+            
             if vacuum_transfer_actions:
                 action_sequence.extend(vacuum_transfer_actions)
+                debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
                 action_sequence.append(create_action_log(f"抽真空协议完成 ({len(vacuum_transfer_actions)} 个操作)", "✅"))
             else:
+                debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
                 action_sequence.append(create_action_log("抽真空协议为空，使用手动等待", "⚠️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": VACUUM_TIME}
                 })
-
+                
         except Exception as e:
-            debug_print(f"抽真空失败: {str(e)}")
+            debug_print(f"❌ 抽真空失败: {str(e)}")
             action_sequence.append(create_action_log(f"抽真空失败: {str(e)}", "❌"))
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": VACUUM_TIME}
             })
-
+        
         # 抽真空后等待
         wait_minutes = VACUUM_TIME / 60
         action_sequence.append(create_action_log(f"抽真空后等待 ({wait_minutes:.1f} 分钟)", "⏳"))
@@ -407,59 +547,65 @@ def generate_evacuateandrefill_protocol(
             "action_name": "wait",
             "action_kwargs": {"time": VACUUM_TIME}
         })
-
+        
         # 关闭真空电磁阀
         if vacuum_solenoid:
+            debug_print(f"🚪 关闭真空电磁阀: {vacuum_solenoid}")
             action_sequence.append(create_action_log(f"关闭真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "CLOSED"}
             })
-
+        
         # 关闭真空泵
+        debug_print(f"🔴 停止真空泵: {vacuum_pump}")
         action_sequence.append(create_action_log(f"停止真空泵: {vacuum_pump}", "🔴"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
-
+        
         # 阶段间等待
         action_sequence.append(create_action_log("抽真空阶段完成，短暂等待", "⏳"))
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": 5.0}
         })
-
+        
         # ============ 充气阶段 ============
+        debug_print(f"💨 充气阶段开始")
         action_sequence.append(create_action_log("开始气体充气阶段", "💨"))
-
+        
         # 启动气源
+        debug_print(f"🔛 启动气源: {gas_source}")
         action_sequence.append(create_action_log(f"启动气源: {gas_source}", "🔛"))
         action_sequence.append({
             "device_id": gas_source,
             "action_name": "set_status",
             "action_kwargs": {"string": "ON"}
         })
-
+        
         # 开启气源电磁阀
         if gas_solenoid:
+            debug_print(f"🚪 打开气源电磁阀: {gas_solenoid}")
             action_sequence.append(create_action_log(f"打开气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
-
+        
         # 充气操作
+        debug_print(f"💨 充气操作: {gas_source} -> {vessel_id}")
         action_sequence.append(create_action_log(f"开始气体充气: {gas_source} -> {vessel_id}", "💨"))
-
+        
         try:
             gas_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=gas_source,
-                to_vessel=vessel_id,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=REFILL_VOLUME,
                 amount="",
                 time=0.0,
@@ -471,25 +617,27 @@ def generate_evacuateandrefill_protocol(
                 flowrate=PUMP_FLOW_RATE,
                 transfer_flowrate=PUMP_FLOW_RATE
             )
-
+            
             if gas_transfer_actions:
                 action_sequence.extend(gas_transfer_actions)
+                debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
                 action_sequence.append(create_action_log(f"气体充气协议完成 ({len(gas_transfer_actions)} 个操作)", "✅"))
             else:
+                debug_print("⚠️ 充气协议返回空序列，添加手动动作")
                 action_sequence.append(create_action_log("充气协议为空，使用手动等待", "⚠️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": REFILL_TIME}
                 })
-
+                
         except Exception as e:
-            debug_print(f"气体充气失败: {str(e)}")
+            debug_print(f"❌ 气体充气失败: {str(e)}")
             action_sequence.append(create_action_log(f"气体充气失败: {str(e)}", "❌"))
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": REFILL_TIME}
             })
-
+        
         # 充气后等待
         refill_wait_minutes = REFILL_TIME / 60
         action_sequence.append(create_action_log(f"充气后等待 ({refill_wait_minutes:.1f} 分钟)", "⏳"))
@@ -497,26 +645,29 @@ def generate_evacuateandrefill_protocol(
             "action_name": "wait",
             "action_kwargs": {"time": REFILL_TIME}
         })
-
+        
         # 关闭气源电磁阀
         if gas_solenoid:
+            debug_print(f"🚪 关闭气源电磁阀: {gas_solenoid}")
             action_sequence.append(create_action_log(f"关闭气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "CLOSED"}
             })
-
+        
         # 关闭气源
+        debug_print(f"🔴 停止气源: {gas_source}")
         action_sequence.append(create_action_log(f"停止气源: {gas_source}", "🔴"))
         action_sequence.append({
             "device_id": gas_source,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
-
+        
         # 循环间等待
         if cycle < repeats - 1:
+            debug_print(f"⏳ 等待下一个循环...")
             action_sequence.append(create_action_log("等待下一个循环...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
@@ -524,58 +675,78 @@ def generate_evacuateandrefill_protocol(
             })
         else:
             action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环完成", "✅"))
-
+    
     # === 停止搅拌器 ===
+    debug_print("🔍 步骤7: 停止搅拌器...")
+    
     if stirrer_id:
+        debug_print(f"🛑 停止搅拌器: {stirrer_id}")
         action_sequence.append(create_action_log(f"停止搅拌器: {stirrer_id}", "🛑"))
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": {"id": vessel_id},}
+            "action_kwargs": {"vessel": {"id": vessel_id},}  # 🔧 使用 vessel_id
         })
     else:
         action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
-
+    
     # === 最终等待 ===
     action_sequence.append(create_action_log("最终稳定等待...", "⏳"))
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10.0}
     })
-
+    
     # === 总结 ===
     total_time = (VACUUM_TIME + REFILL_TIME + 25) * repeats + 20
-
-    debug_print(f"抽真空充气协议生成完成: {len(action_sequence)} 个动作, 预计 {total_time:.0f}s")
-
+    
+    debug_print("=" * 60)
+    debug_print(f"🎉 抽真空充气协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
+    debug_print(f"  🥼 处理容器: {vessel_id}")
+    debug_print(f"  💨 使用气体: {gas}")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print("=" * 60)
+    
+    # 添加完成日志
     summary_msg = f"抽真空充气协议完成: {vessel_id} (使用 {gas}，{repeats} 次循环)"
     action_sequence.append(create_action_log(summary_msg, "🎉"))
-
+    
     return action_sequence
 
 # === 便捷函数 ===
 
-def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
+def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
     """生成氮气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成氮气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "nitrogen", **kwargs)
 
-def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
+def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
     """生成氩气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成氩气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "argon", **kwargs)
 
-def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:
+def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
     """生成空气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成空气置换协议: {vessel_id}")
     return generate_evacuateandrefill_protocol(G, vessel, "air", **kwargs)
 
-def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:
+def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
     """生成惰性气氛协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"🛡️ 生成惰性气氛协议: {vessel_id} (使用 {gas})")
     return generate_evacuateandrefill_protocol(G, vessel, gas, **kwargs)
 
 # 测试函数
 def test_evacuateandrefill_protocol():
     """测试抽真空充气协议"""
-    debug_print("=== 抽真空充气协议测试 ===")
-    debug_print("测试完成")
+    debug_print("=== 抽真空充气协议增强中文版测试 ===")
+    debug_print("✅ 测试完成")
 
 if __name__ == "__main__":
-    test_evacuateandrefill_protocol()
+    test_evacuateandrefill_protocol()

unilabos/compile/evacuateandrefill_protocol_old.py

@@ -0,0 +1,143 @@
+# import numpy as np
+# import networkx as nx
+
+
+# def generate_evacuateandrefill_protocol(
+#     G: nx.DiGraph, 
+#     vessel: str, 
+#     gas: str, 
+#     repeats: int = 1
+# ) -> list[dict]:
+#     """
+#     生成泵操作的动作序列。
+    
+#     :param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
+#     :param from_vessel: 容器A
+#     :param to_vessel: 容器B
+#     :param volume: 转移的体积
+#     :param flowrate: 最终注入容器B时的流速
+#     :param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
+#     :return: 泵操作的动作序列
+#     """
+    
+#     # 生成电磁阀、真空泵、气源操作的动作序列
+#     vacuum_action_sequence = []
+#     nodes = G.nodes(data=True)
+    
+#     # 找到和 vessel 相连的电磁阀和真空泵、气源
+#     vacuum_backbone = {"vessel": vessel}
+    
+#     for neighbor in G.neighbors(vessel):
+#         if nodes[neighbor]["class"].startswith("solenoid_valve"):
+#             for neighbor2 in G.neighbors(neighbor):
+#                 if neighbor2 == vessel:
+#                     continue
+#                 if nodes[neighbor2]["class"].startswith("vacuum_pump"):
+#                     vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
+#                     break
+#                 elif nodes[neighbor2]["class"].startswith("gas_source"):
+#                     vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
+#                     break
+#     # 判断是否设备齐全
+#     if len(vacuum_backbone) < 5:
+#         print(f"\n\n\n{vacuum_backbone}\n\n\n")
+#         raise ValueError("Not all devices are connected to the vessel.")
+    
+#     # 生成操作的动作序列
+#     for i in range(repeats):
+#         # 打开真空泵阀门、关闭气源阀门
+#         vacuum_action_sequence.append([
+#             {
+#                 "device_id": vacuum_backbone["vacuum_valve"],
+#                 "action_name": "set_valve_position",
+#                 "action_kwargs": {
+#                     "command": "OPEN"
+#                 }
+#             },
+#             {
+#                 "device_id": vacuum_backbone["gas_valve"],
+#                 "action_name": "set_valve_position",
+#                 "action_kwargs": {
+#                     "command": "CLOSED"
+#                 }
+#             }
+#         ])
+        
+#         # 打开真空泵、关闭气源
+#         vacuum_action_sequence.append([
+#             {
+#                 "device_id": vacuum_backbone["pump"],
+#                 "action_name": "set_status",
+#                 "action_kwargs": {
+#                     "string": "ON"
+#                 }
+#             },
+#             {
+#                 "device_id": vacuum_backbone["gas"],
+#                 "action_name": "set_status",
+#                 "action_kwargs": {
+#                     "string": "OFF"
+#                 }
+#             }
+#         ])
+#         vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
+        
+#         # 关闭真空泵阀门、打开气源阀门
+#         vacuum_action_sequence.append([
+#             {
+#                 "device_id": vacuum_backbone["vacuum_valve"],
+#                 "action_name": "set_valve_position",
+#                 "action_kwargs": {
+#                     "command": "CLOSED"
+#                 }
+#             },
+#             {
+#                 "device_id": vacuum_backbone["gas_valve"],
+#                 "action_name": "set_valve_position",
+#                 "action_kwargs": {
+#                     "command": "OPEN"
+#                 }
+#             }
+#         ])
+        
+#         # 关闭真空泵、打开气源
+#         vacuum_action_sequence.append([
+#             {
+#                 "device_id": vacuum_backbone["pump"],
+#                 "action_name": "set_status",
+#                 "action_kwargs": {
+#                     "string": "OFF"
+#                 }
+#             },
+#             {
+#                 "device_id": vacuum_backbone["gas"],
+#                 "action_name": "set_status",
+#                 "action_kwargs": {
+#                     "string": "ON"
+#                 }
+#             }
+#         ])
+#         vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
+        
+#         # 关闭气源
+#         vacuum_action_sequence.append(
+#             {
+#                 "device_id": vacuum_backbone["gas"],
+#                 "action_name": "set_status",
+#                 "action_kwargs": {
+#                     "string": "OFF"
+#                 }
+#             }
+#         )
+        
+#         # 关闭阀门
+#         vacuum_action_sequence.append(
+#             {
+#                 "device_id": vacuum_backbone["gas_valve"],
+#                 "action_name": "set_valve_position",
+#                 "action_kwargs": {
+#                     "command": "CLOSED"
+#                 }
+#             }
+#         )
+#     return vacuum_action_sequence

unilabos/compile/evaporate_protocol.py

@@ -4,99 +4,128 @@ import logging
 import re
 from .utils.vessel_parser import get_vessel
 from .utils.unit_parser import parse_time_input
-from .utils.logger_util import debug_print
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[EVAPORATE] {message}")
+
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
     在组态图中查找旋转蒸发仪设备
-
+    
     Args:
         G: 设备图
         vessel: 指定的设备名称（可选）
-
+    
     Returns:
         str: 找到的旋转蒸发仪设备ID，如果没找到返回None
     """
+    debug_print("🔍 开始查找旋转蒸发仪设备... 🌪️")
+    
     # 如果指定了vessel，先检查是否存在且是旋转蒸发仪
     if vessel:
+        debug_print(f"🎯 检查指定设备: {vessel} 🔧")
         if vessel in G.nodes():
             node_data = G.nodes[vessel]
             node_class = node_data.get('class', '')
             node_type = node_data.get('type', '')
-
+            
+            debug_print(f"📋 设备信息 {vessel}: class={node_class}, type={node_type}")
+            
+            # 检查是否为旋转蒸发仪
             if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
-                debug_print(f"找到指定的旋转蒸发仪: {vessel}")
+                debug_print(f"🎉 找到指定的旋转蒸发仪: {vessel} ✨")
                 return vessel
             elif node_type == 'device':
-                debug_print(f"指定设备存在，尝试直接使用: {vessel}")
+                debug_print(f"✅ 指定设备存在，尝试直接使用: {vessel} 🔧")
                 return vessel
-
+        else:
+            debug_print(f"❌ 指定的设备 {vessel} 不存在 😞")
+    
     # 在所有设备中查找旋转蒸发仪
+    debug_print("🔎 在所有设备中搜索旋转蒸发仪... 🕵️‍♀️")
     rotavap_candidates = []
-
+    
     for node_id, node_data in G.nodes(data=True):
         node_class = node_data.get('class', '')
         node_type = node_data.get('type', '')
-
+        
+        # 跳过非设备节点
         if node_type != 'device':
             continue
-
+            
+        # 检查设备类型
         if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
             rotavap_candidates.append(node_id)
+            debug_print(f"🌟 找到旋转蒸发仪候选: {node_id} (class: {node_class}) 🌪️")
         elif any(keyword in str(node_id).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
             rotavap_candidates.append(node_id)
-
+            debug_print(f"🌟 找到旋转蒸发仪候选 (按名称): {node_id} 🌪️")
+    
     if rotavap_candidates:
-        selected = rotavap_candidates[0]
-        debug_print(f"选择旋转蒸发仪: {selected}")
+        selected = rotavap_candidates[0]  # 选择第一个找到的
+        debug_print(f"🎯 选择旋转蒸发仪: {selected} 🏆")
         return selected
-
-    debug_print("未找到旋转蒸发仪设备")
+    
+    debug_print("😭 未找到旋转蒸发仪设备 💔")
     return None
 
 def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
     """
     查找与旋转蒸发仪连接的容器
+    
+    Args:
+        G: 设备图
+        rotavap_device: 旋转蒸发仪设备ID
+    
+    Returns:
+        str: 连接的容器ID，如果没找到返回None
     """
+    debug_print(f"🔗 查找与 {rotavap_device} 连接的容器... 🥽")
+    
+    # 查看旋转蒸发仪的子设备
     rotavap_data = G.nodes[rotavap_device]
     children = rotavap_data.get('children', [])
-
+    
+    debug_print(f"👶 检查子设备: {children}")
     for child_id in children:
         if child_id in G.nodes():
             child_data = G.nodes[child_id]
             child_type = child_data.get('type', '')
-
+            
             if child_type == 'container':
-                debug_print(f"找到连接的容器: {child_id}")
+                debug_print(f"🎉 找到连接的容器: {child_id} 🥽✨")
                 return child_id
-
+    
+    # 查看邻接的容器
+    debug_print("🤝 检查邻接设备...")
     for neighbor in G.neighbors(rotavap_device):
         neighbor_data = G.nodes[neighbor]
         neighbor_type = neighbor_data.get('type', '')
-
+        
         if neighbor_type == 'container':
-            debug_print(f"找到邻接的容器: {neighbor}")
+            debug_print(f"🎉 找到邻接的容器: {neighbor} 🥽✨")
             return neighbor
-
-    debug_print("未找到连接的容器")
+    
+    debug_print("😞 未找到连接的容器 💔")
     return None
 
 def generate_evaporate_protocol(
     G: nx.DiGraph,
-    vessel: dict,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     pressure: float = 0.1,
     temp: float = 60.0,
-    time: Union[str, float] = "180",
+    time: Union[str, float] = "180",     # 🔧 修改：支持字符串时间
     stir_speed: float = 100.0,
     solvent: str = "",
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成蒸发操作的协议序列 - 支持单位和体积运算
-
+    
     Args:
         G: 设备图
         vessel: 容器字典（从XDL传入）
@@ -106,16 +135,27 @@ def generate_evaporate_protocol(
         stir_speed: 旋转速度 (RPM)，默认100
         solvent: 溶剂名称（用于参数优化）
         **kwargs: 其他参数（兼容性）
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-
+    
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
-    debug_print(f"开始生成蒸发协议: vessel={vessel_id}, pressure={pressure}, temp={temp}, time={time}")
-
-    # 记录蒸发前的容器状态
+    
+    debug_print("🌟" * 20)
+    debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  💨 pressure: {pressure} bar")
+    debug_print(f"  🌡️ temp: {temp}°C")
+    debug_print(f"  ⏰ time: {time} (类型: {type(time)})")
+    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
+    debug_print(f"  🧪 solvent: '{solvent}'")
+    debug_print("🌟" * 20)
+    
+    # 🔧 新增：记录蒸发前的容器状态
+    debug_print("🔍 记录蒸发前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -123,97 +163,168 @@ def generate_evaporate_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
-    # 查找旋转蒸发仪设备
+    debug_print(f"📊 蒸发前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # === 步骤1: 查找旋转蒸发仪设备 ===
+    debug_print("📍 步骤1: 查找旋转蒸发仪设备... 🔍")
+    
+    # 验证vessel参数
     if not vessel_id:
+        debug_print("❌ vessel 参数不能为空! 😱")
         raise ValueError("vessel 参数不能为空")
-
+    
+    # 查找旋转蒸发仪设备
     rotavap_device = find_rotavap_device(G, vessel_id)
     if not rotavap_device:
+        debug_print("💥 未找到旋转蒸发仪设备! 😭")
         raise ValueError(f"未找到旋转蒸发仪设备。请检查组态图中是否包含 class 包含 'rotavap'、'rotary' 或 'evaporat' 的设备")
-
-    # 确定目标容器
+    
+    debug_print(f"🎉 成功找到旋转蒸发仪: {rotavap_device} ✨")
+    
+    # === 步骤2: 确定目标容器 ===
+    debug_print("📍 步骤2: 确定目标容器... 🥽")
+    
     target_vessel = vessel_id
-
+    
+    # 如果vessel就是旋转蒸发仪设备，查找连接的容器
     if vessel_id == rotavap_device:
+        debug_print("🔄 vessel就是旋转蒸发仪，查找连接的容器...")
         connected_vessel = find_connected_vessel(G, rotavap_device)
         if connected_vessel:
             target_vessel = connected_vessel
+            debug_print(f"✅ 使用连接的容器: {target_vessel} 🥽✨")
         else:
+            debug_print(f"⚠️ 未找到连接的容器，使用设备本身: {rotavap_device} 🔧")
             target_vessel = rotavap_device
     elif vessel_id in G.nodes() and G.nodes[vessel_id].get('type') == 'container':
+        debug_print(f"✅ 使用指定的容器: {vessel_id} 🥽✨")
         target_vessel = vessel_id
     else:
+        debug_print(f"⚠️ 容器 '{vessel_id}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device} 🔧")
         target_vessel = rotavap_device
-
-    # 单位解析处理
+    
+    # === 🔧 新增：步骤3：单位解析处理 ===
+    debug_print("📍 步骤3: 单位解析处理... ⚡")
+    
+    # 解析时间
     final_time = parse_time_input(time)
-    debug_print(f"时间解析: {time} -> {final_time}s ({final_time/60:.1f}分钟)")
-
-    # 参数验证和修正
+    debug_print(f"🎯 时间解析完成: {time} → {final_time}s ({final_time/60:.1f}分钟) ⏰✨")
+    
+    # === 步骤4: 参数验证和修正 ===
+    debug_print("📍 步骤4: 参数验证和修正... 🔧")
+    
+    # 修正参数范围
     if pressure <= 0 or pressure > 1.0:
+        debug_print(f"⚠️ 真空度 {pressure} bar 超出范围，修正为 0.1 bar 💨")
         pressure = 0.1
-
+    else:
+        debug_print(f"✅ 真空度 {pressure} bar 在正常范围内 💨")
+    
     if temp < 10.0 or temp > 200.0:
+        debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 60°C 🌡️")
         temp = 60.0
-
+    else:
+        debug_print(f"✅ 温度 {temp}°C 在正常范围内 🌡️")
+    
     if final_time <= 0:
+        debug_print(f"⚠️ 时间 {final_time}s 无效，修正为 180s (3分钟) ⏰")
         final_time = 180.0
-
+    else:
+        debug_print(f"✅ 时间 {final_time}s ({final_time/60:.1f}分钟) 有效 ⏰")
+    
     if stir_speed < 10.0 or stir_speed > 300.0:
+        debug_print(f"⚠️ 旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM 🌪️")
         stir_speed = 100.0
-
+    else:
+        debug_print(f"✅ 旋转速度 {stir_speed} RPM 在正常范围内 🌪️")
+    
     # 根据溶剂优化参数
     if solvent:
+        debug_print(f"🧪 根据溶剂 '{solvent}' 优化参数... 🔬")
         solvent_lower = solvent.lower()
-
+        
         if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
             temp = max(temp, 80.0)
             pressure = max(pressure, 0.2)
+            debug_print("💧 水系溶剂：提高温度和真空度 🌡️💨")
         elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
             temp = min(temp, 50.0)
             pressure = min(pressure, 0.05)
+            debug_print("🍺 易挥发溶剂：降低温度和真空度 🌡️💨")
         elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
             temp = max(temp, 100.0)
             pressure = min(pressure, 0.01)
-
-    debug_print(f"最终参数: pressure={pressure}bar, temp={temp}°C, time={final_time}s, stir_speed={stir_speed}RPM")
-
-    # 蒸发体积计算
+            debug_print("🔥 高沸点溶剂：提高温度，降低真空度 🌡️💨")
+        else:
+            debug_print("🧪 通用溶剂，使用标准参数 ✨")
+    else:
+        debug_print("🤷‍♀️ 未指定溶剂，使用默认参数 ✨")
+    
+    debug_print(f"🎯 最终参数: pressure={pressure} bar 💨, temp={temp}°C 🌡️, time={final_time}s ⏰, stir_speed={stir_speed} RPM 🌪️")
+    
+    # === 🔧 新增：步骤5：蒸发体积计算 ===
+    debug_print("📍 步骤5: 蒸发体积计算... 📊")
+    
+    # 根据温度、真空度、时间和溶剂类型估算蒸发量
     evaporation_volume = 0.0
     if original_liquid_volume > 0:
-        base_evap_rate = 0.5
+        # 基础蒸发速率（mL/min）
+        base_evap_rate = 0.5  # 基础速率
+        
+        # 温度系数（高温蒸发更快）
         temp_factor = 1.0 + (temp - 25.0) / 100.0
+        
+        # 真空系数（真空度越高蒸发越快）
         vacuum_factor = 1.0 + (1.0 - pressure) * 2.0
-
+        
+        # 溶剂系数
         solvent_factor = 1.0
         if solvent:
             solvent_lower = solvent.lower()
             if any(s in solvent_lower for s in ['water', 'h2o']):
-                solvent_factor = 0.8
+                solvent_factor = 0.8  # 水蒸发较慢
             elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
-                solvent_factor = 1.5
+                solvent_factor = 1.5  # 易挥发溶剂蒸发快
             elif any(s in solvent_lower for s in ['dmso', 'dmi']):
-                solvent_factor = 0.3
-
+                solvent_factor = 0.3  # 高沸点溶剂蒸发慢
+        
+        # 计算总蒸发量
         total_evap_rate = base_evap_rate * temp_factor * vacuum_factor * solvent_factor
         evaporation_volume = min(
-            original_liquid_volume * 0.95,
-            total_evap_rate * (final_time / 60.0)
+            original_liquid_volume * 0.95,  # 最多蒸发95%
+            total_evap_rate * (final_time / 60.0)  # 时间相关的蒸发量
         )
-
-        debug_print(f"预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
-
-    # 生成动作序列
+        
+        debug_print(f"📊 蒸发量计算:")
+        debug_print(f"  - 基础蒸发速率: {base_evap_rate} mL/min")
+        debug_print(f"  - 温度系数: {temp_factor:.2f} (基于 {temp}°C)")
+        debug_print(f"  - 真空系数: {vacuum_factor:.2f} (基于 {pressure} bar)")
+        debug_print(f"  - 溶剂系数: {solvent_factor:.2f} ({solvent or '通用'})")
+        debug_print(f"  - 总蒸发速率: {total_evap_rate:.2f} mL/min")
+        debug_print(f"  - 预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
+    
+    # === 步骤6: 生成动作序列 ===
+    debug_print("📍 步骤6: 生成动作序列... 🎬")
+    
     action_sequence = []
-
+    
     # 1. 等待稳定
+    debug_print("  🔄 动作1: 添加初始等待稳定... ⏳")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10}
     })
-
+    debug_print("  ✅ 初始等待动作已添加 ⏳✨")
+    
     # 2. 执行蒸发
+    debug_print(f"  🌪️ 动作2: 执行蒸发操作...")
+    debug_print(f"    🔧 设备: {rotavap_device}")
+    debug_print(f"    🥽 容器: {target_vessel}")
+    debug_print(f"    💨 真空度: {pressure} bar")
+    debug_print(f"    🌡️ 温度: {temp}°C")
+    debug_print(f"    ⏰ 时间: {final_time}s ({final_time/60:.1f}分钟)")
+    debug_print(f"    🌪️ 旋转速度: {stir_speed} RPM")
+    
     evaporate_action = {
         "device_id": rotavap_device,
         "action_name": "evaporate",
@@ -221,17 +332,20 @@ def generate_evaporate_protocol(
             "vessel": {"id": target_vessel},
             "pressure": float(pressure),
             "temp": float(temp),
-            "time": float(final_time),
+            "time": float(final_time),  # 🔧 强制转换为float类型
             "stir_speed": float(stir_speed),
             "solvent": str(solvent)
         }
     }
     action_sequence.append(evaporate_action)
-
-    # 蒸发过程中的体积变化
+    debug_print("  ✅ 蒸发动作已添加 🌪️✨")
+    
+    # 🔧 新增：蒸发过程中的体积变化
+    debug_print("  🔧 更新容器体积 - 蒸发过程...")
     if evaporation_volume > 0:
         new_volume = max(0.0, original_liquid_volume - evaporation_volume)
-
+        
+        # 更新vessel字典中的体积
         if "data" in vessel and "liquid_volume" in vessel["data"]:
             current_volume = vessel["data"]["liquid_volume"]
             if isinstance(current_volume, list):
@@ -243,14 +357,15 @@ def generate_evaporate_protocol(
                 vessel["data"]["liquid_volume"] = new_volume
             else:
                 vessel["data"]["liquid_volume"] = new_volume
-
+        
+        # 🔧 同时更新图中的容器数据
         if vessel_id in G.nodes():
             if 'data' not in G.nodes[vessel_id]:
                 G.nodes[vessel_id]['data'] = {}
-
+            
             vessel_node_data = G.nodes[vessel_id]['data']
             current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+            
             if isinstance(current_node_volume, list):
                 if len(current_node_volume) > 0:
                     G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
@@ -258,16 +373,18 @@ def generate_evaporate_protocol(
                     G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
             else:
                 G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
-
-        debug_print(f"蒸发体积变化: {original_liquid_volume:.2f}mL -> {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
-
+        
+        debug_print(f"  📊 蒸发体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
+    
     # 3. 蒸发后等待
+    debug_print("  🔄 动作3: 添加蒸发后等待... ⏳")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10}
     })
-
-    # 最终状态
+    debug_print("  ✅ 蒸发后等待动作已添加 ⏳✨")
+    
+    # 🔧 新增：蒸发完成后的状态报告
     final_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -275,7 +392,19 @@ def generate_evaporate_protocol(
             final_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_liquid_volume = current_volume
-
-    debug_print(f"蒸发协议生成完成: {len(action_sequence)} 个动作, 设备={rotavap_device}, 容器={target_vessel}")
-
+    
+    # === 总结 ===
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 蒸发协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
+    debug_print(f"🌪️ 旋转蒸发仪: {rotavap_device} 🔧")
+    debug_print(f"🥽 目标容器: {target_vessel} 🧪")
+    debug_print(f"⚙️ 蒸发参数: {pressure} bar 💨, {temp}°C 🌡️, {final_time}s ⏰, {stir_speed} RPM 🌪️")
+    debug_print(f"⏱️ 预计总时间: {(final_time + 20)/60:.1f} 分钟 ⌛")
+    debug_print(f"📊 体积变化:")
+    debug_print(f"  - 蒸发前: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 蒸发后: {final_liquid_volume:.2f}mL") 
+    debug_print(f"  - 蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/max(original_liquid_volume, 0.01)*100:.1f}%)")
+    debug_print("🎊" * 20)
+    
     return action_sequence

unilabos/compile/filter_protocol.py

@@ -2,64 +2,87 @@ from typing import List, Dict, Any, Optional
 import networkx as nx
 import logging
 from .utils.vessel_parser import get_vessel
-from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[FILTER] {message}")
+
 def find_filter_device(G: nx.DiGraph) -> str:
     """查找过滤器设备"""
+    debug_print("🔍 查找过滤器设备... 🌊")
+    
+    # 查找过滤器设备
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
+        
         if 'filter' in node_class.lower() or 'filter' in node.lower():
-            debug_print(f"找到过滤器设备: {node}")
+            debug_print(f"🎉 找到过滤器设备: {node} ✨")
             return node
-
+    
+    # 如果没找到，寻找可能的过滤器名称
+    debug_print("🔎 在预定义名称中搜索过滤器... 📋")
     possible_names = ["filter", "filter_1", "virtual_filter", "filtration_unit"]
     for name in possible_names:
         if name in G.nodes():
-            debug_print(f"找到过滤器设备: {name}")
+            debug_print(f"🎉 找到过滤器设备: {name} ✨")
             return name
-
+    
+    debug_print("😭 未找到过滤器设备 💔")
     raise ValueError("未找到过滤器设备")
 
 def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") -> None:
     """验证容器是否存在"""
+    debug_print(f"🔍 验证{vessel_type}: '{vessel}' 🧪")
+    
     if not vessel:
+        debug_print(f"❌ {vessel_type}不能为空! 😱")
         raise ValueError(f"{vessel_type}不能为空")
-
+    
     if vessel not in G.nodes():
+        debug_print(f"❌ {vessel_type} '{vessel}' 不存在于系统中! 😞")
         raise ValueError(f"{vessel_type} '{vessel}' 不存在于系统中")
+    
+    debug_print(f"✅ {vessel_type} '{vessel}' 验证通过 🎯")
 
 def generate_filter_protocol(
     G: nx.DiGraph,
-    vessel: dict,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     filtrate_vessel: dict = {"id": "waste"},
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成过滤操作的协议序列 - 支持体积运算
-
+    
     Args:
         G: 设备图
         vessel: 过滤容器字典（必需）- 包含需要过滤的混合物
         filtrate_vessel: 滤液容器名称（可选）- 如果提供则收集滤液
         **kwargs: 其他参数（兼容性）
-
+    
     Returns:
         List[Dict[str, Any]]: 过滤操作的动作序列
     """
-
+    
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
     filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
-
-    debug_print(f"开始生成过滤协议: vessel={vessel_id}, filtrate_vessel={filtrate_vessel_id}")
-
+    
+    debug_print("🌊" * 20)
+    debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🧪 filtrate_vessel: {filtrate_vessel}")
+    debug_print(f"  ⚙️ 其他参数: {kwargs}")
+    debug_print("🌊" * 20)
+    
     action_sequence = []
-
-    # 记录过滤前的容器状态
+    
+    # 🔧 新增：记录过滤前的容器状态
+    debug_print("🔍 记录过滤前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -67,45 +90,79 @@ def generate_filter_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
+    debug_print(f"📊 过滤前液体体积: {original_liquid_volume:.2f}mL")
+    
     # === 参数验证 ===
-    validate_vessel(G, vessel_id, "过滤容器")
-
+    debug_print("📍 步骤1: 参数验证... 🔧")
+    
+    # 验证必需参数
+    debug_print("  🔍 验证必需参数...")
+    validate_vessel(G, vessel_id, "过滤容器")  # 🔧 使用 vessel_id
+    debug_print("  ✅ 必需参数验证完成 🎯")
+    
+    # 验证可选参数
+    debug_print("  🔍 验证可选参数...")
     if filtrate_vessel:
         validate_vessel(G, filtrate_vessel_id, "滤液容器")
-
+        debug_print("  🌊 模式: 过滤并收集滤液 💧")
+    else:
+        debug_print("  🧱 模式: 过滤并收集固体 🔬")
+    debug_print("  ✅ 可选参数验证完成 🎯")
+    
     # === 查找设备 ===
+    debug_print("📍 步骤2: 查找设备... 🔍")
+    
     try:
+        debug_print("  🔎 搜索过滤器设备...")
         filter_device = find_filter_device(G)
-        debug_print(f"使用过滤器设备: {filter_device}")
+        debug_print(f"  🎉 使用过滤器设备: {filter_device} 🌊✨")
+        
     except Exception as e:
+        debug_print(f"  ❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"设备查找失败: {str(e)}")
-
-    # 过滤体积分配估算
-    solid_ratio = 0.1
-    liquid_ratio = 0.9
-    volume_loss_ratio = 0.05
-
+    
+    # 🔧 新增：过滤效率和体积分配估算
+    debug_print("📍 步骤2.5: 过滤体积分配估算... 📊")
+    
+    # 估算过滤分离比例（基于经验数据）
+    solid_ratio = 0.1  # 假设10%是固体（保留在过滤器上）
+    liquid_ratio = 0.9  # 假设90%是液体（通过过滤器）
+    volume_loss_ratio = 0.05  # 假设5%体积损失（残留在过滤器等）
+    
+    # 从kwargs中获取过滤参数进行优化
     if "solid_content" in kwargs:
         try:
             solid_ratio = float(kwargs["solid_content"])
             liquid_ratio = 1.0 - solid_ratio
+            debug_print(f"📋 使用指定的固体含量: {solid_ratio*100:.1f}%")
         except:
-            pass
-
+            debug_print("⚠️ 固体含量参数无效，使用默认值")
+    
     if original_liquid_volume > 0:
         expected_filtrate_volume = original_liquid_volume * liquid_ratio * (1.0 - volume_loss_ratio)
         expected_solid_volume = original_liquid_volume * solid_ratio
         volume_loss = original_liquid_volume * volume_loss_ratio
-
+        
+        debug_print(f"📊 过滤体积分配估算:")
+        debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
+        debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL ({liquid_ratio*100:.1f}%)")
+        debug_print(f"  - 预计固体体积: {expected_solid_volume:.2f}mL ({solid_ratio*100:.1f}%)")
+        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL ({volume_loss_ratio*100:.1f}%)")
+    
     # === 转移到过滤器（如果需要）===
-    if vessel_id != filter_device:
+    debug_print("📍 步骤3: 转移到过滤器... 🚚")
+    
+    if vessel_id != filter_device:  # 🔧 使用 vessel_id
+        debug_print(f"  🚛 需要转移: {vessel_id} → {filter_device} 📦")
+        
         try:
+            debug_print("  🔄 开始执行转移操作...")
+            # 使用pump protocol转移液体到过滤器
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel={"id": vessel_id},
+                from_vessel={"id": vessel_id},  # 🔧 使用 vessel_id
                 to_vessel={"id": filter_device},
-                volume=0.0,
+                volume=0.0,  # 转移所有液体
                 amount="",
                 time=0.0,
                 viscous=False,
@@ -116,59 +173,88 @@ def generate_filter_protocol(
                 flowrate=2.0,
                 transfer_flowrate=2.0
             )
-
+            
             if transfer_actions:
                 action_sequence.extend(transfer_actions)
-                debug_print(f"添加了 {len(transfer_actions)} 个转移动作")
-
-                # 更新容器体积
+                debug_print(f"  ✅ 添加了 {len(transfer_actions)} 个转移动作 🚚✨")
+                
+                # 🔧 新增：转移后更新容器体积
+                debug_print("  🔧 更新转移后的容器体积...")
+                
+                # 原容器体积变为0（所有液体已转移）
                 if "data" in vessel and "liquid_volume" in vessel["data"]:
                     current_volume = vessel["data"]["liquid_volume"]
                     if isinstance(current_volume, list):
                         vessel["data"]["liquid_volume"] = [0.0] if len(current_volume) > 0 else [0.0]
                     else:
                         vessel["data"]["liquid_volume"] = 0.0
-
+                
+                # 同时更新图中的容器数据
                 if vessel_id in G.nodes():
                     if 'data' not in G.nodes[vessel_id]:
                         G.nodes[vessel_id]['data'] = {}
                     G.nodes[vessel_id]['data']['liquid_volume'] = 0.0
-
+                
+                debug_print(f"  📊 转移完成，{vessel_id} 体积更新为 0.0mL")
+                
+            else:
+                debug_print("  ⚠️ 转移协议返回空序列 🤔")
+                
         except Exception as e:
-            debug_print(f"转移失败: {str(e)}，继续执行")
-
+            debug_print(f"  ❌ 转移失败: {str(e)} 😞")
+            debug_print("  🔄 继续执行，可能是直接连接的过滤器 🤞")
+    else:
+        debug_print("  ✅ 过滤容器就是过滤器，无需转移 🎯")
+    
     # === 执行过滤操作 ===
+    debug_print("📍 步骤4: 执行过滤操作... 🌊")
+    
+    # 构建过滤动作参数
+    debug_print("  ⚙️ 构建过滤参数...")
     filter_kwargs = {
-        "vessel": {"id": filter_device},
-        "filtrate_vessel": {"id": filtrate_vessel_id},
+        "vessel": {"id": filter_device},  # 过滤器设备
+        "filtrate_vessel": {"id": filtrate_vessel_id},  # 滤液容器（可能为空）
         "stir": kwargs.get("stir", False),
         "stir_speed": kwargs.get("stir_speed", 0.0),
         "temp": kwargs.get("temp", 25.0),
         "continue_heatchill": kwargs.get("continue_heatchill", False),
-        "volume": kwargs.get("volume", 0.0)
+        "volume": kwargs.get("volume", 0.0)  # 0表示过滤所有
     }
-
+    
+    debug_print(f"  📋 过滤参数: {filter_kwargs}")
+    debug_print("  🌊 开始过滤操作...")
+    
+    # 过滤动作
     filter_action = {
         "device_id": filter_device,
         "action_name": "filter",
         "action_kwargs": filter_kwargs
     }
     action_sequence.append(filter_action)
-
+    debug_print("  ✅ 过滤动作已添加 🌊✨")
+    
     # 过滤后等待
+    debug_print("  ⏳ 添加过滤后等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10.0}
     })
-
+    debug_print("  ✅ 过滤后等待动作已添加 ⏰✨")
+    
     # === 收集滤液（如果需要）===
+    debug_print("📍 步骤5: 收集滤液... 💧")
+    
     if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
+        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
+        
         try:
+            debug_print("  🔄 开始执行收集操作...")
+            # 使用pump protocol收集滤液
             collect_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=filter_device,
                 to_vessel=filtrate_vessel,
-                volume=0.0,
+                volume=0.0,  # 收集所有滤液
                 amount="",
                 time=0.0,
                 viscous=False,
@@ -179,15 +265,19 @@ def generate_filter_protocol(
                 flowrate=2.0,
                 transfer_flowrate=2.0
             )
-
+            
             if collect_actions:
                 action_sequence.extend(collect_actions)
-
-                # 更新滤液容器体积
+                debug_print(f"  ✅ 添加了 {len(collect_actions)} 个收集动作 🧪✨")
+                
+                # 🔧 新增：收集滤液后的体积更新
+                debug_print("  🔧 更新滤液容器体积...")
+                
+                # 更新filtrate_vessel在图中的体积（如果它是节点）
                 if filtrate_vessel_id in G.nodes():
                     if 'data' not in G.nodes[filtrate_vessel_id]:
                         G.nodes[filtrate_vessel_id]['data'] = {}
-
+                    
                     current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
                     if isinstance(current_filtrate_volume, list):
                         if len(current_filtrate_volume) > 0:
@@ -196,37 +286,58 @@ def generate_filter_protocol(
                             G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
                     else:
                         G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
-
+                    
+                    debug_print(f"  📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
+                
+            else:
+                debug_print("  ⚠️ 收集协议返回空序列 🤔")
+                
         except Exception as e:
-            debug_print(f"收集滤液失败: {str(e)}，继续执行")
-
-    # 过滤完成后容器状态更新
+            debug_print(f"  ❌ 收集滤液失败: {str(e)} 😞")
+            debug_print("  🔄 继续执行，可能滤液直接流入指定容器 🤞")
+    else:
+        debug_print("  🧱 未指定滤液容器，固体保留在过滤器中 🔬")
+    
+    # 🔧 新增：过滤完成后的容器状态更新
+    debug_print("📍 步骤5.5: 过滤完成后状态更新... 📊")
+    
     if vessel_id == filter_device:
+        # 如果过滤容器就是过滤器，需要更新其体积状态
         if original_liquid_volume > 0:
             if filtrate_vessel:
+                # 收集滤液模式：过滤器中主要保留固体
                 remaining_volume = expected_solid_volume
+                debug_print(f"  🧱 过滤器中保留固体: {remaining_volume:.2f}mL")
             else:
+                # 保留固体模式：过滤器中保留所有物质
                 remaining_volume = original_liquid_volume * (1.0 - volume_loss_ratio)
-
+                debug_print(f"  🔬 过滤器中保留所有物质: {remaining_volume:.2f}mL")
+            
+            # 更新vessel字典中的体积
             if "data" in vessel and "liquid_volume" in vessel["data"]:
                 current_volume = vessel["data"]["liquid_volume"]
                 if isinstance(current_volume, list):
                     vessel["data"]["liquid_volume"] = [remaining_volume] if len(current_volume) > 0 else [remaining_volume]
                 else:
                     vessel["data"]["liquid_volume"] = remaining_volume
-
+            
+            # 同时更新图中的容器数据
             if vessel_id in G.nodes():
                 if 'data' not in G.nodes[vessel_id]:
                     G.nodes[vessel_id]['data'] = {}
                 G.nodes[vessel_id]['data']['liquid_volume'] = remaining_volume
-
+            
+            debug_print(f"  📊 过滤器 {vessel_id} 体积更新为: {remaining_volume:.2f}mL")
+    
     # === 最终等待 ===
+    debug_print("📍 步骤6: 最终等待... ⏰")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 5.0}
     })
-
-    # 最终状态
+    debug_print("  ✅ 最终等待动作已添加 ⏰✨")
+    
+    # 🔧 新增：过滤完成后的状态报告
     final_vessel_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -234,7 +345,22 @@ def generate_filter_protocol(
             final_vessel_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             final_vessel_volume = current_volume
-
-    debug_print(f"过滤协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 过滤器={filter_device}")
-
+    
+    # === 总结 ===
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 过滤协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
+    debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
+    debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
+    debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
+    debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
+    if original_liquid_volume > 0:
+        debug_print(f"📊 体积变化统计:")
+        debug_print(f"  - 过滤前体积: {original_liquid_volume:.2f}mL")
+        debug_print(f"  - 过滤后容器体积: {final_vessel_volume:.2f}mL")
+        if filtrate_vessel:
+            debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL")
+        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL")
+    debug_print("🎊" * 20)
+    
     return action_sequence

unilabos/compile/heatchill_protocol.py

@@ -1,24 +1,118 @@
 from typing import List, Dict, Any, Union
 import networkx as nx
-from .utils.vessel_parser import get_vessel, find_connected_heatchill
-from .utils.unit_parser import parse_time_input, parse_temperature_input
-from .utils.logger_util import debug_print
+import logging
+import re
+from .utils.vessel_parser import get_vessel
+from .utils.unit_parser import parse_time_input
 
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[HEATCHILL] {message}")
+
+
+def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
+    """
+    解析温度输入（统一函数）
+    
+    Args:
+        temp_input: 温度输入
+        default_temp: 默认温度
+        
+    Returns:
+        float: 温度（°C）
+    """
+    if not temp_input:
+        return default_temp
+    
+    # 🔢 数值输入
+    if isinstance(temp_input, (int, float)):
+        result = float(temp_input)
+        debug_print(f"🌡️ 数值温度: {temp_input} → {result}°C")
+        return result
+    
+    # 📝 字符串输入
+    temp_str = str(temp_input).lower().strip()
+    debug_print(f"🔍 解析温度: '{temp_str}'")
+    
+    # 🎯 特殊温度
+    special_temps = {
+        "room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
+        "boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0
+    }
+    
+    if temp_str in special_temps:
+        result = special_temps[temp_str]
+        debug_print(f"🎯 特殊温度: '{temp_str}' → {result}°C")
+        return result
+    
+    # 📐 正则解析（如 "256 °C"）
+    temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
+    match = re.search(temp_pattern, temp_str)
+    
+    if match:
+        result = float(match.group(1))
+        debug_print(f"✅ 温度解析: '{temp_str}' → {result}°C")
+        return result
+    
+    debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
+    return default_temp
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """查找与指定容器相连的加热/冷却设备"""
+    debug_print(f"🔍 查找加热设备，目标容器: {vessel}")
+    
+    # 🔧 查找所有加热设备
+    heatchill_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
+            heatchill_nodes.append(node)
+            debug_print(f"🎉 找到加热设备: {node}")
+    
+    # 🔗 检查连接
+    if vessel and heatchill_nodes:
+        for heatchill in heatchill_nodes:
+            if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+                debug_print(f"✅ 加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
+                return heatchill
+    
+    # 🎯 使用第一个可用设备
+    if heatchill_nodes:
+        selected = heatchill_nodes[0]
+        debug_print(f"🔧 使用第一个加热设备: {selected}")
+        return selected
+    
+    # 🆘 默认设备
+    debug_print("⚠️ 未找到加热设备，使用默认设备")
+    return "heatchill_1"
 
 def validate_and_fix_params(temp: float, time: float, stir_speed: float) -> tuple:
     """验证和修正参数"""
+    # 🌡️ 温度范围验证
     if temp < -50.0 or temp > 300.0:
         debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 25°C")
         temp = 25.0
-
+    else:
+        debug_print(f"✅ 温度 {temp}°C 在正常范围内")
+    
+    # ⏰ 时间验证
     if time < 0:
         debug_print(f"⚠️ 时间 {time}s 无效，修正为 300s")
         time = 300.0
-
+    else:
+        debug_print(f"✅ 时间 {time}s ({time/60:.1f}分钟) 有效")
+    
+    # 🌪️ 搅拌速度验证
     if stir_speed < 0 or stir_speed > 1500.0:
         debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
         stir_speed = 300.0
-
+    else:
+        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内")
+    
     return temp, time, stir_speed
 
 def generate_heat_chill_protocol(
@@ -37,7 +131,7 @@ def generate_heat_chill_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成加热/冷却操作的协议序列 - 支持vessel字典
-
+    
     Args:
         G: 设备图
         vessel: 容器字典（从XDL传入）
@@ -51,58 +145,82 @@ def generate_heat_chill_protocol(
         stir_speed: 搅拌速度 (RPM)
         purpose: 操作目的说明
         **kwargs: 其他参数（兼容性）
-
+    
     Returns:
         List[Dict[str, Any]]: 加热/冷却操作的动作序列
     """
-
+    
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
-    debug_print(f"开始生成加热冷却协议: vessel={vessel_id}, temp={temp}°C, "
-                f"time={time}, stir={stir} ({stir_speed} RPM), purpose='{purpose}'")
-
-    # 参数验证
-    if not vessel_id:
+    
+    debug_print("🌡️" * 20)
+    debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🌡️ temp: {temp}°C")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🎯 temp_spec: {temp_spec}")
+    debug_print(f"  ⏱️ time_spec: {time_spec}")
+    debug_print(f"  🌪️ stir: {stir} ({stir_speed} RPM)")
+    debug_print(f"  🎭 purpose: '{purpose}'")
+    debug_print("🌡️" * 20)
+    
+    # 📋 参数验证
+    debug_print("📍 步骤1: 参数验证... 🔧")
+    if not vessel_id:  # 🔧 使用 vessel_id
+        debug_print("❌ vessel 参数不能为空! 😱")
         raise ValueError("vessel 参数不能为空")
-
-    if vessel_id not in G.nodes():
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
-
-    # 参数解析
-    # 温度解析：优先使用 temp_spec
-    final_temp = parse_temperature_input(temp_spec, temp) if temp_spec else temp
-
+    
+    debug_print("✅ 基础参数验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤2: 参数解析... ⚡")
+    
+    #温度解析：优先使用 temp_spec
+    final_temp = parse_temp_input(temp_spec, temp) if temp_spec else temp
+    
     # 时间解析：优先使用 time_spec
     final_time = parse_time_input(time_spec) if time_spec else parse_time_input(time)
-
+    
     # 参数修正
     final_temp, final_time, stir_speed = validate_and_fix_params(final_temp, final_time, stir_speed)
-
-    debug_print(f"最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
-
-    # 查找设备
+    
+    debug_print(f"🎯 最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤3: 查找加热设备... 🔍")
     try:
-        heatchill_id = find_connected_heatchill(G, vessel_id)
-        debug_print(f"使用加热设备: {heatchill_id}")
+        heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"🎉 使用加热设备: {heatchill_id} ✨")
     except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到加热设备: {str(e)}")
-
-    # 生成动作
-    # 模拟运行时间优化
+    
+    # 🚀 生成动作
+    debug_print("📍 步骤4: 生成加热动作... 🔥")
+    
+    # 🕐 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
     original_time = final_time
     simulation_time_limit = 100.0  # 模拟运行时间限制：100秒
-
+    
     if final_time > simulation_time_limit:
         final_time = simulation_time_limit
-        debug_print(f"模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s)")
-
+        debug_print(f"  🎮 模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s) ⚡")
+        debug_print(f"  📊 时间缩短: {original_time/60:.1f}分钟 → {final_time/60:.1f}分钟 🚀")
+    else:
+        debug_print(f"  ✅ 时间在限制内: {final_time}s ({final_time/60:.1f}分钟) 保持不变 🎯")
+    
     action_sequence = []
     heatchill_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            "vessel": {"id": vessel},
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -111,10 +229,21 @@ def generate_heat_chill_protocol(
         }
     }
     action_sequence.append(heatchill_action)
-
-    debug_print(f"加热冷却协议生成完成: {len(action_sequence)} 个动作, "
-                f"vessel={vessel_id}, temp={final_temp}°C, time={final_time}s")
-
+    debug_print("✅ 加热动作已添加 🔥✨")
+    
+    # 显示时间调整信息
+    if original_time != final_time:
+        debug_print(f"  🎭 模拟优化说明: 原计划 {original_time/60:.1f}分钟，实际模拟 {final_time/60:.1f}分钟 ⚡")
+    
+    # 🎊 总结
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 加热冷却协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 加热容器: {vessel_id}")
+    debug_print(f"🌡️ 目标温度: {final_temp}°C")
+    debug_print(f"⏰ 加热时间: {final_time}s ({final_time/60:.1f}分钟)")
+    debug_print("🎊" * 20)
+    
     return action_sequence
 
 def generate_heat_chill_to_temp_protocol(
@@ -126,7 +255,7 @@ def generate_heat_chill_to_temp_protocol(
 ) -> List[Dict[str, Any]]:
     """生成加热到指定温度的协议（简化版）"""
     vessel_id, _ = get_vessel(vessel)
-    debug_print(f"生成加热到温度协议: {vessel_id} → {temp}°C")
+    debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
     return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
 
 def generate_heat_chill_start_protocol(
@@ -137,19 +266,21 @@ def generate_heat_chill_start_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成开始加热操作的协议序列"""
-
+    
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, _ = get_vessel(vessel)
-
-    debug_print(f"生成启动加热协议: vessel={vessel_id}, temp={temp}°C")
-
+    
+    debug_print("🔥 开始生成启动加热协议 ✨")
+    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
+    
     # 基础验证
-    if not vessel_id or vessel_id not in G.nodes():
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-
+    
     # 查找设备
-    heatchill_id = find_connected_heatchill(G, vessel_id)
-
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+    
     # 生成动作
     action_sequence = [{
         "device_id": heatchill_id,
@@ -160,8 +291,8 @@ def generate_heat_chill_start_protocol(
             "vessel": {"id": vessel_id},
         }
     }]
-
-    debug_print(f"启动加热协议生成完成")
+    
+    debug_print(f"✅ 启动加热协议生成完成 🎯")
     return action_sequence
 
 def generate_heat_chill_stop_protocol(
@@ -170,19 +301,21 @@ def generate_heat_chill_stop_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成停止加热操作的协议序列"""
-
+    
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, _ = get_vessel(vessel)
-
-    debug_print(f"生成停止加热协议: vessel={vessel_id}")
-
+    
+    debug_print("🛑 开始生成停止加热协议 ✨")
+    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
+    
     # 基础验证
-    if not vessel_id or vessel_id not in G.nodes():
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-
+    
     # 查找设备
-    heatchill_id = find_connected_heatchill(G, vessel_id)
-
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+    
     # 生成动作
     action_sequence = [{
         "device_id": heatchill_id,
@@ -190,6 +323,6 @@ def generate_heat_chill_stop_protocol(
         "action_kwargs": {
         }
     }]
-
-    debug_print(f"停止加热协议生成完成")
+    
+    debug_print(f"✅ 停止加热协议生成完成 🎯")
     return action_sequence

unilabos/compile/hydrogenate_protocol.py

@@ -1,50 +1,105 @@
 import networkx as nx
 from typing import List, Dict, Any, Optional
 from .utils.vessel_parser import get_vessel
-from .utils.logger_util import debug_print
-from .utils.unit_parser import parse_temperature_input, parse_time_input
+
+
+def parse_temperature(temp_str: str) -> float:
+    """
+    解析温度字符串，支持多种格式
+    
+    Args:
+        temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
+    
+    Returns:
+        float: 温度值（摄氏度）
+    """
+    try:
+        # 移除常见的温度单位和符号
+        temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
+        return float(temp_clean)
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
+        return 25.0
+
+
+def parse_time(time_str: str) -> float:
+    """
+    解析时间字符串，支持多种格式
+    
+    Args:
+        time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
+    
+    Returns:
+        float: 时间值（秒）
+    """
+    try:
+        time_clean = time_str.lower().strip()
+        
+        # 处理小时
+        if "h" in time_clean:
+            hours = float(time_clean.replace("h", "").strip())
+            return hours * 3600.0
+        
+        # 处理分钟
+        if "min" in time_clean:
+            minutes = float(time_clean.replace("min", "").strip())
+            return minutes * 60.0
+        
+        # 处理秒
+        if "s" in time_clean:
+            seconds = float(time_clean.replace("s", "").strip())
+            return seconds
+        
+        # 默认按小时处理
+        return float(time_clean) * 3600.0
+    
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
+        return 7200.0  # 2小时
 
 
 def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
     """查找与指定设备相关联的电磁阀"""
     solenoid_valves = [
-        node for node in G.nodes()
+        node for node in G.nodes() 
         if ('solenoid' in (G.nodes[node].get('class') or '').lower()
             or 'solenoid_valve' in node)
     ]
-
+    
     # 通过网络连接查找直接相连的电磁阀
     for solenoid in solenoid_valves:
         if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
             return solenoid
-
+    
     # 通过命名规则查找关联的电磁阀
     device_type = ""
     if 'gas' in device_id.lower():
         device_type = "gas"
     elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
         device_type = "gas"
-
+    
     if device_type:
         for solenoid in solenoid_valves:
             if device_type in solenoid.lower():
                 return solenoid
-
+    
     return None
 
 
 def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
     """
     查找与容器相连的指定类型设备
-
+    
     Args:
         G: 网络图
         vessel: 容器名称
         device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
-
+    
     Returns:
         str: 设备ID，如果没有则返回None
     """
+    print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
+    
     # 根据设备类型定义搜索关键词
     if device_type == 'heater':
         keywords = ['heater', 'heat', 'heatchill']
@@ -57,38 +112,40 @@ def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
         device_class = 'virtual_gas_source'
     else:
         return None
-
+    
     # 查找设备节点
     device_nodes = []
     for node in G.nodes():
         node_data = G.nodes[node]
         node_name = node.lower()
         node_class = node_data.get('class', '').lower()
-
+        
+        # 通过名称匹配
         if any(keyword in node_name for keyword in keywords):
             device_nodes.append(node)
+        # 通过类型匹配
         elif device_class in node_class:
             device_nodes.append(node)
-
-    debug_print(f"找到的{device_type}节点: {device_nodes}")
-
+    
+    print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
+    
     # 检查是否有设备与目标容器相连
     for device in device_nodes:
         if G.has_edge(device, vessel) or G.has_edge(vessel, device):
-            debug_print(f"找到与容器 '{vessel}' 相连的{device_type}: {device}")
+            print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
             return device
-
+    
     # 如果没有直接连接，查找距离最近的设备
     for device in device_nodes:
         try:
             path = nx.shortest_path(G, source=device, target=vessel)
             if len(path) <= 3:  # 最多2个中间节点
-                debug_print(f"找到距离较近的{device_type}: {device}")
+                print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
                 return device
         except nx.NetworkXNoPath:
             continue
-
-    debug_print(f"未找到与容器 '{vessel}' 相连的{device_type}")
+    
+    print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
     return None
 
 
@@ -101,31 +158,36 @@ def generate_hydrogenate_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成氢化反应协议序列 - 支持vessel字典
-
+    
     Args:
         G: 有向图，节点为容器和设备
         vessel: 反应容器字典（从XDL传入）
         temp: 反应温度（如 "45 °C"）
         time: 反应时间（如 "2 h"）
         **kwargs: 其他可选参数，但不使用
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-
+    
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     action_sequence = []
-
+    
     # 解析参数
-    temperature = parse_temperature_input(temp)
-    reaction_time = parse_time_input(time)
-
-    debug_print(f"开始生成氢化反应协议: vessel={vessel_id}, "
-                f"temp={temperature}°C, time={reaction_time/3600:.1f}h")
-
-    # 记录氢化前的容器状态
+    temperature = parse_temperature(temp)
+    reaction_time = parse_time(time)
+    
+    print("🧪" * 20)
+    print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
+    print(f"📝 输入参数:")
+    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    print(f"  🌡️ 反应温度: {temperature}°C")
+    print(f"  ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
+    print("🧪" * 20)
+    
+    # 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -133,36 +195,47 @@ def generate_hydrogenate_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
+    print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
+    
     # 1. 验证目标容器存在
-    if vessel_id not in G.nodes():
-        debug_print(f"⚠️ 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
+    print("📍 步骤1: 验证目标容器...")
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
         return action_sequence
-
+    print(f"✅ 容器 '{vessel_id}' 验证通过")
+    
     # 2. 查找相连的设备
-    heater_id = find_connected_device(G, vessel_id, 'heater')
-    stirrer_id = find_connected_device(G, vessel_id, 'stirrer')
-    gas_source_id = find_connected_device(G, vessel_id, 'gas_source')
-
-    debug_print(f"设备配置: heater={heater_id or '未找到'}, "
-                f"stirrer={stirrer_id or '未找到'}, gas={gas_source_id or '未找到'}")
-
+    print("📍 步骤2: 查找相连设备...")
+    heater_id = find_connected_device(G, vessel_id, 'heater')  # 🔧 使用 vessel_id
+    stirrer_id = find_connected_device(G, vessel_id, 'stirrer')  # 🔧 使用 vessel_id
+    gas_source_id = find_connected_device(G, vessel_id, 'gas_source')  # 🔧 使用 vessel_id
+    
+    print(f"🔧 设备配置:")
+    print(f"  🔥 加热器: {heater_id or '未找到'}")
+    print(f"  🌪️ 搅拌器: {stirrer_id or '未找到'}")
+    print(f"  💨 气源: {gas_source_id or '未找到'}")
+    
     # 3. 启动搅拌器
+    print("📍 步骤3: 启动搅拌器...")
     if stirrer_id:
+        print(f"🌪️ 启动搅拌器 {stirrer_id}")
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "stir_speed": 300.0,
                 "purpose": "氢化反应: 开始搅拌"
             }
         })
+        print("✅ 搅拌器启动动作已添加")
     else:
-        debug_print(f"⚠️ 未找到搅拌器，继续执行")
-
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
+    
     # 4. 启动气源（氢气）
+    print("📍 步骤4: 启动氢气源...")
     if gas_source_id:
+        print(f"💨 启动气源 {gas_source_id} (氢气)")
         action_sequence.append({
             "device_id": gas_source_id,
             "action_name": "set_status",
@@ -170,10 +243,11 @@ def generate_hydrogenate_protocol(
                 "string": "ON"
             }
         })
-
+        
         # 查找相关的电磁阀
         gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
         if gas_solenoid:
+            print(f"🚪 开启气源电磁阀 {gas_solenoid}")
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
@@ -181,10 +255,12 @@ def generate_hydrogenate_protocol(
                     "command": "OPEN"
                 }
             })
+        print("✅ 氢气源启动动作已添加")
     else:
-        debug_print(f"⚠️ 未找到气源，继续执行")
-
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
+    
     # 5. 等待气体稳定
+    print("📍 步骤5: 等待气体环境稳定...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -192,19 +268,22 @@ def generate_hydrogenate_protocol(
             "description": "等待氢气环境稳定"
         }
     })
-
+    print("✅ 气体稳定等待动作已添加")
+    
     # 6. 启动加热器
+    print("📍 步骤6: 启动加热反应...")
     if heater_id:
+        print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "temp": temperature,
                 "purpose": f"氢化反应: 加热到 {temperature}°C"
             }
         })
-
+        
         # 等待温度稳定
         action_sequence.append({
             "action_name": "wait",
@@ -213,38 +292,52 @@ def generate_hydrogenate_protocol(
                 "description": f"等待温度稳定到 {temperature}°C"
             }
         })
-
-        # 模拟运行时间优化
+        
+        # 🕐 模拟运行时间优化
+        print("  ⏰ 检查模拟运行时间限制...")
         original_reaction_time = reaction_time
-        simulation_time_limit = 60.0
-
+        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+        
         if reaction_time > simulation_time_limit:
             reaction_time = simulation_time_limit
-            debug_print(f"模拟运行优化: {original_reaction_time}s → {reaction_time}s")
-
+            print(f"  🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
+            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
+        else:
+            print(f"  ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
+        
         # 保持反应温度
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "temp": temperature,
                 "time": reaction_time,
                 "purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
             }
         })
-
+        
+        # 显示时间调整信息
+        if original_reaction_time != reaction_time:
+            print(f"  🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
+        
+        print("✅ 加热反应动作已添加")
+            
     else:
-        debug_print(f"⚠️ 未找到加热器，使用室温反应")
-
-        # 室温反应也需要时间优化
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
+        
+        # 🕐 室温反应也需要时间优化
+        print("  ⏰ 检查室温反应模拟时间限制...")
         original_reaction_time = reaction_time
-        simulation_time_limit = 60.0
-
+        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+        
         if reaction_time > simulation_time_limit:
             reaction_time = simulation_time_limit
-            debug_print(f"室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
-
+            print(f"  🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
+            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
+        else:
+            print(f"  ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
+        
         # 室温反应，只等待时间
         action_sequence.append({
             "action_name": "wait",
@@ -253,19 +346,28 @@ def generate_hydrogenate_protocol(
                 "description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
             }
         })
-
+        
+        # 显示时间调整信息
+        if original_reaction_time != reaction_time:
+            print(f"  🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
+        
+        print("✅ 室温反应等待动作已添加")
+    
     # 7. 停止加热
+    print("📍 步骤7: 停止加热...")
     if heater_id:
         action_sequence.append({
             "device_id": heater_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "purpose": "氢化反应完成，停止加热"
             }
         })
-
+        print("✅ 停止加热动作已添加")
+    
     # 8. 等待冷却
+    print("📍 步骤8: 等待冷却...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -273,12 +375,15 @@ def generate_hydrogenate_protocol(
             "description": "等待反应混合物冷却"
         }
     })
-
+    print("✅ 冷却等待动作已添加")
+    
     # 9. 停止气源
+    print("📍 步骤9: 停止氢气源...")
     if gas_source_id:
         # 先关闭电磁阀
         gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
         if gas_solenoid:
+            print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
@@ -286,7 +391,7 @@ def generate_hydrogenate_protocol(
                     "command": "CLOSED"
                 }
             })
-
+        
         # 再关闭气源
         action_sequence.append({
             "device_id": gas_source_id,
@@ -295,24 +400,59 @@ def generate_hydrogenate_protocol(
                 "string": "OFF"
             }
         })
-
+        print("✅ 氢气源停止动作已添加")
+    
     # 10. 停止搅拌
+    print("📍 步骤10: 停止搅拌...")
     if stirrer_id:
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "purpose": "氢化反应完成，停止搅拌"
             }
         })
-
-    # 氢化完成后的状态（氢化反应通常不改变体积）
-    final_liquid_volume = original_liquid_volume
-
+        print("✅ 停止搅拌动作已添加")
+    
+    # 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
+    final_liquid_volume = original_liquid_volume  # 氢化反应体积基本不变
+    
     # 总结
-    debug_print(f"氢化反应协议生成完成: {len(action_sequence)} 个动作, "
-                f"vessel={vessel_id}, temp={temperature}°C, time={reaction_time/60:.1f}min, "
-                f"volume={original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
-
+    print("🎊" * 20)
+    print(f"🎉 氢化反应协议生成完成! ✨")
+    print(f"📊 总动作数: {len(action_sequence)} 个")
+    print(f"🥽 反应容器: {vessel_id}")
+    print(f"🌡️ 反应温度: {temperature}°C")
+    print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
+    print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
+    print(f"📊 体积状态:")
+    print(f"  - 反应前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
+    print("🎊" * 20)
+    
     return action_sequence
+
+
+# 测试函数
+def test_hydrogenate_protocol():
+    """测试氢化反应协议"""
+    print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
+    
+    # 测试温度解析
+    test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
+    for temp in test_temps:
+        parsed = parse_temperature(temp)
+        print(f"温度 '{temp}' -> {parsed}°C")
+    
+    # 测试时间解析
+    test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
+    for time in test_times:
+        parsed = parse_time(time)
+        print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
+    
+    print("✅ 测试完成 🎉")
+
+
+if __name__ == "__main__":
+    test_hydrogenate_protocol()

unilabos/compile/pump_protocol.py

@@ -2,116 +2,205 @@ import traceback
 import numpy as np
 import networkx as nx
 import asyncio
-import time as time_module  # 重命名time模块
+import time as time_module  # 🔧 重命名time模块
 from typing import List, Dict, Any
 import logging
 import sys
 
-from .utils.logger_util import debug_print
-from .utils.vessel_parser import get_vessel
-from .utils.resource_helper import get_resource_liquid_volume
+from unilabos.compile.utils.vessel_parser import get_vessel
 
 logger = logging.getLogger(__name__)
 
 
-def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
+def debug_print(message):
+    """强制输出调试信息"""
+    output = f"[TRANSFER] {message}"
+    logger.info(output)
+
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     """
-    判断是否为泵阀一体设备
+    从容器节点的数据中获取液体体积
     """
-    class_lower = (node_class or "").lower()
-    name_lower = (node_name or "").lower()
+    debug_print(f"🔍 开始读取容器 '{vessel}' 的液体体积...")
 
-    if "pump" not in class_lower and "pump" not in name_lower:
-        return False
+    if vessel not in G.nodes():
+        logger.error(f"❌ 容器 '{vessel}' 不存在于系统图中")
+        debug_print(f"  - 系统中的容器: {list(G.nodes())}")
+        return 0.0
 
-    integrated_markers = [
-        "valve",
-        "pump_valve",
-        "pumpvalve",
-        "integrated",
-        "transfer_pump",
-    ]
+    vessel_data = G.nodes[vessel].get('data', {})
+    debug_print(f"📋 容器 '{vessel}' 的数据结构: {vessel_data}")
 
-    for marker in integrated_markers:
-        if marker in class_lower or marker in name_lower:
-            return True
+    total_volume = 0.0
 
-    return False
+    # 方法1：检查 'liquid' 字段（列表格式）
+    debug_print("🔍 方法1: 检查 'liquid' 字段...")
+    if 'liquid' in vessel_data:
+        liquids = vessel_data['liquid']
+        debug_print(f"  - liquid 字段类型: {type(liquids)}")
+        debug_print(f"  - liquid 字段内容: {liquids}")
+
+        if isinstance(liquids, list):
+            debug_print(f"  - liquid 是列表，包含 {len(liquids)} 个元素")
+            for i, liquid in enumerate(liquids):
+                debug_print(f"    液体 {i + 1}: {liquid}")
+                if isinstance(liquid, dict):
+                    volume_keys = ['liquid_volume', 'volume', 'amount', 'quantity']
+                    for key in volume_keys:
+                        if key in liquid:
+                            try:
+                                vol = float(liquid[key])
+                                total_volume += vol
+                                debug_print(f"    ✅ 从 '{key}' 读取体积: {vol}mL")
+                                break
+                            except (ValueError, TypeError) as e:
+                                logger.warning(f"    ⚠️ 无法转换 '{key}': {liquid[key]} -> {str(e)}")
+                                continue
+        else:
+            debug_print(f"  - liquid 不是列表: {type(liquids)}")
+    else:
+        debug_print("  - 没有 'liquid' 字段")
+
+    # 方法2：检查直接的体积字段
+    debug_print("🔍 方法2: 检查直接体积字段...")
+    volume_keys = ['total_volume', 'volume', 'liquid_volume', 'amount', 'current_volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                vol = float(vessel_data[key])
+                total_volume = max(total_volume, vol)  # 取最大值
+                debug_print(f"  ✅ 从容器数据 '{key}' 读取体积: {vol}mL")
+                break
+            except (ValueError, TypeError) as e:
+                logger.warning(f"  ⚠️ 无法转换 '{key}': {vessel_data[key]} -> {str(e)}")
+                continue
+
+    # 方法3：检查 'state' 或 'status' 字段
+    debug_print("🔍 方法3: 检查 'state' 字段...")
+    if 'state' in vessel_data and isinstance(vessel_data['state'], dict):
+        state = vessel_data['state']
+        debug_print(f"  - state 字段内容: {state}")
+        if 'volume' in state:
+            try:
+                vol = float(state['volume'])
+                total_volume = max(total_volume, vol)
+                debug_print(f"  ✅ 从容器状态读取体积: {vol}mL")
+            except (ValueError, TypeError) as e:
+                logger.warning(f"  ⚠️ 无法转换 state.volume: {state['volume']} -> {str(e)}")
+    else:
+        debug_print("  - 没有 'state' 字段或不是字典")
+
+    debug_print(f"📊 容器 '{vessel}' 最终检测体积: {total_volume}mL")
+    return total_volume
+
+
+def is_integrated_pump(node_name):
+    return "pump" in node_name and "valve" in node_name
 
 
 def find_connected_pump(G, valve_node):
     """
-    查找与阀门相连的泵节点
-    区分电磁阀和多通阀，电磁阀不参与泵查找
+    查找与阀门相连的泵节点 - 修复版本
+    🔧 修复：区分电磁阀和多通阀，电磁阀不参与泵查找
     """
-    # 检查节点类型，电磁阀不应该查找泵
+    debug_print(f"🔍 查找与阀门 {valve_node} 相连的泵...")
+
+    # 🔧 关键修复：检查节点类型，电磁阀不应该查找泵
     node_data = G.nodes.get(valve_node, {})
     node_class = node_data.get("class", "") or ""
 
+    debug_print(f"  - 阀门类型: {node_class}")
+
     # 如果是电磁阀，不应该查找泵（电磁阀只是开关）
     if ("solenoid" in node_class.lower() or "solenoid_valve" in valve_node.lower()):
+        debug_print(f"  ⚠️ {valve_node} 是电磁阀，不应该查找泵节点")
         raise ValueError(f"电磁阀 {valve_node} 不应该参与泵查找逻辑")
 
     # 只有多通阀等复杂阀门才需要查找连接的泵
     if ("multiway" in node_class.lower() or "valve" in node_class.lower()):
+        debug_print(f"  - {valve_node} 是多通阀，查找连接的泵...")
         # 方法1：直接相邻的泵
         for neighbor in G.neighbors(valve_node):
             neighbor_class = G.nodes[neighbor].get("class", "") or ""
+            # 排除非 电磁阀 和 泵 的邻居
+            debug_print(f"    - 检查邻居 {neighbor}, class: {neighbor_class}")
             if "pump" in neighbor_class.lower():
+                debug_print(f"    ✅ 找到直接相连的泵: {neighbor}")
                 return neighbor
 
         # 方法2：通过路径查找泵（最多2跳）
-        pump_nodes = [
-            node_id for node_id in G.nodes()
-            if "pump" in (G.nodes[node_id].get("class", "") or "").lower()
-        ]
+        debug_print(f"    - 未找到直接相连的泵，尝试路径查找...")
 
+        # 获取所有泵节点
+        pump_nodes = []
+        for node_id in G.nodes():
+            node_class = G.nodes[node_id].get("class", "") or ""
+            if "pump" in node_class.lower():
+                pump_nodes.append(node_id)
+
+        debug_print(f"    - 系统中的泵节点: {pump_nodes}")
+
+        # 查找到泵的最短路径
         for pump_node in pump_nodes:
             try:
                 if nx.has_path(G, valve_node, pump_node):
                     path = nx.shortest_path(G, valve_node, pump_node)
-                    if len(path) - 1 <= 2:  # 最多允许2跳
+                    path_length = len(path) - 1
+                    debug_print(f"    - 到泵 {pump_node} 的路径: {path}, 距离: {path_length}")
+
+                    if path_length <= 2:  # 最多允许2跳
+                        debug_print(f"    ✅ 通过路径找到泵: {pump_node}")
                         return pump_node
             except nx.NetworkXNoPath:
                 continue
 
+    # 最终失败
+    debug_print(f"  ❌ 完全找不到泵节点")
     raise ValueError(f"未找到与阀 {valve_node} 相连的泵节点")
 
 
 def build_pump_valve_maps(G, pump_backbone):
     """
-    构建泵-阀门映射
-    过滤掉电磁阀，只处理需要泵的多通阀
+    构建泵-阀门映射 - 修复版本
+    🔧 修复：过滤掉电磁阀，只处理需要泵的多通阀
     """
     pumps_from_node = {}
     valve_from_node = {}
 
-    # 过滤掉电磁阀
+    debug_print(f"🔧 构建泵-阀门映射，原始骨架: {pump_backbone}")
+
+    # 🔧 关键修复：过滤掉电磁阀
     filtered_backbone = []
     for node in pump_backbone:
         node_data = G.nodes.get(node, {})
         node_class = node_data.get("class", "") or ""
 
+        # 跳过电磁阀
         if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
+            debug_print(f"  - 跳过电磁阀: {node}")
             continue
 
         filtered_backbone.append(node)
 
+    debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
+
     for node in filtered_backbone:
-        node_data = G.nodes.get(node, {})
-        node_class = node_data.get("class", "") or ""
-        if is_integrated_pump(node_class, node):
+        if is_integrated_pump(G.nodes[node]["class"]):
             pumps_from_node[node] = node
             valve_from_node[node] = node
+            debug_print(f"  - 集成泵-阀: {node}")
         else:
             try:
                 pump_node = find_connected_pump(G, node)
                 pumps_from_node[node] = pump_node
                 valve_from_node[node] = node
-            except ValueError:
+                debug_print(f"  - 阀门 {node} -> 泵 {pump_node}")
+            except ValueError as e:
+                debug_print(f"  - 跳过节点 {node}: {str(e)}")
                 continue
 
-    debug_print(f"泵-阀映射: pumps={pumps_from_node}, valves={valve_from_node}")
+    debug_print(f"🔧 最终映射: pumps={pumps_from_node}, valves={valve_from_node}")
     return pumps_from_node, valve_from_node
 
 
@@ -124,8 +213,8 @@ def generate_pump_protocol(
         transfer_flowrate: float = 0.5,
 ) -> List[Dict[str, Any]]:
     """
-    生成泵操作的动作序列
-    正确处理包含电磁阀的路径
+    生成泵操作的动作序列 - 修复版本
+    🔧 修复：正确处理包含电磁阀的路径
     """
     pump_action_sequence = []
     nodes = G.nodes(data=True)
@@ -144,6 +233,7 @@ def generate_pump_protocol(
         logger.warning(f"transfer_flowrate <= 0，使用默认值 {transfer_flowrate}mL/s")
 
     # 验证容器存在
+    debug_print(f"🔍 验证源容器 '{from_vessel_id}' 和目标容器 '{to_vessel_id}' 是否存在...")
     if from_vessel_id not in G.nodes():
         logger.error(f"源容器 '{from_vessel_id}' 不存在")
         return pump_action_sequence
@@ -159,24 +249,28 @@ def generate_pump_protocol(
         logger.error(f"无法找到从 '{from_vessel_id}' 到 '{to_vessel_id}' 的路径")
         return pump_action_sequence
 
-    # 正确构建泵骨架，排除容器和电磁阀
+    # 🔧 关键修复：正确构建泵骨架，排除容器和电磁阀
     pump_backbone = []
     for node in shortest_path:
+        # 跳过起始和结束容器
         if node == from_vessel_id or node == to_vessel_id:
             continue
 
+        # 跳过电磁阀（电磁阀不参与泵操作）
         node_data = G.nodes.get(node, {})
         node_class = node_data.get("class", "") or ""
         if ("solenoid" in node_class.lower() or "solenoid_valve" in node.lower()):
+            debug_print(f"PUMP_TRANSFER: 跳过电磁阀 {node}")
             continue
 
+        # 只包含多通阀和泵
         if ("multiway" in node_class.lower() or "valve" in node_class.lower() or "pump" in node_class.lower()):
             pump_backbone.append(node)
 
-    debug_print(f"PUMP_TRANSFER: 泵骨架: {pump_backbone}")
+    debug_print(f"PUMP_TRANSFER: 过滤后的泵骨架: {pump_backbone}")
 
     if not pump_backbone:
-        debug_print("PUMP_TRANSFER: 没有泵骨架节点")
+        debug_print("PUMP_TRANSFER: 没有泵骨架节点，可能是直接容器连接或只有电磁阀")
         return pump_action_sequence
 
     if transfer_flowrate == 0:
@@ -192,7 +286,7 @@ def generate_pump_protocol(
         debug_print("PUMP_TRANSFER: 没有可用的泵映射")
         return pump_action_sequence
 
-    # 安全地获取最小转移体积
+    # 🔧 修复：安全地获取最小转移体积
     try:
         min_transfer_volumes = []
         for node in pump_backbone:
@@ -222,19 +316,19 @@ def generate_pump_protocol(
     volume_left = volume
     debug_print(f"PUMP_TRANSFER: 需要 {repeats} 次转移，单次最大体积 {min_transfer_volume} mL")
 
-    # 只在开头打印总体概览
+    # 🆕 只在开头打印总体概览
     if repeats > 1:
-        debug_print(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次, 单次最大 {min_transfer_volume} mL")
-        logger.info(f"分批转移: 总体积 {volume:.2f}mL, {repeats} 次转移")
+        debug_print(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
+        logger.info(f"🔄 分批转移概览: 总体积 {volume:.2f}mL，需要 {repeats} 次转移")
 
-    # 创建一个自定义的wait动作，用于在执行时打印日志
+    # 🔧 创建一个自定义的wait动作，用于在执行时打印日志
     def create_progress_log_action(message: str) -> Dict[str, Any]:
         """创建一个特殊的等待动作，在执行时打印进度日志"""
         return {
             "action_name": "wait",
             "action_kwargs": {
-                "time": 0.1,
-                "progress_message": message
+                "time": 0.1,  # 很短的等待时间
+                "progress_message": message  # 自定义字段，用于进度日志
             }
         }
 
@@ -242,12 +336,12 @@ def generate_pump_protocol(
     for i in range(repeats):
         current_volume = min(volume_left, min_transfer_volume)
 
+        # 🆕 在每次循环开始时添加进度日志
         if repeats > 1:
-            pump_action_sequence.append(create_progress_log_action(
-                f"第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} -> {to_vessel_id})"
-            ))
+            start_message = f"🚀 准备开始第 {i + 1}/{repeats} 次转移: {current_volume:.2f}mL ({from_vessel_id} → {to_vessel_id}) 🚰"
+            pump_action_sequence.append(create_progress_log_action(start_message))
 
-        # 安全地获取边数据
+        # 🔧 修复：安全地获取边数据
         def get_safe_edge_data(node_a, node_b, key):
             try:
                 edge_data = G.get_edge_data(node_a, node_b)
@@ -350,13 +444,13 @@ def generate_pump_protocol(
                 ])
                 pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 3}})
 
-        # 在每次循环结束时添加完成日志
+        # 🆕 在每次循环结束时添加完成日志
         if repeats > 1:
             remaining_volume = volume_left - current_volume
             if remaining_volume > 0:
-                end_message = f"第 {i + 1}/{repeats} 次完成, 剩余 {remaining_volume:.2f}mL"
+                end_message = f"✅ 第 {i + 1}/{repeats} 次转移完成! 剩余 {remaining_volume:.2f}mL 待转移 ⏳"
             else:
-                end_message = f"第 {i + 1}/{repeats} 次完成, 全部 {volume:.2f}mL 转移完毕"
+                end_message = f"🎉 第 {i + 1}/{repeats} 次转移完成! 全部 {volume:.2f}mL 转移完毕 ✨"
 
             pump_action_sequence.append(create_progress_log_action(end_message))
 
@@ -398,205 +492,300 @@ def generate_pump_protocol_with_rinsing(
     to_vessel_id, _ = get_vessel(to_vessel)
 
     with generate_pump_protocol_with_rinsing._lock:
-        debug_print(f"PUMP_TRANSFER: {from_vessel_id} -> {to_vessel_id}, volume={volume}, flowrate={flowrate}")
+        debug_print("=" * 60)
+        debug_print(f"PUMP_TRANSFER: 🚀 开始生成协议 (同步版本)")
+        debug_print(f"  📍 路径: {from_vessel_id} -> {to_vessel_id}")
+        debug_print(f"  🕐 时间戳: {time_module.time()}")
+        debug_print(f"  🔒 获得执行锁")
+        debug_print("=" * 60)
 
         # 短暂延迟，避免快速重复调用
         time_module.sleep(0.01)
 
+        debug_print("🔍 步骤1: 开始体积处理...")
+
         # 1. 处理体积参数
         final_volume = volume
+        debug_print(f"📋 初始设置: final_volume = {final_volume}")
 
-        # 如果volume为0，从容器读取实际体积
+        # 🔧 修复：如果volume为0（ROS2传入的空值），从容器读取实际体积
         if volume == 0.0:
+            debug_print("🎯 检测到 volume=0.0，开始自动体积检测...")
 
-            actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
+            # 直接从源容器读取实际体积
+            actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
+            debug_print(f"📖 从容器 '{from_vessel_id}' 读取到体积: {actual_volume}mL")
 
             if actual_volume > 0:
                 final_volume = actual_volume
+                debug_print(f"✅ 成功设置体积为: {final_volume}mL")
             else:
-                final_volume = 10.0
-                logger.warning(f"无法从容器读取体积，使用默认值: {final_volume}mL")
+                final_volume = 10.0  # 如果读取失败，使用默认值
+                logger.warning(f"⚠️ 无法从容器读取体积，使用默认值: {final_volume}mL")
+        else:
+            debug_print(f"📌 体积非零，直接使用: {final_volume}mL")
+
         # 处理 amount 参数
         if amount and amount.strip():
+            debug_print(f"🔍 检测到 amount 参数: '{amount}'，开始解析...")
             parsed_volume = _parse_amount_to_volume(amount)
+            debug_print(f"📖 从 amount 解析得到体积: {parsed_volume}mL")
 
             if parsed_volume > 0:
                 final_volume = parsed_volume
+                debug_print(f"✅ 使用从 amount 解析的体积: {final_volume}mL")
             elif parsed_volume == 0.0 and amount.lower().strip() == "all":
-                actual_volume = get_resource_liquid_volume(G.nodes.get(from_vessel_id, {}))
+                debug_print("🎯 检测到 amount='all'，从容器读取全部体积...")
+                actual_volume = get_vessel_liquid_volume(G, from_vessel_id)
                 if actual_volume > 0:
                     final_volume = actual_volume
+                    debug_print(f"✅ amount='all'，设置体积为: {final_volume}mL")
 
         # 最终体积验证
+        debug_print(f"🔍 步骤2: 最终体积验证...")
         if final_volume <= 0:
-            logger.error(f"体积无效: {final_volume}mL")
+            logger.error(f"❌ 体积无效: {final_volume}mL")
             final_volume = 10.0
-            logger.warning(f"强制设置为默认值: {final_volume}mL")
+            logger.warning(f"⚠️ 强制设置为默认值: {final_volume}mL")
 
-        debug_print(f"最终体积: {final_volume}mL")
+        debug_print(f"✅ 最终确定体积: {final_volume}mL")
 
         # 2. 处理流速参数
+        debug_print(f"🔍 步骤3: 处理流速参数...")
+        debug_print(f"  - 原始 flowrate: {flowrate}")
+        debug_print(f"  - 原始 transfer_flowrate: {transfer_flowrate}")
+
         final_flowrate = flowrate if flowrate > 0 else 2.5
         final_transfer_flowrate = transfer_flowrate if transfer_flowrate > 0 else 0.5
 
         if flowrate <= 0:
-            logger.warning(f"flowrate <= 0，修正为: {final_flowrate}mL/s")
+            logger.warning(f"⚠️ flowrate <= 0，修正为: {final_flowrate}mL/s")
         if transfer_flowrate <= 0:
-            logger.warning(f"transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
+            logger.warning(f"⚠️ transfer_flowrate <= 0，修正为: {final_transfer_flowrate}mL/s")
+
+        debug_print(f"✅ 修正后流速: flowrate={final_flowrate}mL/s, transfer_flowrate={final_transfer_flowrate}mL/s")
 
         # 3. 根据时间计算流速
         if time > 0 and final_volume > 0:
+            debug_print(f"🔍 步骤4: 根据时间计算流速...")
             calculated_flowrate = final_volume / time
+            debug_print(f"  - 计算得到流速: {calculated_flowrate}mL/s")
 
             if flowrate <= 0 or flowrate == 2.5:
                 final_flowrate = min(calculated_flowrate, 10.0)
+                debug_print(f"  - 调整 flowrate 为: {final_flowrate}mL/s")
             if transfer_flowrate <= 0 or transfer_flowrate == 0.5:
                 final_transfer_flowrate = min(calculated_flowrate, 5.0)
+                debug_print(f"  - 调整 transfer_flowrate 为: {final_transfer_flowrate}mL/s")
 
         # 4. 根据速度规格调整
         if rate_spec:
+            debug_print(f"🔍 步骤5: 根据速度规格调整...")
+            debug_print(f"  - 速度规格: '{rate_spec}'")
+
             if rate_spec == "dropwise":
                 final_flowrate = min(final_flowrate, 0.1)
                 final_transfer_flowrate = min(final_transfer_flowrate, 0.1)
+                debug_print(f"  - dropwise模式，流速调整为: {final_flowrate}mL/s")
             elif rate_spec == "slowly":
                 final_flowrate = min(final_flowrate, 0.5)
                 final_transfer_flowrate = min(final_transfer_flowrate, 0.3)
+                debug_print(f"  - slowly模式，流速调整为: {final_flowrate}mL/s")
             elif rate_spec == "quickly":
                 final_flowrate = max(final_flowrate, 5.0)
                 final_transfer_flowrate = max(final_transfer_flowrate, 2.0)
-            debug_print(f"速度规格 '{rate_spec}': flowrate={final_flowrate}, transfer={final_transfer_flowrate}")
+                debug_print(f"  - quickly模式，流速调整为: {final_flowrate}mL/s")
 
     # 5. 处理冲洗参数
+    debug_print(f"🔍 步骤6: 处理冲洗参数...")
     final_rinsing_solvent = rinsing_solvent
     final_rinsing_volume = rinsing_volume if rinsing_volume > 0 else 5.0
     final_rinsing_repeats = rinsing_repeats if rinsing_repeats > 0 else 2
 
     if rinsing_volume <= 0:
-        logger.warning(f"rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
+        logger.warning(f"⚠️ rinsing_volume <= 0，修正为: {final_rinsing_volume}mL")
     if rinsing_repeats <= 0:
-        logger.warning(f"rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
+        logger.warning(f"⚠️ rinsing_repeats <= 0，修正为: {final_rinsing_repeats}次")
 
     # 根据物理属性调整冲洗参数
     if viscous or solid:
         final_rinsing_repeats = max(final_rinsing_repeats, 3)
         final_rinsing_volume = max(final_rinsing_volume, 10.0)
+        debug_print(f"🧪 粘稠/固体物质，调整冲洗参数：{final_rinsing_repeats}次，{final_rinsing_volume}mL")
 
     # 参数总结
-    debug_print(f"最终参数: volume={final_volume}mL, flowrate={final_flowrate}mL/s, "
-                f"transfer_flowrate={final_transfer_flowrate}mL/s, "
-                f"rinsing={final_rinsing_solvent}/{final_rinsing_volume}mL/{final_rinsing_repeats}次")
+    debug_print("📊 最终参数总结:")
+    debug_print(f"  - 体积: {final_volume}mL")
+    debug_print(f"  - 流速: {final_flowrate}mL/s")
+    debug_print(f"  - 转移流速: {final_transfer_flowrate}mL/s")
+    debug_print(f"  - 冲洗溶剂: '{final_rinsing_solvent}'")
+    debug_print(f"  - 冲洗体积: {final_rinsing_volume}mL")
+    debug_print(f"  - 冲洗次数: {final_rinsing_repeats}次")
+
+    # ========== 执行基础转移 ==========
+
+    debug_print("🔧 步骤7: 开始执行基础转移...")
 
-    # 执行基础转移
     try:
+        debug_print(f"  - 调用 generate_pump_protocol...")
+        debug_print(
+            f"  - 参数: G, '{from_vessel_id}', '{to_vessel_id}', {final_volume}, {final_flowrate}, {final_transfer_flowrate}")
 
         pump_action_sequence = generate_pump_protocol(
             G, from_vessel_id, to_vessel_id, final_volume,
             final_flowrate, final_transfer_flowrate
         )
 
-        debug_print(f"基础转移生成了 {len(pump_action_sequence)} 个动作")
+        debug_print(f"  - generate_pump_protocol 返回结果:")
+        debug_print(f"    - 动作序列长度: {len(pump_action_sequence)}")
+        debug_print(f"    - 动作序列是否为空: {len(pump_action_sequence) == 0}")
 
         if not pump_action_sequence:
-            debug_print("基础转移协议为空")
+            debug_print("❌ 基础转移协议生成为空，可能是路径问题")
+            debug_print(f"  - 源容器存在: {from_vessel_id in G.nodes()}")
+            debug_print(f"  - 目标容器存在: {to_vessel_id in G.nodes()}")
 
             if from_vessel_id in G.nodes() and to_vessel_id in G.nodes():
                 try:
                     path = nx.shortest_path(G, source=from_vessel_id, target=to_vessel_id)
-                    debug_print(f"路径存在: {path}")
-                except Exception:
-                    pass
+                    debug_print(f"  - 路径存在: {path}")
+                except Exception as path_error:
+                    debug_print(f"  - 无法找到路径: {str(path_error)}")
 
             return [
                 {
                     "device_id": "system",
                     "action_name": "log_message",
                     "action_kwargs": {
-                        "message": f"路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
+                        "message": f"⚠️ 路径问题，无法转移: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}"
                     }
                 }
             ]
 
+        debug_print(f"✅ 基础转移生成了 {len(pump_action_sequence)} 个动作")
+
+        # 打印前几个动作用于调试
+        if len(pump_action_sequence) > 0:
+            debug_print("🔍 前几个动作预览:")
+            for i, action in enumerate(pump_action_sequence[:3]):
+                debug_print(f"  动作 {i + 1}: {action}")
+            if len(pump_action_sequence) > 3:
+                debug_print(f"  ... 还有 {len(pump_action_sequence) - 3} 个动作")
+
     except Exception as e:
-        debug_print(f"基础转移失败: {str(e)}\n{traceback.format_exc()}")
+        debug_print(f"❌ 基础转移失败: {str(e)}")
+        import traceback
+        debug_print(f"详细错误: {traceback.format_exc()}")
         return [
             {
                 "device_id": "system",
                 "action_name": "log_message",
                 "action_kwargs": {
-                    "message": f"转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
+                    "message": f"❌ 转移失败: {final_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}, 错误: {str(e)}"
                 }
             }
         ]
 
-    # 执行冲洗操作
+    # ========== 执行冲洗操作 ==========
+
+    debug_print("🔧 步骤8: 检查冲洗操作...")
+
     if final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0:
+        debug_print(f"🧽 开始冲洗操作，溶剂: '{final_rinsing_solvent}'")
 
         try:
             if final_rinsing_solvent.strip() != "air":
+                debug_print("  - 执行液体冲洗...")
                 rinsing_actions = _generate_rinsing_sequence(
                     G, from_vessel_id, to_vessel_id, final_rinsing_solvent,
                     final_rinsing_volume, final_rinsing_repeats,
                     final_flowrate, final_transfer_flowrate
                 )
                 pump_action_sequence.extend(rinsing_actions)
+                debug_print(f"  - 添加了 {len(rinsing_actions)} 个冲洗动作")
             else:
+                debug_print("  - 执行空气冲洗...")
                 air_rinsing_actions = _generate_air_rinsing_sequence(
                     G, from_vessel_id, to_vessel_id, final_rinsing_volume, final_rinsing_repeats,
                     final_flowrate, final_transfer_flowrate
                 )
                 pump_action_sequence.extend(air_rinsing_actions)
+                debug_print(f"  - 添加了 {len(air_rinsing_actions)} 个空气冲洗动作")
         except Exception as e:
-            debug_print(f"冲洗操作失败: {str(e)}")
+            debug_print(f"⚠️ 冲洗操作失败: {str(e)}，跳过冲洗")
     else:
-        debug_print(f"跳过冲洗 (solvent='{final_rinsing_solvent}', repeats={final_rinsing_repeats})")
+        debug_print(f"⏭️ 跳过冲洗操作")
+        debug_print(f"  - 溶剂: '{final_rinsing_solvent}'")
+        debug_print(f"  - 次数: {final_rinsing_repeats}")
+        debug_print(f"  - 条件满足: {bool(final_rinsing_solvent and final_rinsing_solvent.strip() and final_rinsing_repeats > 0)}")
 
-    # 最终结果
-    debug_print(f"PUMP_TRANSFER 完成: {from_vessel_id} -> {to_vessel_id}, "
-                f"volume={final_volume}mL, 动作数={len(pump_action_sequence)}")
+    # ========== 最终结果 ==========
+
+    debug_print("=" * 60)
+    debug_print(f"🎉 PUMP_TRANSFER: 协议生成完成")
+    debug_print(f"  📊 总动作数: {len(pump_action_sequence)}")
+    debug_print(f"  📋 最终体积: {final_volume}mL")
+    debug_print(f"  🚀 执行路径: {from_vessel_id} -> {to_vessel_id}")
 
     # 最终验证
     if len(pump_action_sequence) == 0:
+        debug_print("🚨 协议生成结果为空！这是异常情况")
         return [
             {
                 "device_id": "system",
                 "action_name": "log_message",
                 "action_kwargs": {
-                    "message": "协议生成失败: 无法生成任何动作序列"
+                    "message": f"🚨 协议生成失败: 无法生成任何动作序列"
                 }
             }
         ]
 
+    debug_print("=" * 60)
     return pump_action_sequence
 
 
 def _parse_amount_to_volume(amount: str) -> float:
     """解析 amount 字符串为体积"""
+    debug_print(f"🔍 解析 amount: '{amount}'")
+
     if not amount:
+        debug_print("  - amount 为空，返回 0.0")
         return 0.0
 
     amount = amount.lower().strip()
+    debug_print(f"  - 处理后的 amount: '{amount}'")
 
     # 处理特殊关键词
     if amount == "all":
+        debug_print("  - 检测到 'all'，返回 0.0（需要后续处理）")
         return 0.0  # 返回0.0，让调用者处理
 
     # 提取数字
     import re
     numbers = re.findall(r'[\d.]+', amount)
+    debug_print(f"  - 提取到的数字: {numbers}")
 
     if numbers:
         volume = float(numbers[0])
+        debug_print(f"  - 基础体积: {volume}")
 
         # 单位转换
         if 'ml' in amount or 'milliliter' in amount:
+            debug_print(f"  - 单位: mL，最终体积: {volume}")
             return volume
         elif 'l' in amount and 'ml' not in amount:
-            return volume * 1000
+            final_volume = volume * 1000
+            debug_print(f"  - 单位: L，最终体积: {final_volume}mL")
+            return final_volume
         elif 'μl' in amount or 'microliter' in amount:
-            return volume / 1000
+            final_volume = volume / 1000
+            debug_print(f"  - 单位: μL，最终体积: {final_volume}mL")
+            return final_volume
         else:
-            return volume  # 默认mL
+            debug_print(f"  - 无单位，假设为 mL: {volume}")
+            return volume
 
+    debug_print("  - 无法解析，返回 0.0")
     return 0.0
 
 

unilabos/compile/recrystallize_protocol.py

@@ -4,64 +4,76 @@ import logging
 from typing import List, Dict, Any, Tuple, Union
 from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .utils.unit_parser import parse_volume_input
-from .utils.logger_util import debug_print
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[RECRYSTALLIZE] {message}")
+
 
 def parse_ratio(ratio_str: str) -> Tuple[float, float]:
     """
     解析比例字符串，支持多种格式
-
+    
     Args:
         ratio_str: 比例字符串（如 "1:1", "3:7", "50:50"）
-
+    
     Returns:
         Tuple[float, float]: 比例元组 (ratio1, ratio2)
     """
+    debug_print(f"⚖️ 开始解析比例: '{ratio_str}' 📊")
+    
     try:
+        # 处理 "1:1", "3:7", "50:50" 等格式
         if ":" in ratio_str:
             parts = ratio_str.split(":")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
+                debug_print(f"✅ 冒号格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-
+        
+        # 处理 "1-1", "3-7" 等格式
         if "-" in ratio_str:
             parts = ratio_str.split("-")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
+                debug_print(f"✅ 横线格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-
+        
+        # 处理 "1,1", "3,7" 等格式
         if "," in ratio_str:
             parts = ratio_str.split(",")
             if len(parts) == 2:
                 ratio1 = float(parts[0])
                 ratio2 = float(parts[1])
+                debug_print(f"✅ 逗号格式解析成功: {ratio1}:{ratio2} 🎯")
                 return ratio1, ratio2
-
-        debug_print(f"无法解析比例 '{ratio_str}'，使用默认比例 1:1")
+        
+        # 默认 1:1
+        debug_print(f"⚠️ 无法解析比例 '{ratio_str}'，使用默认比例 1:1 🎭")
         return 1.0, 1.0
-
+    
     except ValueError:
-        debug_print(f"比例解析错误 '{ratio_str}'，使用默认比例 1:1")
+        debug_print(f"❌ 比例解析错误 '{ratio_str}'，使用默认比例 1:1 🎭")
         return 1.0, 1.0
 
 
 def generate_recrystallize_protocol(
     G: nx.DiGraph,
-    vessel: dict,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     ratio: str,
     solvent1: str,
     solvent2: str,
-    volume: Union[str, float],
+    volume: Union[str, float],  # 支持字符串和数值
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
     生成重结晶协议序列 - 支持vessel字典和体积运算
-
+    
     Args:
         G: 有向图，节点为容器和设备
         vessel: 目标容器字典（从XDL传入）
@@ -70,18 +82,28 @@ def generate_recrystallize_protocol(
         solvent2: 第二种溶剂名称
         volume: 总体积（支持 "100 mL", "50", "2.5 L" 等）
         **kwargs: 其他可选参数
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
-
+    
+    # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
-
+    
     action_sequence = []
-
-    debug_print(f"开始生成重结晶协议: vessel={vessel_id}, ratio={ratio}, solvent1={solvent1}, solvent2={solvent2}, volume={volume}")
-
-    # 记录重结晶前的容器状态
+    
+    debug_print("💎" * 20)
+    debug_print("🚀 开始生成重结晶协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  ⚖️ 比例: {ratio}")
+    debug_print(f"  🧪 溶剂1: {solvent1}")
+    debug_print(f"  🧪 溶剂2: {solvent2}")
+    debug_print(f"  💧 总体积: {volume} (类型: {type(volume)})")
+    debug_print("💎" * 20)
+    
+    # 🔧 新增：记录重结晶前的容器状态
+    debug_print("🔍 记录重结晶前容器状态...")
     original_liquid_volume = 0.0
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
@@ -89,73 +111,102 @@ def generate_recrystallize_protocol(
             original_liquid_volume = current_volume[0]
         elif isinstance(current_volume, (int, float)):
             original_liquid_volume = current_volume
-
+    debug_print(f"📊 重结晶前液体体积: {original_liquid_volume:.2f}mL")
+    
     # 1. 验证目标容器存在
-    if vessel_id not in G.nodes():
+    debug_print("📍 步骤1: 验证目标容器... 🔧")
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中! 😱")
         raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
-
+    debug_print(f"✅ 目标容器 '{vessel_id}' 验证通过 🎯")
+    
     # 2. 解析体积（支持单位）
+    debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
     final_volume = parse_volume_input(volume, "mL")
-    debug_print(f"体积解析: {volume} -> {final_volume}mL")
-
+    debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
+    
     # 3. 解析比例
+    debug_print("📍 步骤3: 解析比例... ⚖️")
     ratio1, ratio2 = parse_ratio(ratio)
     total_ratio = ratio1 + ratio2
-
+    debug_print(f"🎯 比例解析完成: {ratio1}:{ratio2} (总比例: {total_ratio}) ✨")
+    
     # 4. 计算各溶剂体积
+    debug_print("📍 步骤4: 计算各溶剂体积... 🧮")
     volume1 = final_volume * (ratio1 / total_ratio)
     volume2 = final_volume * (ratio2 / total_ratio)
-
-    debug_print(f"溶剂体积: {solvent1}={volume1:.2f}mL, {solvent2}={volume2:.2f}mL")
-
+    
+    debug_print(f"🧪 {solvent1} 体积: {volume1:.2f} mL ({ratio1}/{total_ratio} × {final_volume})")
+    debug_print(f"🧪 {solvent2} 体积: {volume2:.2f} mL ({ratio2}/{total_ratio} × {final_volume})")
+    debug_print(f"✅ 体积计算完成: 总计 {volume1 + volume2:.2f} mL 🎯")
+    
     # 5. 查找溶剂容器
+    debug_print("📍 步骤5: 查找溶剂容器... 🔍")
     try:
+        debug_print(f"  🔍 查找溶剂1容器...")
         solvent1_vessel = find_solvent_vessel(G, solvent1)
+        debug_print(f"  🎉 找到溶剂1容器: {solvent1_vessel} ✨")
     except ValueError as e:
+        debug_print(f"  ❌ 溶剂1容器查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
-
+    
     try:
+        debug_print(f"  🔍 查找溶剂2容器...")
         solvent2_vessel = find_solvent_vessel(G, solvent2)
+        debug_print(f"  🎉 找到溶剂2容器: {solvent2_vessel} ✨")
     except ValueError as e:
+        debug_print(f"  ❌ 溶剂2容器查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
-
+    
     # 6. 验证路径存在
+    debug_print("📍 步骤6: 验证传输路径... 🛤️")
     try:
-        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)
+        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"  🛤️ 溶剂1路径: {' → '.join(path1)} ✅")
     except nx.NetworkXNoPath:
+        debug_print(f"  ❌ 溶剂1路径不可达: {solvent1_vessel} → {vessel_id} 😞")
         raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-
+    
     try:
-        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)
+        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"  🛤️ 溶剂2路径: {' → '.join(path2)} ✅")
     except nx.NetworkXNoPath:
+        debug_print(f"  ❌ 溶剂2路径不可达: {solvent2_vessel} → {vessel_id} 😞")
         raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
-
+    
     # 7. 添加第一种溶剂
+    debug_print("📍 步骤7: 添加第一种溶剂... 🧪")
+    debug_print(f"  🚰 开始添加溶剂1: {solvent1} ({volume1:.2f} mL)")
+    
     try:
         pump_actions1 = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent1_vessel,
-            to_vessel=vessel_id,
-            volume=volume1,
+            to_vessel=vessel_id,  # 🔧 使用 vessel_id
+            volume=volume1,             # 使用解析后的体积
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",
+            rinsing_solvent="",  # 重结晶不需要清洗
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.0,
+            flowrate=2.0,  # 正常流速
             transfer_flowrate=0.5
         )
-
+        
         action_sequence.extend(pump_actions1)
-
+        debug_print(f"  ✅ 溶剂1泵送动作已添加: {len(pump_actions1)} 个动作 🚰✨")
+        
     except Exception as e:
+        debug_print(f"  ❌ 溶剂1泵协议生成失败: {str(e)} 😭")
         raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
-
-    # 更新容器体积 - 添加溶剂1后
+    
+    # 🔧 新增：更新容器体积 - 添加溶剂1后
+    debug_print("  🔧 更新容器体积 - 添加溶剂1后...")
     new_volume_after_solvent1 = original_liquid_volume + volume1
-
+    
+    # 更新vessel字典中的体积
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
         if isinstance(current_volume, list):
@@ -165,14 +216,15 @@ def generate_recrystallize_protocol(
                 vessel["data"]["liquid_volume"] = [new_volume_after_solvent1]
         else:
             vessel["data"]["liquid_volume"] = new_volume_after_solvent1
-
+    
+    # 同时更新图中的容器数据
     if vessel_id in G.nodes():
         if 'data' not in G.nodes[vessel_id]:
             G.nodes[vessel_id]['data'] = {}
-
+        
         vessel_node_data = G.nodes[vessel_id]['data']
         current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+        
         if isinstance(current_node_volume, list):
             if len(current_node_volume) > 0:
                 G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume_after_solvent1
@@ -180,42 +232,53 @@ def generate_recrystallize_protocol(
                 G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume_after_solvent1]
         else:
             G.nodes[vessel_id]['data']['liquid_volume'] = new_volume_after_solvent1
-
+    
+    debug_print(f"  📊 体积更新: {original_liquid_volume:.2f}mL + {volume1:.2f}mL = {new_volume_after_solvent1:.2f}mL")
+    
     # 8. 等待溶剂1稳定
+    debug_print("  ⏳ 添加溶剂1稳定等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 5.0,
+            "time": 5.0,  # 缩短等待时间
             "description": f"等待溶剂1 {solvent1} 稳定"
         }
     })
-
+    debug_print("  ✅ 溶剂1稳定等待已添加 ⏰✨")
+    
     # 9. 添加第二种溶剂
+    debug_print("📍 步骤8: 添加第二种溶剂... 🧪")
+    debug_print(f"  🚰 开始添加溶剂2: {solvent2} ({volume2:.2f} mL)")
+    
     try:
         pump_actions2 = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent2_vessel,
-            to_vessel=vessel_id,
-            volume=volume2,
+            to_vessel=vessel_id,  # 🔧 使用 vessel_id
+            volume=volume2,             # 使用解析后的体积
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",
+            rinsing_solvent="",  # 重结晶不需要清洗
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.0,
+            flowrate=2.0,  # 正常流速
             transfer_flowrate=0.5
         )
-
+        
         action_sequence.extend(pump_actions2)
-
+        debug_print(f"  ✅ 溶剂2泵送动作已添加: {len(pump_actions2)} 个动作 🚰✨")
+        
     except Exception as e:
+        debug_print(f"  ❌ 溶剂2泵协议生成失败: {str(e)} 😭")
         raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
-
-    # 更新容器体积 - 添加溶剂2后
+    
+    # 🔧 新增：更新容器体积 - 添加溶剂2后
+    debug_print("  🔧 更新容器体积 - 添加溶剂2后...")
     final_liquid_volume = new_volume_after_solvent1 + volume2
-
+    
+    # 更新vessel字典中的体积
     if "data" in vessel and "liquid_volume" in vessel["data"]:
         current_volume = vessel["data"]["liquid_volume"]
         if isinstance(current_volume, list):
@@ -225,14 +288,15 @@ def generate_recrystallize_protocol(
                 vessel["data"]["liquid_volume"] = [final_liquid_volume]
         else:
             vessel["data"]["liquid_volume"] = final_liquid_volume
-
+    
+    # 同时更新图中的容器数据
     if vessel_id in G.nodes():
         if 'data' not in G.nodes[vessel_id]:
             G.nodes[vessel_id]['data'] = {}
-
+        
         vessel_node_data = G.nodes[vessel_id]['data']
         current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
-
+        
         if isinstance(current_node_volume, list):
             if len(current_node_volume) > 0:
                 G.nodes[vessel_id]['data']['liquid_volume'][0] = final_liquid_volume
@@ -240,25 +304,36 @@ def generate_recrystallize_protocol(
                 G.nodes[vessel_id]['data']['liquid_volume'] = [final_liquid_volume]
         else:
             G.nodes[vessel_id]['data']['liquid_volume'] = final_liquid_volume
-
+    
+    debug_print(f"  📊 最终体积: {new_volume_after_solvent1:.2f}mL + {volume2:.2f}mL = {final_liquid_volume:.2f}mL")
+    
     # 10. 等待溶剂2稳定
+    debug_print("  ⏳ 添加溶剂2稳定等待...")
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
-            "time": 5.0,
+            "time": 5.0,  # 缩短等待时间
             "description": f"等待溶剂2 {solvent2} 稳定"
         }
     })
-
+    debug_print("  ✅ 溶剂2稳定等待已添加 ⏰✨")
+    
     # 11. 等待重结晶完成
-    original_crystallize_time = 600.0
-    simulation_time_limit = 60.0
+    debug_print("📍 步骤9: 等待重结晶完成... 💎")
+    
+    # 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
+    original_crystallize_time = 600.0  # 原始重结晶时间
+    simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
 
     final_crystallize_time = min(original_crystallize_time, simulation_time_limit)
-
+    
     if original_crystallize_time > simulation_time_limit:
-        debug_print(f"模拟运行优化: {original_crystallize_time}s -> {final_crystallize_time}s")
-
+        debug_print(f"  🎮 模拟运行优化: {original_crystallize_time}s → {final_crystallize_time}s ⚡")
+        debug_print(f"  📊 时间缩短: {original_crystallize_time/60:.1f}分钟 → {final_crystallize_time/60:.1f}分钟 🚀")
+    else:
+        debug_print(f"  ✅ 时间在限制内: {final_crystallize_time}s 保持不变 🎯")
+    
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -266,28 +341,50 @@ def generate_recrystallize_protocol(
             "description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）" + (f" (模拟时间)" if original_crystallize_time != final_crystallize_time else "")
         }
     })
-
-    debug_print(f"重结晶协议生成完成: {len(action_sequence)} 个动作, 容器={vessel_id}, 体积变化: {original_liquid_volume:.2f} -> {final_liquid_volume:.2f}mL")
-
+    debug_print(f"  ✅ 重结晶等待已添加: {final_crystallize_time}s 💎✨")
+    
+    # 显示时间调整信息
+    if original_crystallize_time != final_crystallize_time:
+        debug_print(f"  🎭 模拟优化说明: 原计划 {original_crystallize_time/60:.1f}分钟，实际模拟 {final_crystallize_time/60:.1f}分钟 ⚡")
+    
+    # 总结
+    debug_print("💎" * 20)
+    debug_print(f"🎉 重结晶协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 目标容器: {vessel_id}")
+    debug_print(f"💧 总体积变化:")
+    debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 添加溶剂: {final_volume:.2f}mL")
+    debug_print(f"  - 最终体积: {final_liquid_volume:.2f}mL")
+    debug_print(f"⚖️ 溶剂比例: {solvent1}:{solvent2} = {ratio1}:{ratio2}")
+    debug_print(f"🧪 溶剂1: {solvent1} ({volume1:.2f}mL)")
+    debug_print(f"🧪 溶剂2: {solvent2} ({volume2:.2f}mL)")
+    debug_print(f"⏱️ 预计总时间: {(final_crystallize_time + 10)/60:.1f} 分钟 ⌛")
+    debug_print("💎" * 20)
+    
     return action_sequence
 
 
 # 测试函数
 def test_recrystallize_protocol():
     """测试重结晶协议"""
-    debug_print("=== RECRYSTALLIZE PROTOCOL 测试 ===")
-
+    debug_print("🧪 === RECRYSTALLIZE PROTOCOL 测试 === ✨")
+    
+    # 测试体积解析
+    debug_print("💧 测试体积解析...")
     test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
     for vol in test_volumes:
         parsed = parse_volume_input(vol)
-        debug_print(f"体积 '{vol}' -> {parsed}mL")
-
+        debug_print(f"  📊 体积 '{vol}' -> {parsed}mL")
+    
+    # 测试比例解析
+    debug_print("⚖️ 测试比例解析...")
     test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
     for ratio in test_ratios:
         r1, r2 = parse_ratio(ratio)
-        debug_print(f"比例 '{ratio}' -> {r1}:{r2}")
-
-    debug_print("测试完成")
+        debug_print(f"  📊 比例 '{ratio}' -> {r1}:{r2}")
+    
+    debug_print("✅ 测试完成 🎉")
 
 if __name__ == "__main__":
-    test_recrystallize_protocol()
+    test_recrystallize_protocol()

unilabos/compile/reset_handling_protocol.py

@@ -1,87 +1,253 @@
 import networkx as nx
 import logging
+import sys
 from typing import List, Dict, Any, Optional
-from .utils.logger_util import debug_print, action_log
-from .utils.vessel_parser import find_solvent_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 # 设置日志
 logger = logging.getLogger(__name__)
 
-create_action_log = action_log
+# 确保输出编码为UTF-8
+if hasattr(sys.stdout, 'reconfigure'):
+    try:
+        sys.stdout.reconfigure(encoding='utf-8')
+        sys.stderr.reconfigure(encoding='utf-8')
+    except:
+        pass
+
+def debug_print(message):
+    """调试输出函数 - 支持中文"""
+    try:
+        # 确保消息是字符串格式
+        safe_message = str(message)
+        print(f"[重置处理] {safe_message}", flush=True)
+        logger.info(f"[重置处理] {safe_message}")
+    except UnicodeEncodeError:
+        # 如果编码失败，尝试替换不支持的字符
+        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        print(f"[重置处理] {safe_message}", flush=True)
+        logger.info(f"[重置处理] {safe_message}")
+    except Exception as e:
+        # 最后的安全措施
+        fallback_message = f"日志输出错误: {repr(message)}"
+        print(f"[重置处理] {fallback_message}", flush=True)
+        logger.info(f"[重置处理] {fallback_message}")
+
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志 - 支持中文和emoji"""
+    try:
+        full_message = f"{emoji} {message}"
+        debug_print(full_message)
+        logger.info(full_message)
+        
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": full_message,
+                "progress_message": full_message
+            }
+        }
+    except Exception as e:
+        # 如果emoji有问题，使用纯文本
+        safe_message = f"[日志] {message}"
+        debug_print(safe_message)
+        logger.info(safe_message)
+        
+        return {
+            "action_name": "wait", 
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": safe_message,
+                "progress_message": safe_message
+            }
+        }
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器，支持多种匹配模式
+    
+    Args:
+        G: 网络图
+        solvent: 溶剂名称（如 "methanol", "ethanol", "water"）
+    
+    Returns:
+        str: 溶剂容器ID
+    """
+    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",           # flask_methanol
+        f"bottle_{solvent}",          # bottle_methanol
+        f"reagent_{solvent}",         # reagent_methanol
+        f"reagent_bottle_{solvent}",  # reagent_bottle_methanol
+        f"{solvent}_flask",           # methanol_flask
+        f"{solvent}_bottle",          # methanol_bottle
+        f"{solvent}",                 # methanol
+        f"vessel_{solvent}",          # vessel_methanol
+    ]
+    
+    debug_print(f"🎯 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个)")
+    
+    # 第一步：通过容器名称匹配
+    debug_print("📋 方法1: 精确名称匹配...")
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    debug_print("⚠️ 精确名称匹配失败，尝试模糊匹配...")
+    
+    # 第二步：通过模糊匹配
+    debug_print("📋 方法2: 模糊名称匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                debug_print(f"✅ 通过模糊匹配找到容器: {node_id}")
+                return node_id
+    debug_print("⚠️ 模糊匹配失败，尝试液体类型匹配...")
+    
+    # 第三步：通过液体类型匹配
+    debug_print("📋 方法3: 液体类型匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
+                        debug_print(f"✅ 通过液体类型匹配找到容器: {node_id}")
+                        return node_id
+    
+    # 列出可用容器帮助调试
+    debug_print("📊 显示可用容器信息...")
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    debug_print(f"📋 可用容器列表 (共{len(available_containers)}个):")
+    for i, container in enumerate(available_containers[:5]):  # 只显示前5个
+        debug_print(f"  {i+1}. 🥽 {container['id']}: {container['name']}")
+        debug_print(f"     💧 液体: {container['liquids']}")
+        debug_print(f"     🧪 试剂: {container['reagent_name']}")
+    
+    if len(available_containers) > 5:
+        debug_print(f"    ... 还有 {len(available_containers)-5} 个容器")
+    
+    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器")
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names[:3]}...")
 
 def generate_reset_handling_protocol(
     G: nx.DiGraph,
     solvent: str,
-    vessel: Optional[str] = None,
-    **kwargs
+    vessel: Optional[str] = None,  # 🆕 新增可选vessel参数
+    **kwargs  # 接收其他可能的参数但不使用
 ) -> List[Dict[str, Any]]:
     """
     生成重置处理协议序列 - 支持自定义容器
-
+    
     Args:
         G: 有向图，节点为容器和设备
         solvent: 溶剂名称（从XDL传入）
         vessel: 目标容器名称（可选，默认为 "main_reactor"）
         **kwargs: 其他可选参数，但不使用
-
+    
     Returns:
         List[Dict[str, Any]]: 动作序列
     """
     action_sequence = []
+    
+    # 🔧 修改：支持自定义vessel参数
+    target_vessel = vessel if vessel is not None else "main_reactor"  # 默认目标容器
+    volume = 50.0  # 默认体积 50 mL
 
-    target_vessel = vessel if vessel is not None else "main_reactor"
-    volume = 50.0
-
-    debug_print(f"开始生成重置处理协议: solvent={solvent}, vessel={target_vessel}, volume={volume}mL")
-
+    debug_print("=" * 60)
+    debug_print("🚀 开始生成重置处理协议")
+    debug_print(f"📋 输入参数:")
+    debug_print(f"  🧪 溶剂: {solvent}")
+    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
+    debug_print(f"  💧 体积: {volume} mL")
+    debug_print(f"  ⚙️ 其他参数: {kwargs}")
+    debug_print("=" * 60)
+    
     # 添加初始日志
-    action_sequence.append(action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
-    action_sequence.append(action_log(f"使用溶剂: {solvent}", "🧪"))
-    action_sequence.append(action_log(f"重置体积: {volume}mL", "💧"))
-
+    action_sequence.append(create_action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
+    action_sequence.append(create_action_log(f"使用溶剂: {solvent}", "🧪"))
+    action_sequence.append(create_action_log(f"重置体积: {volume}mL", "💧"))
+    
     if vessel is None:
-        action_sequence.append(action_log("使用默认目标容器: main_reactor", "⚙️"))
+        action_sequence.append(create_action_log("使用默认目标容器: main_reactor", "⚙️"))
     else:
-        action_sequence.append(action_log(f"使用指定目标容器: {vessel}", "🎯"))
-
+        action_sequence.append(create_action_log(f"使用指定目标容器: {vessel}", "🎯"))
+    
     # 1. 验证目标容器存在
-    action_sequence.append(action_log("正在验证目标容器...", "🔍"))
-
+    debug_print("🔍 步骤1: 验证目标容器...")
+    action_sequence.append(create_action_log("正在验证目标容器...", "🔍"))
+    
     if target_vessel not in G.nodes():
-        action_sequence.append(action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
+        debug_print(f"❌ 目标容器 '{target_vessel}' 不存在于系统中!")
+        action_sequence.append(create_action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
         raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
-
-    action_sequence.append(action_log(f"目标容器验证通过: {target_vessel}", "✅"))
-
+    
+    debug_print(f"✅ 目标容器 '{target_vessel}' 验证通过")
+    action_sequence.append(create_action_log(f"目标容器验证通过: {target_vessel}", "✅"))
+    
     # 2. 查找溶剂容器
-    action_sequence.append(action_log("正在查找溶剂容器...", "🔍"))
-
+    debug_print("🔍 步骤2: 查找溶剂容器...")
+    action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
+    
     try:
         solvent_vessel = find_solvent_vessel(G, solvent)
-        debug_print(f"找到溶剂容器: {solvent_vessel}")
-        action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
+        debug_print(f"✅ 找到溶剂容器: {solvent_vessel}")
+        action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
     except ValueError as e:
-        action_sequence.append(action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
+        debug_print(f"❌ 溶剂容器查找失败: {str(e)}")
+        action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
         raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
-
+    
     # 3. 验证路径存在
-    action_sequence.append(action_log("正在验证传输路径...", "🛤️"))
-
+    debug_print("🔍 步骤3: 验证传输路径...")
+    action_sequence.append(create_action_log("正在验证传输路径...", "🛤️"))
+    
     try:
         path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
-        action_sequence.append(action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
+        debug_print(f"✅ 找到路径: {' → '.join(path)}")
+        action_sequence.append(create_action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
     except nx.NetworkXNoPath:
-        action_sequence.append(action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
+        debug_print(f"❌ 路径不可达: {solvent_vessel} → {target_vessel}")
+        action_sequence.append(create_action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
         raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
-
+    
     # 4. 使用pump_protocol转移溶剂
-    action_sequence.append(action_log("开始溶剂转移操作...", "🚰"))
-    action_sequence.append(action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
-
+    debug_print("🔍 步骤4: 转移溶剂...")
+    action_sequence.append(create_action_log("开始溶剂转移操作...", "🚰"))
+    
+    debug_print(f"🚛 开始转移: {solvent_vessel} → {target_vessel}")
+    debug_print(f"💧 转移体积: {volume} mL")
+    action_sequence.append(create_action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
+    
     try:
-        action_sequence.append(action_log("正在生成泵送协议...", "🔄"))
-
+        debug_print("🔄 生成泵送协议...")
+        action_sequence.append(create_action_log("正在生成泵送协议...", "🔄"))
+        
         pump_actions = generate_pump_protocol_with_rinsing(
             G=G,
             from_vessel=solvent_vessel,
@@ -90,34 +256,41 @@ def generate_reset_handling_protocol(
             amount="",
             time=0.0,
             viscous=False,
-            rinsing_solvent="",
+            rinsing_solvent="",  # 重置处理不需要清洗
             rinsing_volume=0.0,
             rinsing_repeats=0,
             solid=False,
-            flowrate=2.5,
-            transfer_flowrate=0.5
+            flowrate=2.5,  # 正常流速
+            transfer_flowrate=0.5  # 正常转移流速
         )
-
+        
         action_sequence.extend(pump_actions)
-        debug_print(f"泵送协议已添加: {len(pump_actions)} 个动作")
-        action_sequence.append(action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
-
+        debug_print(f"✅ 泵送协议已添加: {len(pump_actions)} 个动作")
+        action_sequence.append(create_action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
+        
     except Exception as e:
-        action_sequence.append(action_log(f"泵送协议生成失败: {str(e)}", "❌"))
+        debug_print(f"❌ 泵送协议生成失败: {str(e)}")
+        action_sequence.append(create_action_log(f"泵送协议生成失败: {str(e)}", "❌"))
         raise ValueError(f"生成泵协议时出错: {str(e)}")
-
+    
     # 5. 等待溶剂稳定
-    action_sequence.append(action_log("等待溶剂稳定...", "⏳"))
-
-    original_wait_time = 10.0
-    simulation_time_limit = 5.0
+    debug_print("🔍 步骤5: 等待溶剂稳定...")
+    action_sequence.append(create_action_log("等待溶剂稳定...", "⏳"))
+    
+    # 模拟运行时间优化
+    debug_print("⏱️ 检查模拟运行时间限制...")
+    original_wait_time = 10.0  # 原始等待时间
+    simulation_time_limit = 5.0  # 模拟运行时间限制：5秒
+    
     final_wait_time = min(original_wait_time, simulation_time_limit)
-
+    
     if original_wait_time > simulation_time_limit:
-        action_sequence.append(action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
+        debug_print(f"🎮 模拟运行优化: {original_wait_time}s → {final_wait_time}s")
+        action_sequence.append(create_action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
     else:
-        action_sequence.append(action_log(f"等待时间: {final_wait_time}s", "⏰"))
-
+        debug_print(f"✅ 时间在限制内: {final_wait_time}s 保持不变")
+        action_sequence.append(create_action_log(f"等待时间: {final_wait_time}s", "⏰"))
+    
     action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {
@@ -125,50 +298,90 @@ def generate_reset_handling_protocol(
             "description": f"等待溶剂 {solvent} 在容器 {target_vessel} 中稳定" + (f" (模拟时间)" if original_wait_time != final_wait_time else "")
         }
     })
-
+    debug_print(f"✅ 稳定等待已添加: {final_wait_time}s")
+    
+    # 显示时间调整信息
     if original_wait_time != final_wait_time:
-        action_sequence.append(action_log("应用模拟时间优化", "🎭"))
-
+        debug_print(f"🎭 模拟优化说明: 原计划 {original_wait_time}s，实际模拟 {final_wait_time}s")
+        action_sequence.append(create_action_log("应用模拟时间优化", "🎭"))
+    
     # 总结
-    debug_print(f"重置处理协议生成完成: {len(action_sequence)} 个动作, {solvent_vessel} -> {target_vessel}, {volume}mL")
-
+    debug_print("=" * 60)
+    debug_print(f"🎉 重置处理协议生成完成!")
+    debug_print(f"📊 总结信息:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
+    debug_print(f"  🧪 溶剂: {solvent}")
+    debug_print(f"  🥽 源容器: {solvent_vessel}")
+    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
+    debug_print(f"  💧 转移体积: {volume} mL")
+    debug_print(f"  ⏱️ 预计总时间: {(final_wait_time + 5):.0f} 秒")
+    debug_print(f"  🎯 操作结果: 已添加 {volume} mL {solvent} 到 {target_vessel}")
+    debug_print("=" * 60)
+    
+    # 添加完成日志
     summary_msg = f"重置处理完成: {target_vessel} (使用 {volume}mL {solvent})"
     if vessel is None:
         summary_msg += " [默认容器]"
     else:
         summary_msg += " [指定容器]"
-
-    action_sequence.append(action_log(summary_msg, "🎉"))
-
+    
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    
     return action_sequence
 
 # === 便捷函数 ===
 
 def reset_main_reactor(G: nx.DiGraph, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
     """重置主反应器 (默认行为)"""
+    debug_print(f"🔄 重置主反应器，使用溶剂: {solvent}")
     return generate_reset_handling_protocol(G, solvent=solvent, vessel=None, **kwargs)
 
 def reset_custom_vessel(G: nx.DiGraph, vessel: str, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
     """重置指定容器"""
+    debug_print(f"🔄 重置指定容器: {vessel}，使用溶剂: {solvent}")
     return generate_reset_handling_protocol(G, solvent=solvent, vessel=vessel, **kwargs)
 
 def reset_with_water(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用水重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"💧 使用水重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="water", vessel=vessel, **kwargs)
 
 def reset_with_methanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用甲醇重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"🧪 使用甲醇重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="methanol", vessel=vessel, **kwargs)
 
 def reset_with_ethanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
     """使用乙醇重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"🧪 使用乙醇重置容器: {target}")
     return generate_reset_handling_protocol(G, solvent="ethanol", vessel=vessel, **kwargs)
 
 # 测试函数
 def test_reset_handling_protocol():
     """测试重置处理协议"""
-    debug_print("=== 重置处理协议测试 ===")
-    debug_print("测试完成")
+    debug_print("=== 重置处理协议增强中文版测试 ===")
+    
+    # 测试溶剂名称
+    debug_print("🧪 测试常用溶剂名称...")
+    test_solvents = ["methanol", "ethanol", "water", "acetone", "dmso"]
+    for solvent in test_solvents:
+        debug_print(f"  🔍 测试溶剂: {solvent}")
+    
+    # 测试容器参数
+    debug_print("🥽 测试容器参数...")
+    test_cases = [
+        {"solvent": "methanol", "vessel": None, "desc": "默认容器"},
+        {"solvent": "ethanol", "vessel": "reactor_2", "desc": "指定容器"},
+        {"solvent": "water", "vessel": "flask_1", "desc": "自定义容器"}
+    ]
+    
+    for case in test_cases:
+        debug_print(f"  🧪 测试案例: {case['desc']} - {case['solvent']} -> {case['vessel'] or 'main_reactor'}")
+    
+    debug_print("✅ 测试完成")
 
 if __name__ == "__main__":
-    test_reset_handling_protocol()
+    test_reset_handling_protocol()

unilabos/compile/run_column_protocol.py

@@ -2,54 +2,60 @@ from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 import re
-from .utils.vessel_parser import get_vessel, find_solvent_vessel
-from .utils.resource_helper import get_resource_id, get_resource_data, get_resource_liquid_volume, update_vessel_volume
-from .utils.logger_util import debug_print
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[RUN_COLUMN] {message}")
+
 def parse_percentage(pct_str: str) -> float:
     """
     解析百分比字符串为数值
-
+    
     Args:
         pct_str: 百分比字符串（如 "40 %", "40%", "40"）
-
+    
     Returns:
         float: 百分比数值（0-100）
     """
     if not pct_str or not pct_str.strip():
         return 0.0
-
+    
     pct_str = pct_str.strip().lower()
-
+    debug_print(f"🔍 解析百分比: '{pct_str}'")
+    
     # 移除百分号和空格
     pct_clean = re.sub(r'[%\s]', '', pct_str)
-
+    
+    # 提取数字
     match = re.search(r'([0-9]*\.?[0-9]+)', pct_clean)
     if match:
         value = float(match.group(1))
+        debug_print(f"✅ 百分比解析结果: {value}%")
         return value
-
-    debug_print(f"无法解析百分比: '{pct_str}'，返回0.0")
+    
+    debug_print(f"⚠️ 无法解析百分比: '{pct_str}'，返回0.0")
     return 0.0
 
 def parse_ratio(ratio_str: str) -> tuple:
     """
     解析比例字符串为两个数值
-
+    
     Args:
         ratio_str: 比例字符串（如 "5:95", "1:1", "40:60"）
-
+    
     Returns:
-        tuple: (ratio1, ratio2) 两个比例值（百分比）
+        tuple: (ratio1, ratio2) 两个比例值
     """
     if not ratio_str or not ratio_str.strip():
-        return (50.0, 50.0)
-
+        return (50.0, 50.0)  # 默认1:1
+    
     ratio_str = ratio_str.strip()
-
+    debug_print(f"🔍 解析比例: '{ratio_str}'")
+    
     # 支持多种分隔符：: / -
     if ':' in ratio_str:
         parts = ratio_str.split(':')
@@ -60,82 +66,101 @@ def parse_ratio(ratio_str: str) -> tuple:
     elif 'to' in ratio_str.lower():
         parts = ratio_str.lower().split('to')
     else:
-        debug_print(f"无法解析比例格式: '{ratio_str}'，使用默认1:1")
+        debug_print(f"⚠️ 无法解析比例格式: '{ratio_str}'，使用默认1:1")
         return (50.0, 50.0)
-
+    
     if len(parts) >= 2:
         try:
             ratio1 = float(parts[0].strip())
             ratio2 = float(parts[1].strip())
             total = ratio1 + ratio2
-
+            
+            # 转换为百分比
             pct1 = (ratio1 / total) * 100
             pct2 = (ratio2 / total) * 100
-
+            
+            debug_print(f"✅ 比例解析结果: {ratio1}:{ratio2} -> {pct1:.1f}%:{pct2:.1f}%")
             return (pct1, pct2)
         except ValueError as e:
-            debug_print(f"比例数值转换失败: {str(e)}")
-
-    debug_print(f"比例解析失败，使用默认1:1")
+            debug_print(f"⚠️ 比例数值转换失败: {str(e)}")
+    
+    debug_print(f"⚠️ 比例解析失败，使用默认1:1")
     return (50.0, 50.0)
 
 def parse_rf_value(rf_str: str) -> float:
     """
     解析Rf值字符串
-
+    
     Args:
         rf_str: Rf值字符串（如 "0.3", "0.45", "?"）
-
+    
     Returns:
         float: Rf值（0-1）
     """
     if not rf_str or not rf_str.strip():
-        return 0.3
-
+        return 0.3  # 默认Rf值
+    
     rf_str = rf_str.strip().lower()
-
+    debug_print(f"🔍 解析Rf值: '{rf_str}'")
+    
+    # 处理未知Rf值
     if rf_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        return 0.3
-
+        default_rf = 0.3
+        debug_print(f"❓ 检测到未知Rf值，使用默认值: {default_rf}")
+        return default_rf
+    
+    # 提取数字
     match = re.search(r'([0-9]*\.?[0-9]+)', rf_str)
     if match:
         value = float(match.group(1))
+        # 确保Rf值在0-1范围内
         if value > 1.0:
-            value = value / 100.0
-        value = max(0.0, min(1.0, value))
+            value = value / 100.0  # 可能是百分比形式
+        value = max(0.0, min(1.0, value))  # 限制在0-1范围
+        debug_print(f"✅ Rf值解析结果: {value}")
         return value
-
+    
+    debug_print(f"⚠️ 无法解析Rf值: '{rf_str}'，使用默认值0.3")
     return 0.3
 
 def find_column_device(G: nx.DiGraph) -> str:
     """查找柱层析设备"""
+    debug_print("🔍 查找柱层析设备...")
+    
+    # 查找虚拟柱设备
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
+        
         if 'virtual_column' in node_class.lower() or 'column' in node_class.lower():
-            debug_print(f"找到柱层析设备: {node}")
+            debug_print(f"🎉 找到柱层析设备: {node} ✨")
             return node
-
+    
+    # 如果没有找到，尝试创建虚拟设备名称
     possible_names = ['column_1', 'virtual_column_1', 'chromatography_column_1']
     for name in possible_names:
         if name in G.nodes():
-            debug_print(f"找到柱设备: {name}")
+            debug_print(f"🎉 找到柱设备: {name} ✨")
             return name
-
-    debug_print("未找到柱层析设备，将使用pump protocol直接转移")
+    
+    debug_print("⚠️ 未找到柱层析设备，将使用pump protocol直接转移")
     return ""
 
 def find_column_vessel(G: nx.DiGraph, column: str) -> str:
     """查找柱容器"""
+    debug_print(f"🔍 查找柱容器: '{column}'")
+    
+    # 直接检查column参数是否是容器
     if column in G.nodes():
         node_type = G.nodes[column].get('type', '')
         if node_type == 'container':
+            debug_print(f"🎉 找到柱容器: {column} ✨")
             return column
-
+    
+    # 尝试常见的命名规则
     possible_names = [
         f"column_{column}",
-        f"{column}_column",
+        f"{column}_column", 
         f"vessel_{column}",
         f"{column}_vessel",
         "column_vessel",
@@ -144,25 +169,211 @@ def find_column_vessel(G: nx.DiGraph, column: str) -> str:
         "preparative_column",
         "column"
     ]
-
+    
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
             node_type = G.nodes[vessel_name].get('type', '')
             if node_type == 'container':
+                debug_print(f"🎉 找到柱容器: {vessel_name} ✨")
                 return vessel_name
-
+    
+    debug_print(f"⚠️ 未找到柱容器，将直接在源容器中进行分离")
     return ""
 
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """查找溶剂容器 - 增强版"""
+    if not solvent or not solvent.strip():
+        return ""
+    
+    solvent = solvent.strip().replace(' ', '_').lower()
+    debug_print(f"🔍 查找溶剂容器: '{solvent}'")
+    
+    # 🔧 方法1：直接搜索 data.reagent_name
+    for node in G.nodes():
+        node_data = G.nodes[node].get('data', {})
+        node_type = G.nodes[node].get('type', '')
+        
+        # 只搜索容器类型的节点
+        if node_type == 'container':
+            reagent_name = node_data.get('reagent_name', '').lower()
+            reagent_config = G.nodes[node].get('config', {}).get('reagent', '').lower()
+            
+            # 检查 data.reagent_name 和 config.reagent
+            if reagent_name == solvent or reagent_config == solvent:
+                debug_print(f"🎉 通过reagent_name找到溶剂容器: {node} (reagent: {reagent_name or reagent_config}) ✨")
+                return node
+            
+            # 模糊匹配 reagent_name
+            if solvent in reagent_name or reagent_name in solvent:
+                debug_print(f"🎉 通过reagent_name模糊匹配到溶剂容器: {node} (reagent: {reagent_name}) ✨")
+                return node
+            
+            if solvent in reagent_config or reagent_config in solvent:
+                debug_print(f"🎉 通过config.reagent模糊匹配到溶剂容器: {node} (reagent: {reagent_config}) ✨")
+                return node
+    
+    # 🔧 方法2：常见的溶剂容器命名规则
+    possible_names = [
+        f"flask_{solvent}",
+        f"bottle_{solvent}",
+        f"reagent_{solvent}",
+        f"{solvent}_bottle",
+        f"{solvent}_flask",
+        f"solvent_{solvent}",
+        f"reagent_bottle_{solvent}"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            node_type = G.nodes[vessel_name].get('type', '')
+            if node_type == 'container':
+                debug_print(f"🎉 通过命名规则找到溶剂容器: {vessel_name} ✨")
+                return vessel_name
+    
+    # 🔧 方法3：节点名称模糊匹配
+    for node in G.nodes():
+        node_type = G.nodes[node].get('type', '')
+        if node_type == 'container':
+            if ('flask_' in node or 'bottle_' in node or 'reagent_' in node) and solvent in node.lower():
+                debug_print(f"🎉 通过节点名称模糊匹配到溶剂容器: {node} ✨")
+                return node
+    
+    # 🔧 方法4：特殊溶剂名称映射
+    solvent_mapping = {
+        'dmf': ['dmf', 'dimethylformamide', 'n,n-dimethylformamide'],
+        'ethyl_acetate': ['ethyl_acetate', 'ethylacetate', 'etoac', 'ea'],
+        'hexane': ['hexane', 'hexanes', 'n-hexane'],
+        'methanol': ['methanol', 'meoh', 'ch3oh'],
+        'water': ['water', 'h2o', 'distilled_water'],
+        'acetone': ['acetone', 'ch3coch3', '2-propanone'],
+        'dichloromethane': ['dichloromethane', 'dcm', 'ch2cl2', 'methylene_chloride'],
+        'chloroform': ['chloroform', 'chcl3', 'trichloromethane']
+    }
+    
+    # 查找映射的同义词
+    for canonical_name, synonyms in solvent_mapping.items():
+        if solvent in synonyms:
+            debug_print(f"🔍 检测到溶剂同义词: '{solvent}' -> '{canonical_name}'")
+            return find_solvent_vessel(G, canonical_name)  # 递归搜索
+    
+    debug_print(f"⚠️ 未找到溶剂 '{solvent}' 的容器")
+    return ""
+
+def get_vessel_liquid_volume(vessel: dict) -> float:
+    """
+    获取容器中的液体体积 - 支持vessel字典
+    
+    Args:
+        vessel: 容器字典
+        
+    Returns:
+        float: 液体体积（mL）
+    """
+    if not vessel or "data" not in vessel:
+        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
+        return 0.0
+    
+    vessel_data = vessel["data"]
+    vessel_id = vessel.get("id", "unknown")
+    
+    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
+    
+    # 检查liquid_volume字段
+    if "liquid_volume" in vessel_data:
+        liquid_volume = vessel_data["liquid_volume"]
+        
+        # 处理列表格式
+        if isinstance(liquid_volume, list):
+            if len(liquid_volume) > 0:
+                volume = liquid_volume[0]
+                if isinstance(volume, (int, float)):
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
+                    return float(volume)
+        
+        # 处理直接数值格式
+        elif isinstance(liquid_volume, (int, float)):
+            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
+            return float(liquid_volume)
+    
+    # 检查其他可能的体积字段
+    volume_keys = ['current_volume', 'total_volume', 'volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                if volume > 0:
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
+                    return volume
+            except (ValueError, TypeError):
+                continue
+    
+    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
+    return 50.0
+
+def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
+    """
+    更新容器体积（同时更新vessel字典和图节点）
+    
+    Args:
+        vessel: 容器字典
+        G: 网络图
+        new_volume: 新体积
+        description: 更新描述
+    """
+    vessel_id = vessel.get("id", "unknown")
+    
+    if description:
+        debug_print(f"🔧 更新容器体积 - {description}")
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel:
+        if "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            else:
+                vessel["data"]["liquid_volume"] = new_volume
+        else:
+            vessel["data"]["liquid_volume"] = new_volume
+    else:
+        vessel["data"] = {"liquid_volume": new_volume}
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+    
+    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
+
 def calculate_solvent_volumes(total_volume: float, pct1: float, pct2: float) -> tuple:
     """根据百分比计算溶剂体积"""
     volume1 = (total_volume * pct1) / 100.0
     volume2 = (total_volume * pct2) / 100.0
+    
+    debug_print(f"🧮 溶剂体积计算: 总体积{total_volume}mL")
+    debug_print(f"  - 溶剂1: {pct1}% = {volume1}mL")
+    debug_print(f"  - 溶剂2: {pct2}% = {volume2}mL")
+    
     return (volume1, volume2)
 
 def generate_run_column_protocol(
     G: nx.DiGraph,
-    from_vessel: dict,
-    to_vessel: dict,
+    from_vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    to_vessel: dict,    # 🔧 修改：从字符串改为字典类型
     column: str,
     rf: str = "",
     pct1: str = "",
@@ -174,7 +385,7 @@ def generate_run_column_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成柱层析分离的协议序列 - 支持vessel字典和体积运算
-
+    
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         from_vessel: 源容器字典（从XDL传入）
@@ -187,112 +398,173 @@ def generate_run_column_protocol(
         solvent2: 第二种溶剂名称（可选）
         ratio: 溶剂比例（如 "5:95"，可选，优先级高于pct1/pct2）
         **kwargs: 其他可选参数
-
+    
     Returns:
         List[Dict[str, Any]]: 柱层析分离操作的动作序列
     """
-
+    
+    # 🔧 核心修改：从字典中提取容器ID
     from_vessel_id, _ = get_vessel(from_vessel)
     to_vessel_id, _ = get_vessel(to_vessel)
 
-    debug_print(f"开始生成柱层析协议: {from_vessel_id} -> {to_vessel_id}, column={column}")
-
+    debug_print("🏛️" * 20)
+    debug_print("🚀 开始生成柱层析协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 from_vessel: {from_vessel} (ID: {from_vessel_id})")
+    debug_print(f"  🥽 to_vessel: {to_vessel} (ID: {to_vessel_id})")
+    debug_print(f"  🏛️ column: '{column}'")
+    debug_print(f"  📊 rf: '{rf}'")
+    debug_print(f"  🧪 溶剂配比: pct1='{pct1}', pct2='{pct2}', ratio='{ratio}'")
+    debug_print(f"  🧪 溶剂名称: solvent1='{solvent1}', solvent2='{solvent2}'")
+    debug_print("🏛️" * 20)
+    
     action_sequence = []
-
-    # 记录柱层析前的容器状态
-    original_from_volume = get_resource_liquid_volume(from_vessel)
-    original_to_volume = get_resource_liquid_volume(to_vessel)
-
+    
+    # 🔧 新增：记录柱层析前的容器状态
+    debug_print("🔍 记录柱层析前容器状态...")
+    original_from_volume = get_vessel_liquid_volume(from_vessel)
+    original_to_volume = get_vessel_liquid_volume(to_vessel)
+    
+    debug_print(f"📊 柱层析前状态:")
+    debug_print(f"  - 源容器 {from_vessel_id}: {original_from_volume:.2f}mL")
+    debug_print(f"  - 目标容器 {to_vessel_id}: {original_to_volume:.2f}mL")
+    
     # === 参数验证 ===
-    if not from_vessel_id:
+    debug_print("📍 步骤1: 参数验证...")
+    
+    if not from_vessel_id:  # 🔧 使用 from_vessel_id
         raise ValueError("from_vessel 参数不能为空")
-    if not to_vessel_id:
+    if not to_vessel_id:    # 🔧 使用 to_vessel_id
         raise ValueError("to_vessel 参数不能为空")
     if not column:
         raise ValueError("column 参数不能为空")
-
-    if from_vessel_id not in G.nodes():
+    
+    if from_vessel_id not in G.nodes():  # 🔧 使用 from_vessel_id
         raise ValueError(f"源容器 '{from_vessel_id}' 不存在于系统中")
-    if to_vessel_id not in G.nodes():
+    if to_vessel_id not in G.nodes():    # 🔧 使用 to_vessel_id
         raise ValueError(f"目标容器 '{to_vessel_id}' 不存在于系统中")
-
+    
+    debug_print("✅ 基本参数验证通过")
+    
     # === 参数解析 ===
+    debug_print("📍 步骤2: 参数解析...")
+    
+    # 解析Rf值
     final_rf = parse_rf_value(rf)
-
+    debug_print(f"🎯 最终Rf值: {final_rf}")
+    
+    # 解析溶剂比例（ratio优先级高于pct1/pct2）
     if ratio and ratio.strip():
         final_pct1, final_pct2 = parse_ratio(ratio)
+        debug_print(f"📊 使用ratio参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
     else:
         final_pct1 = parse_percentage(pct1) if pct1 else 50.0
         final_pct2 = parse_percentage(pct2) if pct2 else 50.0
-
+        
+        # 如果百分比和不是100%，进行归一化
         total_pct = final_pct1 + final_pct2
         if total_pct == 0:
             final_pct1, final_pct2 = 50.0, 50.0
         elif total_pct != 100.0:
             final_pct1 = (final_pct1 / total_pct) * 100
             final_pct2 = (final_pct2 / total_pct) * 100
-
+        
+        debug_print(f"📊 使用百分比参数: {final_pct1:.1f}% : {final_pct2:.1f}%")
+    
+    # 设置默认溶剂（如果未指定）
     final_solvent1 = solvent1.strip() if solvent1 else "ethyl_acetate"
     final_solvent2 = solvent2.strip() if solvent2 else "hexane"
-
-    debug_print(f"参数: rf={final_rf}, 溶剂={final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
-
+    
+    debug_print(f"🧪 最终溶剂: {final_solvent1} : {final_solvent2}")
+    
     # === 查找设备和容器 ===
+    debug_print("📍 步骤3: 查找设备和容器...")
+    
+    # 查找柱层析设备
     column_device_id = find_column_device(G)
+    
+    # 查找柱容器
     column_vessel = find_column_vessel(G, column)
+    
+    # 查找溶剂容器
     solvent1_vessel = find_solvent_vessel(G, final_solvent1)
     solvent2_vessel = find_solvent_vessel(G, final_solvent2)
-
+    
+    debug_print(f"🔧 设备映射:")
+    debug_print(f"  - 柱设备: '{column_device_id}'")
+    debug_print(f"  - 柱容器: '{column_vessel}'")
+    debug_print(f"  - 溶剂1容器: '{solvent1_vessel}'")
+    debug_print(f"  - 溶剂2容器: '{solvent2_vessel}'")
+    
     # === 获取源容器体积 ===
+    debug_print("📍 步骤4: 获取源容器体积...")
+    
     source_volume = original_from_volume
     if source_volume <= 0:
-        source_volume = 50.0
-
+        source_volume = 50.0  # 默认体积
+        debug_print(f"⚠️ 无法获取源容器体积，使用默认值: {source_volume}mL")
+    else:
+        debug_print(f"✅ 源容器体积: {source_volume}mL")
+    
     # === 计算溶剂体积 ===
+    debug_print("📍 步骤5: 计算溶剂体积...")
+    
+    # 洗脱溶剂通常是样品体积的2-5倍
     total_elution_volume = source_volume * 3.0
     solvent1_volume, solvent2_volume = calculate_solvent_volumes(
         total_elution_volume, final_pct1, final_pct2
     )
-
+    
     # === 执行柱层析流程 ===
+    debug_print("📍 步骤6: 执行柱层析流程...")
+    
+    # 🔧 新增：体积变化跟踪变量
     current_from_volume = source_volume
     current_to_volume = original_to_volume
     current_column_volume = 0.0
-
+    
     try:
-        # 步骤1: 样品上柱
-        if column_vessel and column_vessel != from_vessel_id:
+        # 步骤6.1: 样品上柱（如果有独立的柱容器）
+        if column_vessel and column_vessel != from_vessel_id:  # 🔧 使用 from_vessel_id
+            debug_print(f"📍 6.1: 样品上柱 - {source_volume}mL 从 {from_vessel_id} 到 {column_vessel}")
+            
             try:
                 sample_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
-                    from_vessel=from_vessel_id,
+                    from_vessel=from_vessel_id,  # 🔧 使用 from_vessel_id
                     to_vessel=column_vessel,
                     volume=source_volume,
-                    flowrate=1.0,
+                    flowrate=1.0,  # 慢速上柱
                     transfer_flowrate=0.5,
-                    rinsing_solvent="",
+                    rinsing_solvent="",  # 暂不冲洗
                     rinsing_volume=0.0,
                     rinsing_repeats=0
                 )
                 action_sequence.extend(sample_transfer_actions)
-
-                current_from_volume = 0.0
-                current_column_volume = source_volume
-
+                debug_print(f"✅ 样品上柱完成，添加了 {len(sample_transfer_actions)} 个动作")
+                
+                # 🔧 新增：更新体积 - 样品转移到柱上
+                current_from_volume = 0.0  # 源容器体积变为0
+                current_column_volume = source_volume  # 柱容器体积增加
+                
                 update_vessel_volume(from_vessel, G, current_from_volume, "样品上柱后，源容器清空")
-
+                
+                # 如果柱容器在图中，也更新其体积
                 if column_vessel in G.nodes():
                     if 'data' not in G.nodes[column_vessel]:
                         G.nodes[column_vessel]['data'] = {}
                     G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
-
+                    debug_print(f"📊 柱容器 '{column_vessel}' 体积更新为: {current_column_volume:.2f}mL")
+                
             except Exception as e:
-                debug_print(f"样品上柱失败: {str(e)}")
-
-        # 步骤2: 添加洗脱溶剂1
+                debug_print(f"⚠️ 样品上柱失败: {str(e)}")
+        
+        # 步骤6.2: 添加洗脱溶剂1（如果有溶剂容器）
         if solvent1_vessel and solvent1_volume > 0:
+            debug_print(f"📍 6.2: 添加洗脱溶剂1 - {solvent1_volume:.1f}mL {final_solvent1}")
+            
             try:
-                target_vessel = column_vessel if column_vessel else from_vessel_id
+                target_vessel = column_vessel if column_vessel else from_vessel_id  # 🔧 使用 from_vessel_id
                 solvent1_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=solvent1_vessel,
@@ -302,22 +574,27 @@ def generate_run_column_protocol(
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(solvent1_transfer_actions)
-
+                debug_print(f"✅ 溶剂1添加完成，添加了 {len(solvent1_transfer_actions)} 个动作")
+                
+                # 🔧 新增：更新体积 - 添加溶剂1
                 if target_vessel == column_vessel:
                     current_column_volume += solvent1_volume
                     if column_vessel in G.nodes():
                         G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
+                        debug_print(f"📊 柱容器体积增加: +{solvent1_volume:.2f}mL = {current_column_volume:.2f}mL")
                 elif target_vessel == from_vessel_id:
                     current_from_volume += solvent1_volume
                     update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂1后")
-
+                
             except Exception as e:
-                debug_print(f"溶剂1添加失败: {str(e)}")
-
-        # 步骤3: 添加洗脱溶剂2
+                debug_print(f"⚠️ 溶剂1添加失败: {str(e)}")
+        
+        # 步骤6.3: 添加洗脱溶剂2（如果有溶剂容器）
         if solvent2_vessel and solvent2_volume > 0:
+            debug_print(f"📍 6.3: 添加洗脱溶剂2 - {solvent2_volume:.1f}mL {final_solvent2}")
+            
             try:
-                target_vessel = column_vessel if column_vessel else from_vessel_id
+                target_vessel = column_vessel if column_vessel else from_vessel_id  # 🔧 使用 from_vessel_id
                 solvent2_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=solvent2_vessel,
@@ -327,26 +604,31 @@ def generate_run_column_protocol(
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(solvent2_transfer_actions)
-
+                debug_print(f"✅ 溶剂2添加完成，添加了 {len(solvent2_transfer_actions)} 个动作")
+                
+                # 🔧 新增：更新体积 - 添加溶剂2
                 if target_vessel == column_vessel:
                     current_column_volume += solvent2_volume
                     if column_vessel in G.nodes():
                         G.nodes[column_vessel]['data']['liquid_volume'] = current_column_volume
+                        debug_print(f"📊 柱容器体积增加: +{solvent2_volume:.2f}mL = {current_column_volume:.2f}mL")
                 elif target_vessel == from_vessel_id:
                     current_from_volume += solvent2_volume
                     update_vessel_volume(from_vessel, G, current_from_volume, "添加溶剂2后")
-
+                
             except Exception as e:
-                debug_print(f"溶剂2添加失败: {str(e)}")
-
-        # 步骤4: 使用柱层析设备执行分离
+                debug_print(f"⚠️ 溶剂2添加失败: {str(e)}")
+        
+        # 步骤6.4: 使用柱层析设备执行分离（如果有设备）
         if column_device_id:
+            debug_print(f"📍 6.4: 使用柱层析设备执行分离")
+            
             column_separation_action = {
                 "device_id": column_device_id,
                 "action_name": "run_column",
                 "action_kwargs": {
-                    "from_vessel": from_vessel_id,
-                    "to_vessel": to_vessel_id,
+                    "from_vessel": from_vessel_id,  # 🔧 使用 from_vessel_id
+                    "to_vessel": to_vessel_id,      # 🔧 使用 to_vessel_id
                     "column": column,
                     "rf": rf,
                     "pct1": pct1,
@@ -357,65 +639,85 @@ def generate_run_column_protocol(
                 }
             }
             action_sequence.append(column_separation_action)
-
-            separation_time = max(30, min(120, int(total_elution_volume / 2)))
+            debug_print(f"✅ 柱层析设备动作已添加")
+            
+            # 等待分离完成
+            separation_time = max(30, min(120, int(total_elution_volume / 2)))  # 30-120秒，基于体积
             action_sequence.append({
                 "action_name": "wait",
                 "action_kwargs": {"time": separation_time}
             })
-
-        # 步骤5: 产物收集
-        if column_vessel and column_vessel != to_vessel_id:
+            debug_print(f"✅ 等待分离完成: {separation_time}秒")
+        
+        # 步骤6.5: 产物收集（从柱容器到目标容器）
+        if column_vessel and column_vessel != to_vessel_id:  # 🔧 使用 to_vessel_id
+            debug_print(f"📍 6.5: 产物收集 - 从 {column_vessel} 到 {to_vessel_id}")
+            
             try:
+                # 估算产物体积（原始样品体积的70-90%，收率考虑）
                 product_volume = source_volume * 0.8
-
+                
                 product_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
                     from_vessel=column_vessel,
-                    to_vessel=to_vessel_id,
+                    to_vessel=to_vessel_id,  # 🔧 使用 to_vessel_id
                     volume=product_volume,
                     flowrate=1.5,
                     transfer_flowrate=0.8
                 )
                 action_sequence.extend(product_transfer_actions)
-
+                debug_print(f"✅ 产物收集完成，添加了 {len(product_transfer_actions)} 个动作")
+                
+                # 🔧 新增：更新体积 - 产物收集到目标容器
                 current_to_volume += product_volume
-                current_column_volume -= product_volume
-
+                current_column_volume -= product_volume  # 柱容器体积减少
+                
                 update_vessel_volume(to_vessel, G, current_to_volume, "产物收集后")
-
+                
+                # 更新柱容器体积
                 if column_vessel in G.nodes():
                     G.nodes[column_vessel]['data']['liquid_volume'] = max(0.0, current_column_volume)
-
+                    debug_print(f"📊 柱容器体积减少: -{product_volume:.2f}mL = {current_column_volume:.2f}mL")
+                
             except Exception as e:
-                debug_print(f"产物收集失败: {str(e)}")
-
-        # 步骤6: 简化模式 - 直接转移
+                debug_print(f"⚠️ 产物收集失败: {str(e)}")
+        
+        # 步骤6.6: 如果没有独立的柱设备和容器，执行简化的直接转移
         if not column_device_id and not column_vessel:
+            debug_print(f"📍 6.6: 简化模式 - 直接转移 {source_volume}mL 从 {from_vessel_id} 到 {to_vessel_id}")
+            
             try:
                 direct_transfer_actions = generate_pump_protocol_with_rinsing(
                     G=G,
-                    from_vessel=from_vessel_id,
-                    to_vessel=to_vessel_id,
+                    from_vessel=from_vessel_id,  # 🔧 使用 from_vessel_id
+                    to_vessel=to_vessel_id,      # 🔧 使用 to_vessel_id
                     volume=source_volume,
                     flowrate=2.0,
                     transfer_flowrate=1.0
                 )
                 action_sequence.extend(direct_transfer_actions)
-
-                current_from_volume = 0.0
-                current_to_volume += source_volume
-
+                debug_print(f"✅ 直接转移完成，添加了 {len(direct_transfer_actions)} 个动作")
+                
+                # 🔧 新增：更新体积 - 直接转移
+                current_from_volume = 0.0  # 源容器清空
+                current_to_volume += source_volume  # 目标容器增加
+                
                 update_vessel_volume(from_vessel, G, current_from_volume, "直接转移后，源容器清空")
                 update_vessel_volume(to_vessel, G, current_to_volume, "直接转移后，目标容器增加")
-
+                
             except Exception as e:
-                debug_print(f"直接转移失败: {str(e)}")
-
+                debug_print(f"⚠️ 直接转移失败: {str(e)}")
+        
     except Exception as e:
-        debug_print(f"协议生成失败: {str(e)}")
-
+        debug_print(f"❌ 协议生成失败: {str(e)} 😭")
+        
+        # 不添加不确定的动作，直接让action_sequence保持为空列表
+        # action_sequence 已经在函数开始时初始化为 []
+    
+    # 确保至少有一个有效的动作，如果完全失败就返回空列表
     if not action_sequence:
+        debug_print("⚠️ 没有生成任何有效动作")
+        # 可以选择返回空列表或添加一个基本的等待动作
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {
@@ -423,50 +725,83 @@ def generate_run_column_protocol(
                 "description": "柱层析协议执行完成"
             }
         })
-
-    final_from_volume = get_resource_liquid_volume(from_vessel)
-    final_to_volume = get_resource_liquid_volume(to_vessel)
-
-    debug_print(f"柱层析协议生成完成: {len(action_sequence)} 个动作, {from_vessel_id} -> {to_vessel_id}, 收集={final_to_volume - original_to_volume:.2f}mL")
-
+    
+    # 🔧 新增：柱层析完成后的最终状态报告
+    final_from_volume = get_vessel_liquid_volume(from_vessel)
+    final_to_volume = get_vessel_liquid_volume(to_vessel)
+    
+    # 🎊 总结
+    debug_print("🏛️" * 20)
+    debug_print(f"🎉 柱层析协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 路径: {from_vessel_id} → {to_vessel_id}")
+    debug_print(f"🏛️ 柱子: {column}")
+    debug_print(f"🧪 溶剂: {final_solvent1}:{final_solvent2} = {final_pct1:.1f}%:{final_pct2:.1f}%")
+    debug_print(f"📊 体积变化统计:")
+    debug_print(f"  源容器 {from_vessel_id}:")
+    debug_print(f"    - 柱层析前: {original_from_volume:.2f}mL")
+    debug_print(f"    - 柱层析后: {final_from_volume:.2f}mL")
+    debug_print(f"  目标容器 {to_vessel_id}:")
+    debug_print(f"    - 柱层析前: {original_to_volume:.2f}mL")
+    debug_print(f"    - 柱层析后: {final_to_volume:.2f}mL")
+    debug_print(f"    - 收集体积: {final_to_volume - original_to_volume:.2f}mL")
+    debug_print(f"⏱️ 预计总时间: {len(action_sequence) * 5:.0f} 秒 ⌛")
+    debug_print("🏛️" * 20)
+    
     return action_sequence
 
-# 便捷函数
-def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
+# 🔧 新增：便捷函数
+def generate_ethyl_acetate_hexane_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                                  column: str, ratio: str = "30:70") -> List[Dict[str, Any]]:
     """乙酸乙酯-己烷柱层析（常用组合）"""
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
+    from_vessel_id = from_vessel["id"]
+    to_vessel_id = to_vessel["id"]
+    debug_print(f"🧪⛽ 乙酸乙酯-己烷柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio=ratio)
 
-def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
+def generate_methanol_dcm_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                         column: str, ratio: str = "5:95") -> List[Dict[str, Any]]:
     """甲醇-二氯甲烷柱层析"""
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
+    from_vessel_id = from_vessel["id"]
+    to_vessel_id = to_vessel["id"]
+    debug_print(f"🧪🧪 甲醇-DCM柱层析: {from_vessel_id} → {to_vessel_id} @ {ratio}")
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="methanol", solvent2="dichloromethane", ratio=ratio)
 
-def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
-                                    column: str, start_ratio: str = "10:90",
+def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
+                                    column: str, start_ratio: str = "10:90", 
                                     end_ratio: str = "50:50") -> List[Dict[str, Any]]:
     """梯度洗脱柱层析（中等比例）"""
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
+    debug_print(f"📈 梯度柱层析: {from_vessel_id} → {to_vessel_id} ({start_ratio} → {end_ratio})")
+    # 使用中间比例作为近似
     return generate_run_column_protocol(G, from_vessel, to_vessel, column, ratio="30:70")
 
-def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
+def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                  column: str) -> List[Dict[str, Any]]:
     """极性化合物柱层析（高极性溶剂比例）"""
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
+    debug_print(f"⚡ 极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="70:30")
 
-def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict,
+def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                     column: str) -> List[Dict[str, Any]]:
     """非极性化合物柱层析（低极性溶剂比例）"""
-    return generate_run_column_protocol(G, from_vessel, to_vessel, column,
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
+    debug_print(f"🛢️ 非极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
+    return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="5:95")
 
 # 测试函数
 def test_run_column_protocol():
     """测试柱层析协议"""
-    debug_print("=== RUN COLUMN PROTOCOL 测试 ===")
-    debug_print("测试完成")
+    debug_print("🧪 === RUN COLUMN PROTOCOL 测试 === ✨")
+    debug_print("✅ 测试完成 🎉")
 
 if __name__ == "__main__":
     test_run_column_protocol()

unilabos/compile/separate_protocol.py

@@ -1,11 +1,41 @@
+from functools import partial
+
 import networkx as nx
+import re
+import logging
+import sys
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel, find_solvent_vessel, find_connected_stirrer
-from .utils.resource_helper import get_resource_liquid_volume, update_vessel_volume
-from .utils.logger_util import debug_print, action_log
-from .utils.unit_parser import parse_volume_input
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
+logger = logging.getLogger(__name__)
+
+# 确保输出编码为UTF-8
+if hasattr(sys.stdout, 'reconfigure'):
+    try:
+        sys.stdout.reconfigure(encoding='utf-8')
+        sys.stderr.reconfigure(encoding='utf-8')
+    except:
+        pass
+
+def debug_print(message):
+    """调试输出函数 - 支持中文"""
+    try:
+        # 确保消息是字符串格式
+        safe_message = str(message)
+        logger.info(f"[SEPARATE] {safe_message}")
+    except UnicodeEncodeError:
+        # 如果编码失败，尝试替换不支持的字符
+        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        logger.info(f"[SEPARATE] {safe_message}")
+    except Exception as e:
+        # 最后的安全措施
+        fallback_message = f"日志输出错误: {repr(message)}"
+        logger.info(f"[SEPARATE] {fallback_message}")
+
+create_action_log = partial(action_log, prefix="[SEPARATE]")
+
 
 def generate_separate_protocol(
     G: nx.DiGraph,
@@ -63,33 +93,45 @@ def generate_separate_protocol(
     # 🔧 核心修改：从字典中提取容器ID
     vessel_id, vessel_data = get_vessel(vessel)
 
-    debug_print(f"开始生成分离协议: vessel={vessel_id}, purpose={purpose}, "
-                f"product_phase={product_phase}, solvent={solvent}, "
-                f"volume={volume}, repeats={repeats}")
+    debug_print("🌀" * 20)
+    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🎯 分离目的: '{purpose}'")
+    debug_print(f"  📊 产物相: '{product_phase}'")
+    debug_print(f"  💧 溶剂: '{solvent}'")
+    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"  🎯 产物容器: '{product_vessel}'")
+    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
+    debug_print(f"  📦 其他参数: {kwargs}")
+    debug_print("🌀" * 20)
 
     action_sequence = []
 
-    # 记录分离前的容器状态
-    original_liquid_volume = get_resource_liquid_volume(vessel)
-    debug_print(f"分离前液体体积: {original_liquid_volume:.2f}mL")
+    # 🔧 新增：记录分离前的容器状态
+    debug_print("🔍 记录分离前容器状态...")
+    original_liquid_volume = get_vessel_liquid_volume(vessel)
+    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
 
     # === 参数验证和标准化 ===
-    action_sequence.append(action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬", prefix="[SEPARATE]"))
-    action_sequence.append(action_log(f"分离目的: {purpose}", "🧪", prefix="[SEPARATE]"))
-    action_sequence.append(action_log(f"产物相: {product_phase}", "📊", prefix="[SEPARATE]"))
+    debug_print("🔍 步骤1: 参数验证和标准化...")
+    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
+    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
+    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
 
     # 统一容器参数 - 支持字典和字符串
-    final_vessel_id = vessel_id
+    def extract_vessel_id(vessel_param):
+        if isinstance(vessel_param, dict):
+            return vessel_param.get("id", "")
+        elif isinstance(vessel_param, str):
+            return vessel_param
+        else:
+            return ""
 
-    to_vessel_result = get_vessel(to_vessel) if to_vessel else None
-    if to_vessel_result is None or to_vessel_result[0] == "":
-        to_vessel_result = get_vessel(product_vessel) if product_vessel else None
-    final_to_vessel_id = to_vessel_result[0] if to_vessel_result else ""
-
-    waste_vessel_result = get_vessel(waste_phase_to_vessel) if waste_phase_to_vessel else None
-    if waste_vessel_result is None or waste_vessel_result[0] == "":
-        waste_vessel_result = get_vessel(waste_vessel) if waste_vessel else None
-    final_waste_vessel_id = waste_vessel_result[0] if waste_vessel_result else ""
+    final_vessel_id, _ = vessel_id
+    final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
+    final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
 
     # 统一体积参数
     final_volume = parse_volume_input(volume or solvent_volume)
@@ -99,12 +141,16 @@ def generate_separate_protocol(
         repeats = 1
         debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
 
-    debug_print(f"标准化参数: vessel={final_vessel_id}, to={final_to_vessel_id}, "
-                f"waste={final_waste_vessel_id}, volume={final_volume}mL, repeats={repeats}")
+    debug_print(f"🔧 标准化后的参数:")
+    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
+    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
+    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
+    debug_print(f"  📏 溶剂体积: {final_volume}mL")
+    debug_print(f"  🔄 重复次数: {repeats}")
 
-    action_sequence.append(action_log(f"分离容器: {final_vessel_id}", "🧪", prefix="[SEPARATE]"))
-    action_sequence.append(action_log(f"溶剂体积: {final_volume}mL", "📏", prefix="[SEPARATE]"))
-    action_sequence.append(action_log(f"重复次数: {repeats}", "🔄", prefix="[SEPARATE]"))
+    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
+    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
+    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
 
     # 验证必需参数
     if not purpose:
@@ -114,68 +160,72 @@ def generate_separate_protocol(
     if purpose not in ["wash", "extract", "separate"]:
         debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
         purpose = "separate"
-        action_sequence.append(action_log(f"未知目的，使用: {purpose}", "⚠️", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
     if product_phase not in ["top", "bottom"]:
         debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
         product_phase = "top"
-        action_sequence.append(action_log(f"未知相别，使用: {product_phase}", "⚠️", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
 
-    action_sequence.append(action_log("参数验证通过", "✅", prefix="[SEPARATE]"))
+    debug_print("✅ 参数验证通过")
+    action_sequence.append(create_action_log("参数验证通过", "✅"))
 
     # === 查找设备 ===
-    action_sequence.append(action_log("正在查找相关设备...", "🔍", prefix="[SEPARATE]"))
+    debug_print("🔍 步骤2: 查找设备...")
+    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
 
     # 查找分离器设备
-    separator_device = find_separator_device(G, final_vessel_id)
+    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
     if separator_device:
-        action_sequence.append(action_log(f"找到分离器设备: {separator_device}", "🧪", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
     else:
         debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
-        action_sequence.append(action_log("未找到分离器设备", "⚠️", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
 
     # 查找搅拌器
-    stirrer_device = find_connected_stirrer(G, final_vessel_id)
+    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
     if stirrer_device:
-        action_sequence.append(action_log(f"找到搅拌器: {stirrer_device}", "🌪️", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
     else:
-        action_sequence.append(action_log("未找到搅拌器", "⚠️", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
 
     # 查找溶剂容器（如果需要）
     solvent_vessel = ""
     if solvent and solvent.strip():
-        try:
-            solvent_vessel = find_solvent_vessel(G, solvent)
-        except ValueError:
-            solvent_vessel = ""
+        solvent_vessel = find_solvent_vessel(G, solvent)
         if solvent_vessel:
-            action_sequence.append(action_log(f"找到溶剂容器: {solvent_vessel}", "💧", prefix="[SEPARATE]"))
+            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
         else:
-            action_sequence.append(action_log(f"未找到溶剂容器: {solvent}", "⚠️", prefix="[SEPARATE]"))
+            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
 
-    debug_print(f"设备配置: separator={separator_device}, stirrer={stirrer_device}, solvent_vessel={solvent_vessel}")
+    debug_print(f"📊 设备配置:")
+    debug_print(f"  🧪 分离器设备: '{separator_device}'")
+    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
+    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
 
     # === 执行分离流程 ===
-    action_sequence.append(action_log("开始分离工作流程", "🎯", prefix="[SEPARATE]"))
+    debug_print("🔍 步骤3: 执行分离流程...")
+    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
 
-    # 体积变化跟踪变量
+    # 🔧 新增：体积变化跟踪变量
     current_volume = original_liquid_volume
 
     try:
         for repeat_idx in range(repeats):
             cycle_num = repeat_idx + 1
-            debug_print(f"分离循环 {cycle_num}/{repeats} 开始")
-            action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄", prefix="[SEPARATE]"))
+            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
+            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
 
             # 步骤3.1: 添加溶剂（如果需要）
             if solvent_vessel and final_volume > 0:
-                action_sequence.append(action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
+                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
 
                 try:
                     # 使用pump protocol添加溶剂
                     pump_actions = generate_pump_protocol_with_rinsing(
                         G=G,
                         from_vessel=solvent_vessel,
-                        to_vessel=final_vessel_id,
+                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
                         volume=final_volume,
                         amount="",
                         time=0.0,
@@ -192,27 +242,30 @@ def generate_separate_protocol(
                         **kwargs
                     )
                     action_sequence.extend(pump_actions)
-                    action_sequence.append(action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅", prefix="[SEPARATE]"))
+                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
+                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
 
-                    # 更新体积 - 添加溶剂后
+                    # 🔧 新增：更新体积 - 添加溶剂后
                     current_volume += final_volume
                     update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
 
                 except Exception as e:
                     debug_print(f"❌ 溶剂添加失败: {str(e)}")
-                    action_sequence.append(action_log(f"溶剂添加失败: {str(e)}", "❌", prefix="[SEPARATE]"))
+                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
             else:
-                action_sequence.append(action_log("无需添加溶剂", "⏭️", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
+                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
 
             # 步骤3.2: 启动搅拌（如果有搅拌器）
             if stirrer_device and stir_time > 0:
-                action_sequence.append(action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
+                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
 
                 action_sequence.append({
                     "device_id": stirrer_device,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": {"id": final_vessel_id},
+                        "vessel": {"id": final_vessel_id},  # 🔧 使用 final_vessel_id
                         "stir_speed": stir_speed,
                         "purpose": f"分离混合 - {purpose}"
                     }
@@ -220,37 +273,43 @@ def generate_separate_protocol(
 
                 # 搅拌等待
                 stir_minutes = stir_time / 60
-                action_sequence.append(action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️", prefix="[SEPARATE]"))
+                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": stir_time}
                 })
 
                 # 停止搅拌
-                action_sequence.append(action_log("停止搅拌器", "🛑", prefix="[SEPARATE]"))
+                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
                 action_sequence.append({
                     "device_id": stirrer_device,
                     "action_name": "stop_stir",
-                    "action_kwargs": {"vessel": final_vessel_id}
+                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
                 })
 
             else:
-                action_sequence.append(action_log("无需搅拌", "⏭️", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
+                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
 
             # 步骤3.3: 静置分层
             if settling_time > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
                 settling_minutes = settling_time / 60
-                action_sequence.append(action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️", prefix="[SEPARATE]"))
+                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": settling_time}
                 })
             else:
-                action_sequence.append(action_log("未指定静置时间", "⏭️", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
+                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
 
             # 步骤3.4: 执行分离操作
             if separator_device:
-                action_sequence.append(action_log(f"执行分离: 收集{product_phase}相", "🧪", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
+                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
+
+                # 🔧 替换为具体的分离操作逻辑（基于old版本）
 
                 # 首先进行分液判断（电导突跃）
                 action_sequence.append({
@@ -265,10 +324,11 @@ def generate_separate_protocol(
                 phase_volume = current_volume / 2
 
                 # 智能查找分离容器底部
-                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)
+                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)  # ✅
 
                 if product_phase == "bottom":
-                    action_sequence.append(action_log("收集底相产物", "📦", prefix="[SEPARATE]"))
+                    debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
+                    action_sequence.append(create_action_log("收集底相产物", "📦"))
 
                     # 产物转移到目标瓶
                     if final_to_vessel_id:
@@ -304,7 +364,8 @@ def generate_separate_protocol(
                         action_sequence.extend(pump_actions)
 
                 elif product_phase == "top":
-                    action_sequence.append(action_log("收集上相产物", "📦", prefix="[SEPARATE]"))
+                    debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
+                    action_sequence.append(create_action_log("收集上相产物", "📦"))
 
                     # 弃去下面那一相进废液
                     if final_waste_vessel_id:
@@ -339,9 +400,10 @@ def generate_separate_protocol(
                         )
                         action_sequence.extend(pump_actions)
 
-                action_sequence.append(action_log("分离操作完成", "✅", prefix="[SEPARATE]"))
+                debug_print(f"✅ 分离操作已完成")
+                action_sequence.append(create_action_log("分离操作完成", "✅"))
 
-                # 分离后体积估算
+                # 🔧 新增：分离后体积估算
                 separated_volume = phase_volume * 0.95  # 假设5%损失，只保留产物相体积
                 update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
                 current_volume = separated_volume
@@ -349,21 +411,23 @@ def generate_separate_protocol(
                 # 收集结果
                 if final_to_vessel_id:
                     action_sequence.append(
-                        action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦", prefix="[SEPARATE]"))
+                        create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
                 if final_waste_vessel_id:
-                    action_sequence.append(action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️", prefix="[SEPARATE]"))
+                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
 
             else:
-                action_sequence.append(action_log("无分离器设备可用", "❌", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
+                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
                 # 添加等待时间模拟分离
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 10.0}
                 })
 
-            # 如果不是最后一次，从中转瓶转移回分液漏斗
+            # 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
             if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
-                action_sequence.append(action_log("产物转回分离容器，准备下一轮", "🔄", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
+                action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
 
                 pump_actions = generate_pump_protocol_with_rinsing(
                     G=G,
@@ -380,85 +444,368 @@ def generate_separate_protocol(
 
             # 循环间等待（除了最后一次）
             if repeat_idx < repeats - 1:
-                action_sequence.append(action_log("等待下一次循环...", "⏳", prefix="[SEPARATE]"))
+                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
+                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
                 action_sequence.append({
                     "action_name": "wait",
                     "action_kwargs": {"time": 5}
                 })
             else:
-                action_sequence.append(action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟", prefix="[SEPARATE]"))
+                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
 
     except Exception as e:
         debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
-        action_sequence.append(action_log(f"分离工作流程失败: {str(e)}", "❌", prefix="[SEPARATE]"))
+        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
 
-    # 分离完成后的最终状态报告
-    final_liquid_volume = get_resource_liquid_volume(vessel)
+    # 🔧 新增：分离完成后的最终状态报告
+    final_liquid_volume = get_vessel_liquid_volume(vessel)
 
     # === 最终结果 ===
     total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
 
-    debug_print(f"分离协议生成完成: {len(action_sequence)} 个动作, "
-                f"预计 {total_time:.0f}s, 体积 {original_liquid_volume:.2f}→{final_liquid_volume:.2f}mL")
+    debug_print("🌀" * 20)
+    debug_print(f"🎉 分离协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
+    debug_print(f"  🥼 分离容器: {final_vessel_id}")
+    debug_print(f"  🎯 分离目的: {purpose}")
+    debug_print(f"  📊 产物相: {product_phase}")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"💧 体积变化统计:")
+    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
+    if solvent:
+        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
+    if final_to_vessel_id:
+        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
+    if final_waste_vessel_id:
+        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
+    debug_print("🌀" * 20)
 
     # 添加完成日志
     summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
     if solvent:
         summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
-    action_sequence.append(action_log(summary_msg, "🎉", prefix="[SEPARATE]"))
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
 
     return action_sequence
 
+def parse_volume_input(volume_input: Union[str, float]) -> float:
+    """
+    解析体积输入，支持带单位的字符串
+    
+    Args:
+        volume_input: 体积输入（如 "200 mL", "?", 50.0）
+    
+    Returns:
+        float: 体积（毫升）
+    """
+    if isinstance(volume_input, (int, float)):
+        debug_print(f"📏 体积输入为数值: {volume_input}")
+        return float(volume_input)
+    
+    if not volume_input or not str(volume_input).strip():
+        debug_print(f"⚠️ 体积输入为空，返回 0.0mL")
+        return 0.0
+    
+    volume_str = str(volume_input).lower().strip()
+    debug_print(f"🔍 解析体积输入: '{volume_str}'")
+    
+    # 处理未知体积
+    if volume_str in ['?', 'unknown', 'tbd', 'to be determined', '未知', '待定']:
+        default_volume = 100.0  # 默认100mL
+        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL")
+        return default_volume
+    
+    # 移除空格并提取数字和单位
+    volume_clean = re.sub(r'\s+', '', volume_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter|毫升|升|微升)?', volume_clean)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值 100mL")
+        return 100.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'ml'  # 默认单位为毫升
+    
+    # 转换为毫升
+    if unit in ['l', 'liter', '升']:
+        volume = value * 1000.0  # L -> mL
+        debug_print(f"🔄 体积转换: {value}L -> {volume}mL")
+    elif unit in ['μl', 'ul', 'microliter', '微升']:
+        volume = value / 1000.0  # μL -> mL
+        debug_print(f"🔄 体积转换: {value}μL -> {volume}mL")
+    else:  # ml, milliliter, 毫升 或默认
+        volume = value  # 已经是mL
+        debug_print(f"✅ 体积已为毫升单位: {volume}mL")
+    
+    return volume
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """查找溶剂容器，支持多种匹配模式"""
+    if not solvent or not solvent.strip():
+        debug_print("⏭️ 未指定溶剂，跳过溶剂容器查找")
+        return ""
+    
+    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
+    debug_print(f"📋 方法1: 搜索试剂字段...")
+    for node in G.nodes():
+        node_data = G.nodes[node].get('data', {})
+        node_type = G.nodes[node].get('type', '')
+        config_data = G.nodes[node].get('config', {})
+        
+        # 只搜索容器类型的节点
+        if node_type == 'container':
+            reagent_name = node_data.get('reagent_name', '').lower()
+            config_reagent = config_data.get('reagent', '').lower()
+            
+            # 精确匹配
+            if reagent_name == solvent.lower() or config_reagent == solvent.lower():
+                debug_print(f"✅ 通过试剂字段精确匹配找到容器: {node}")
+                return node
+            
+            # 模糊匹配
+            if (solvent.lower() in reagent_name and reagent_name) or \
+               (solvent.lower() in config_reagent and config_reagent):
+                debug_print(f"✅ 通过试剂字段模糊匹配找到容器: {node}")
+                return node
+    
+    # 🔧 方法2：常见的容器命名规则
+    debug_print(f"📋 方法2: 使用命名规则...")
+    solvent_clean = solvent.lower().replace(' ', '_').replace('-', '_')
+    possible_names = [
+        f"flask_{solvent_clean}",
+        f"bottle_{solvent_clean}",
+        f"vessel_{solvent_clean}",
+        f"{solvent_clean}_flask",
+        f"{solvent_clean}_bottle",
+        f"solvent_{solvent_clean}",
+        f"reagent_{solvent_clean}",
+        f"reagent_bottle_{solvent_clean}",
+        f"reagent_bottle_1",  # 通用试剂瓶
+        f"reagent_bottle_2",
+        f"reagent_bottle_3"
+    ]
+    
+    debug_print(f"🎯 尝试的容器名称: {possible_names[:5]}... (共 {len(possible_names)} 个)")
+    
+    for name in possible_names:
+        if name in G.nodes():
+            node_type = G.nodes[name].get('type', '')
+            if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到容器: {name}")
+                return name
+    
+    # 🔧 方法3：使用第一个试剂瓶作为备选
+    debug_print(f"📋 方法3: 查找备用试剂瓶...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if (node_data.get('type') == 'container' and 
+            ('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
+            debug_print(f"⚠️ 未找到专用容器，使用备用容器: {node_id}")
+            return node_id
+    
+    debug_print(f"❌ 无法找到溶剂 '{solvent}' 的容器")
+    return ""
 
 def find_separator_device(G: nx.DiGraph, vessel: str) -> str:
     """查找分离器设备，支持多种查找方式"""
+    debug_print(f"🔍 正在查找容器 '{vessel}' 的分离器设备...")
+    
     # 方法1：查找连接到容器的分离器设备
+    debug_print(f"📋 方法1: 检查连接的分离器...")
     separator_nodes = []
     for node in G.nodes():
         node_class = G.nodes[node].get('class', '').lower()
         if 'separator' in node_class:
             separator_nodes.append(node)
+            debug_print(f"📋 发现分离器设备: {node}")
+            
             # 检查是否连接到目标容器
             if G.has_edge(node, vessel) or G.has_edge(vessel, node):
+                debug_print(f"✅ 找到连接的分离器: {node}")
                 return node
-
+    
+    debug_print(f"📊 找到的分离器总数: {len(separator_nodes)}")
+    
     # 方法2：根据命名规则查找
+    debug_print(f"📋 方法2: 使用命名规则...")
     possible_names = [
         f"{vessel}_controller",
         f"{vessel}_separator",
         vessel,  # 容器本身可能就是分离器
         "separator_1",
         "virtual_separator",
-        "liquid_handler_1",
+        "liquid_handler_1",  # 液体处理器也可能用于分离
         "controller_1"
     ]
-
+    
+    debug_print(f"🎯 尝试的分离器名称: {possible_names}")
+    
     for name in possible_names:
         if name in G.nodes():
             node_class = G.nodes[name].get('class', '').lower()
             if 'separator' in node_class or 'controller' in node_class:
+                debug_print(f"✅ 通过命名规则找到分离器: {name}")
                 return name
-
-    # 方法3：使用第一个可用分离器
+    
+    # 方法3：查找第一个分离器设备
+    debug_print(f"📋 方法3: 使用第一个可用分离器...")
     if separator_nodes:
         debug_print(f"⚠️ 使用第一个分离器设备: {separator_nodes[0]}")
         return separator_nodes[0]
-
+    
     debug_print(f"❌ 未找到分离器设备")
     return ""
 
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的搅拌器"""
+    debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
+    
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'stirrer' in node_class.lower():
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+    
+    debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
+    
+    # 检查哪个搅拌器与目标容器相连
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
+            return stirrer
+    
+    # 如果没有连接的搅拌器，返回第一个可用的
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
+        return stirrer_nodes[0]
+    
+    debug_print("❌ 未找到搅拌器")
+    return ""
+
+def get_vessel_liquid_volume(vessel: dict) -> float:
+    """
+    获取容器中的液体体积 - 支持vessel字典
+    
+    Args:
+        vessel: 容器字典
+        
+    Returns:
+        float: 液体体积（mL）
+    """
+    if not vessel or "data" not in vessel:
+        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
+        return 0.0
+    
+    vessel_data = vessel["data"]
+    vessel_id = vessel.get("id", "unknown")
+    
+    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
+    
+    # 检查liquid_volume字段
+    if "liquid_volume" in vessel_data:
+        liquid_volume = vessel_data["liquid_volume"]
+        
+        # 处理列表格式
+        if isinstance(liquid_volume, list):
+            if len(liquid_volume) > 0:
+                volume = liquid_volume[0]
+                if isinstance(volume, (int, float)):
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
+                    return float(volume)
+        
+        # 处理直接数值格式
+        elif isinstance(liquid_volume, (int, float)):
+            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
+            return float(liquid_volume)
+    
+    # 检查其他可能的体积字段
+    volume_keys = ['current_volume', 'total_volume', 'volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                if volume > 0:
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
+                    return volume
+            except (ValueError, TypeError):
+                continue
+    
+    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 50.0mL")
+    return 50.0
+
+def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
+    """
+    更新容器体积（同时更新vessel字典和图节点）
+    
+    Args:
+        vessel: 容器字典
+        G: 网络图
+        new_volume: 新体积
+        description: 更新描述
+    """
+    vessel_id = vessel.get("id", "unknown")
+    
+    if description:
+        debug_print(f"🔧 更新容器体积 - {description}")
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel:
+        if "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            else:
+                vessel["data"]["liquid_volume"] = new_volume
+        else:
+            vessel["data"]["liquid_volume"] = new_volume
+    else:
+        vessel["data"] = {"liquid_volume": new_volume}
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+    
+    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
+
 
 def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
     """
     智能查找分离容器的底部容器（假设为flask或vessel类型）
-
+    
     Args:
         G: 网络图
         vessel_id: 分离容器ID
-
+        
     Returns:
         str: 底部容器ID
     """
+    debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
+    
     # 方法1：根据命名规则推测
     possible_bottoms = [
         f"{vessel_id}_bottom",
@@ -467,25 +814,32 @@ def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
         f"{vessel_id}_flask",
         f"{vessel_id}_vessel"
     ]
-
+    
+    debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
+    
     for bottom_id in possible_bottoms:
         if bottom_id in G.nodes():
             node_type = G.nodes[bottom_id].get('type', '')
             if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
                 return bottom_id
-
-    # 方法2：查找与分离器相连的容器
+    
+    # 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
+    debug_print(f"📋 方法2: 查找连接的容器...")
     for node in G.nodes():
         node_data = G.nodes[node]
         node_class = node_data.get('class', '') or ''
-
+        
         if 'separator' in node_class.lower():
+            # 检查分离器的输入端
             if G.has_edge(node, vessel_id):
                 for neighbor in G.neighbors(node):
                     if neighbor != vessel_id:
                         neighbor_type = G.nodes[neighbor].get('type', '')
                         if neighbor_type == 'container':
+                            debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
                             return neighbor
-
+    
     debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
     return ""
+

unilabos/compile/stir_protocol.py

@@ -1,40 +1,116 @@
 from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
+import re
 
 from .utils.unit_parser import parse_time_input
-from .utils.resource_helper import get_resource_id, get_resource_display_info
-from .utils.logger_util import debug_print
-from .utils.vessel_parser import find_connected_stirrer
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[STIR] {message}")
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
+    """查找与指定容器相连的搅拌设备"""
+    debug_print(f"🔍 查找搅拌设备，目标容器: {vessel} 🥽")
+    
+    # 🔧 查找所有搅拌设备
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'stirrer' in node_class.lower() or 'virtual_stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"🎉 找到搅拌设备: {node} 🌪️")
+    
+    # 🔗 检查连接
+    if vessel and stirrer_nodes:
+        for stirrer in stirrer_nodes:
+            if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+                debug_print(f"✅ 搅拌设备 '{stirrer}' 与容器 '{vessel}' 相连 🔗")
+                return stirrer
+    
+    # 🎯 使用第一个可用设备
+    if stirrer_nodes:
+        selected = stirrer_nodes[0]
+        debug_print(f"🔧 使用第一个搅拌设备: {selected} 🌪️")
+        return selected
+    
+    # 🆘 默认设备
+    debug_print("⚠️ 未找到搅拌设备，使用默认设备 🌪️")
+    return "stirrer_1"
+
 def validate_and_fix_params(stir_time: float, stir_speed: float, settling_time: float) -> tuple:
     """验证和修正参数"""
+    # ⏰ 搅拌时间验证
     if stir_time < 0:
-        debug_print(f"搅拌时间 {stir_time}s 无效，修正为 100s")
+        debug_print(f"⚠️ 搅拌时间 {stir_time}s 无效，修正为 100s 🕐")
         stir_time = 100.0
     elif stir_time > 100:  # 限制为100s
-        debug_print(f"搅拌时间 {stir_time}s 过长，仿真运行时修正为 100s")
+        debug_print(f"⚠️ 搅拌时间 {stir_time}s 过长，仿真运行时，修正为 100s 🕐")
         stir_time = 100.0
-
+    else:
+        debug_print(f"✅ 搅拌时间 {stir_time}s ({stir_time/60:.1f}分钟) 有效 ⏰")
+    
+    # 🌪️ 搅拌速度验证
     if stir_speed < 10.0 or stir_speed > 1500.0:
-        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
+        debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM 🌪️")
         stir_speed = 300.0
-
+    else:
+        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内 🌪️")
+    
+    # ⏱️ 沉降时间验证
     if settling_time < 0 or settling_time > 600:  # 限制为10分钟
-        debug_print(f"沉降时间 {settling_time}s 超出范围，修正为 60s")
+        debug_print(f"⚠️ 沉降时间 {settling_time}s 超出范围，修正为 60s ⏱️")
         settling_time = 60.0
-
+    else:
+        debug_print(f"✅ 沉降时间 {settling_time}s 在正常范围内 ⏱️")
+    
     return stir_time, stir_speed, settling_time
 
-def extract_vessel_id(vessel) -> str:
-    """从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
-    return get_resource_id(vessel)
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """
+    从vessel参数中提取vessel_id
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: vessel_id
+    """
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
+        return vessel_id
+    elif isinstance(vessel, str):
+        debug_print(f"🔧 vessel参数为字符串: {vessel}")
+        return vessel
+    else:
+        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
+        return ""
 
-def get_vessel_display_info(vessel) -> str:
-    """获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
-    return get_resource_display_info(vessel)
+def get_vessel_display_info(vessel: Union[str, dict]) -> str:
+    """
+    获取容器的显示信息（用于日志）
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: 显示信息
+    """
+    if isinstance(vessel, dict):
+        vessel_id = vessel.get("id", "unknown")
+        vessel_name = vessel.get("name", "")
+        if vessel_name:
+            return f"{vessel_id} ({vessel_name})"
+        else:
+            return vessel_id
+    else:
+        return str(vessel)
 
 def generate_stir_protocol(
     G: nx.DiGraph,
@@ -49,13 +125,16 @@ def generate_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成搅拌操作的协议序列 - 修复vessel参数传递"""
     
+    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-
-    # 确保vessel_resource是完整的Resource对象
+    
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
     else:
+        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -71,60 +150,91 @@ def generate_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-
-    # 参数验证
-    if not vessel_id:
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
+    
+    debug_print("🌪️" * 20)
+    debug_print("🚀 开始生成搅拌协议（支持vessel字典）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🕐 stir_time: {stir_time}")
+    debug_print(f"  🎯 time_spec: {time_spec}")
+    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
+    debug_print(f"  ⏱️ settling_time: {settling_time}")
+    debug_print("🌪️" * 20)
+    
+    # 📋 参数验证
+    debug_print("📍 步骤1: 参数验证... 🔧")
+    if not vessel_id:  # 🔧 使用 vessel_id
+        debug_print("❌ vessel 参数不能为空! 😱")
         raise ValueError("vessel 参数不能为空")
-
-    if vessel_id not in G.nodes():
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
         raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
     
-    # 参数解析 — 确定实际时间（优先级：time_spec > stir_time > time）
+    debug_print("✅ 基础参数验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤2: 参数解析... ⚡")
+    
+    # 确定实际时间（优先级：time_spec > stir_time > time）
     if time_spec:
         parsed_time = parse_time_input(time_spec)
+        debug_print(f"🎯 使用time_spec: '{time_spec}' → {parsed_time}s")
     elif stir_time not in ["0", 0, 0.0]:
         parsed_time = parse_time_input(stir_time)
+        debug_print(f"🎯 使用stir_time: {stir_time} → {parsed_time}s")
     else:
         parsed_time = parse_time_input(time)
+        debug_print(f"🎯 使用time: {time} → {parsed_time}s")
     
     # 解析沉降时间
     parsed_settling_time = parse_time_input(settling_time)
     
-    # 模拟运行时间优化
+    # 🕐 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
     original_stir_time = parsed_time
     original_settling_time = parsed_settling_time
-
+    
     # 搅拌时间限制为60秒
     stir_time_limit = 60.0
     if parsed_time > stir_time_limit:
         parsed_time = stir_time_limit
-
+        debug_print(f"  🎮 搅拌时间优化: {original_stir_time}s → {parsed_time}s ⚡")
+    
     # 沉降时间限制为30秒
     settling_time_limit = 30.0
     if parsed_settling_time > settling_time_limit:
         parsed_settling_time = settling_time_limit
+        debug_print(f"  🎮 沉降时间优化: {original_settling_time}s → {parsed_settling_time}s ⚡")
     
     # 参数修正
     parsed_time, stir_speed, parsed_settling_time = validate_and_fix_params(
         parsed_time, stir_speed, parsed_settling_time
     )
     
-    debug_print(f"最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
-
-    # 查找设备
+    debug_print(f"🎯 最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤3: 查找搅拌设备... 🔍")
     try:
-        stirrer_id = find_connected_stirrer(G, vessel_id)
+        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"🎉 使用搅拌设备: {stirrer_id} ✨")
     except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到搅拌设备: {str(e)}")
-
-    # 生成动作
+    
+    # 🚀 生成动作
+    debug_print("📍 步骤4: 生成搅拌动作... 🌪️")
     
     action_sequence = []
     stir_action = {
         "device_id": stirrer_id,
         "action_name": "stir",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "time": str(time),
             "event": event,
             "time_spec": time_spec,
@@ -134,14 +244,22 @@ def generate_stir_protocol(
         }
     }
     action_sequence.append(stir_action)
-
-    # 时间优化信息
+    debug_print("✅ 搅拌动作已添加 🌪️✨")
+    
+    # 显示时间优化信息
     if original_stir_time != parsed_time or original_settling_time != parsed_settling_time:
-        debug_print(f"模拟优化: 搅拌 {original_stir_time/60:.1f}min→{parsed_time/60:.1f}min, "
-                    f"沉降 {original_settling_time/60:.1f}min→{parsed_settling_time/60:.1f}min")
-
-    debug_print(f"搅拌协议生成完成: {vessel_display}, {stir_speed}RPM, "
-                f"{parsed_time}s, 沉降{parsed_settling_time}s, 总{(parsed_time + parsed_settling_time)/60:.1f}min")
+        debug_print(f"  🎭 模拟优化说明:")
+        debug_print(f"    搅拌时间: {original_stir_time/60:.1f}分钟 → {parsed_time/60:.1f}分钟")
+        debug_print(f"    沉降时间: {original_settling_time/60:.1f}分钟 → {parsed_settling_time/60:.1f}分钟")
+    
+    # 🎊 总结
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 搅拌协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 搅拌容器: {vessel_display}")
+    debug_print(f"🌪️ 搅拌参数: {stir_speed} RPM, {parsed_time}s, 沉降 {parsed_settling_time}s")
+    debug_print(f"⏱️ 预计总时间: {(parsed_time + parsed_settling_time)/60:.1f} 分钟 ⌛")
+    debug_print("🎊" * 20)
     
     return action_sequence
 
@@ -154,13 +272,16 @@ def generate_start_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成开始搅拌操作的协议序列 - 修复vessel参数传递"""
     
+    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-
-    # 确保vessel_resource是完整的Resource对象
+    
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
     else:
+        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -176,29 +297,39 @@ def generate_start_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
+    
+    debug_print("🔄 开始生成启动搅拌协议（修复vessel参数）✨")
+    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"🌪️ speed: {stir_speed} RPM")
+    debug_print(f"🎯 purpose: {purpose}")
+    
     # 基础验证
     if not vessel_id or vessel_id not in G.nodes():
+        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-
+    
     # 参数修正
     if stir_speed < 10.0 or stir_speed > 1500.0:
+        debug_print(f"⚠️ 搅拌速度修正: {stir_speed} → 300 RPM 🌪️")
         stir_speed = 300.0
-
+    
     # 查找设备
     stirrer_id = find_connected_stirrer(G, vessel_id)
-
+    
+    # 🔧 关键修复：传递vessel_id字符串
     action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "start_stir",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
             "stir_speed": stir_speed,
             "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
     }]
-
-    debug_print(f"启动搅拌协议: {vessel_display}, {stir_speed}RPM, device={stirrer_id}")
+    
+    debug_print(f"✅ 启动搅拌协议生成完成 🎯")
     return action_sequence
 
 def generate_stop_stir_protocol(
@@ -208,13 +339,16 @@ def generate_stop_stir_protocol(
 ) -> List[Dict[str, Any]]:
     """生成停止搅拌操作的协议序列 - 修复vessel参数传递"""
     
+    # 🔧 核心修改：正确处理vessel参数
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-
-    # 确保vessel_resource是完整的Resource对象
+    
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
     if isinstance(vessel, dict):
-        vessel_resource = vessel
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
     else:
+        # 如果只是字符串，构建一个基本的Resource对象
         vessel_resource = {
             "id": vessel,
             "name": "",
@@ -230,103 +364,115 @@ def generate_stop_stir_protocol(
             "sample_id": "",
             "type": ""
         }
-
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
+    
+    debug_print("🛑 开始生成停止搅拌协议（修复vessel参数）✨")
+    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    
     # 基础验证
     if not vessel_id or vessel_id not in G.nodes():
+        debug_print("❌ 容器验证失败!")
         raise ValueError("vessel 参数无效")
-
+    
     # 查找设备
     stirrer_id = find_connected_stirrer(G, vessel_id)
-
+    
+    # 🔧 关键修复：传递vessel_id字符串
     action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "stop_stir",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
         }
     }]
-
-    debug_print(f"停止搅拌协议: {vessel_display}, device={stirrer_id}")
+    
+    debug_print(f"✅ 停止搅拌协议生成完成 🎯")
     return action_sequence
 
-# 便捷函数
+# 🔧 新增：便捷函数
 def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict], 
                 speed: float = 300.0) -> List[Dict[str, Any]]:
     """短时间搅拌（30秒）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
+    debug_print(f"⚡ 短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
     return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
 
 def stir_slowly(G: nx.DiGraph, vessel: Union[str, dict], 
                time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
     """慢速搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"慢速搅拌: {vessel_display} @ 150RPM")
+    debug_print(f"🐌 慢速搅拌: {vessel_display} @ 150RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=150.0)
 
 def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict], 
                    time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
     """剧烈搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"剧烈搅拌: {vessel_display} @ 800RPM")
+    debug_print(f"💨 剧烈搅拌: {vessel_display} @ 800RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
 
 def stir_for_reaction(G: nx.DiGraph, vessel: Union[str, dict], 
                      time: Union[str, float] = "1 h") -> List[Dict[str, Any]]:
     """反应搅拌（标准速度，长时间）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"反应搅拌: {vessel_display} @ 400RPM")
+    debug_print(f"🧪 反应搅拌: {vessel_display} @ 400RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=400.0)
 
 def stir_for_dissolution(G: nx.DiGraph, vessel: Union[str, dict], 
                         time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
     """溶解搅拌（中等速度）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"溶解搅拌: {vessel_display} @ 500RPM")
+    debug_print(f"💧 溶解搅拌: {vessel_display} @ 500RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=500.0)
 
 def stir_gently(G: nx.DiGraph, vessel: Union[str, dict], 
                time: Union[str, float] = "30 min") -> List[Dict[str, Any]]:
     """温和搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"温和搅拌: {vessel_display} @ 200RPM")
+    debug_print(f"🍃 温和搅拌: {vessel_display} @ 200RPM")
     return generate_stir_protocol(G, vessel, time=time, stir_speed=200.0)
 
 def stir_overnight(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
     """过夜搅拌（模拟时缩短为2小时）"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
+    debug_print(f"🌙 过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
     return generate_stir_protocol(G, vessel, time="2 h", stir_speed=300.0)
 
 def start_continuous_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
                              speed: float = 300.0, purpose: str = "continuous stirring") -> List[Dict[str, Any]]:
     """开始连续搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"开始连续搅拌: {vessel_display} @ {speed}RPM")
+    debug_print(f"🔄 开始连续搅拌: {vessel_display} @ {speed}RPM")
     return generate_start_stir_protocol(G, vessel, stir_speed=speed, purpose=purpose)
 
 def stop_all_stirring(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
     """停止所有搅拌"""
     vessel_display = get_vessel_display_info(vessel)
-    debug_print(f"停止搅拌: {vessel_display}")
+    debug_print(f"🛑 停止搅拌: {vessel_display}")
     return generate_stop_stir_protocol(G, vessel)
 
 # 测试函数
 def test_stir_protocol():
     """测试搅拌协议"""
+    debug_print("🧪 === STIR PROTOCOL 测试 === ✨")
+    
+    # 测试vessel参数处理
+    debug_print("🔧 测试vessel参数处理...")
+    
     # 测试字典格式
     vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
     vessel_id = extract_vessel_id(vessel_dict)
     vessel_display = get_vessel_display_info(vessel_dict)
-    debug_print(f"字典格式: {vessel_dict} -> ID: {vessel_id}, 显示: {vessel_display}")
-
+    debug_print(f"  字典格式: {vessel_dict} → ID: {vessel_id}, 显示: {vessel_display}")
+    
     # 测试字符串格式
     vessel_str = "flask_2"
     vessel_id = extract_vessel_id(vessel_str)
     vessel_display = get_vessel_display_info(vessel_str)
-    debug_print(f"字符串格式: {vessel_str} -> ID: {vessel_id}, 显示: {vessel_display}")
-
-    debug_print("测试完成")
+    debug_print(f"  字符串格式: {vessel_str} → ID: {vessel_id}, 显示: {vessel_display}")
+    
+    debug_print("✅ 测试完成 🎉")
 
 if __name__ == "__main__":
     test_stir_protocol()

unilabos/compile/utils/logger_util.py

@@ -1,57 +1,36 @@
-"""编译器共享日志工具"""
-
-import inspect
+# 🆕 创建进度日志动作
 import logging
 from typing import Dict, Any
 
-# 模块名到前缀的映射
-_MODULE_PREFIXES = {
-    "add_protocol": "[ADD]",
-    "adjustph_protocol": "[ADJUSTPH]",
-    "clean_vessel_protocol": "[CLEAN_VESSEL]",
-    "dissolve_protocol": "[DISSOLVE]",
-    "dry_protocol": "[DRY]",
-    "evacuateandrefill_protocol": "[EVACUATE]",
-    "evaporate_protocol": "[EVAPORATE]",
-    "filter_protocol": "[FILTER]",
-    "heatchill_protocol": "[HEATCHILL]",
-    "hydrogenate_protocol": "[HYDROGENATE]",
-    "pump_protocol": "[PUMP]",
-    "recrystallize_protocol": "[RECRYSTALLIZE]",
-    "reset_handling_protocol": "[RESET]",
-    "run_column_protocol": "[RUN_COLUMN]",
-    "separate_protocol": "[SEPARATE]",
-    "stir_protocol": "[STIR]",
-    "wash_solid_protocol": "[WASH_SOLID]",
-    "vessel_parser": "[VESSEL_PARSER]",
-    "unit_parser": "[UNIT_PARSER]",
-    "resource_helper": "[RESOURCE_HELPER]",
-}
+logger = logging.getLogger(__name__)
 
-
-def debug_print(message, prefix=None):
-    """调试输出 — 自动根据调用模块设置前缀"""
-    if prefix is None:
-        frame = inspect.currentframe()
-        caller = frame.f_back if frame else None
-        module_name = ""
-        if caller:
-            module_name = caller.f_globals.get("__name__", "")
-            # 取最后一段作为模块短名
-            module_name = module_name.rsplit(".", 1)[-1]
-        prefix = _MODULE_PREFIXES.get(module_name, f"[{module_name.upper()}]")
-    logger = logging.getLogger("unilabos.compile")
+def debug_print(message, prefix="[UNIT_PARSER]"):
+    """调试输出"""
     logger.info(f"{prefix} {message}")
 
 
 def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
-    """创建一个动作日志"""
-    full_message = f"{prefix} {emoji} {message}"
-    return {
-        "action_name": "wait",
-        "action_kwargs": {
-            "time": 0.1,
-            "log_message": full_message,
-            "progress_message": full_message
+    """创建一个动作日志 - 支持中文和emoji"""
+    try:
+        full_message = f"{prefix} {emoji} {message}"
+
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": full_message,
+                "progress_message": full_message
+            }
         }
-    }
+    except Exception as e:
+        # 如果emoji有问题，使用纯文本
+        safe_message = f"{prefix} {message}"
+
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": safe_message,
+                "progress_message": safe_message
+            }
+        }

unilabos/compile/utils/resource_helper.py

@@ -1,172 +0,0 @@
-"""
-资源实例兼容层
-
-提供 ensure_resource_instance() 将 dict / ResourceDictInstance 统一转为
-ResourceDictInstance，使编译器可以渐进式迁移到强类型资源。
-"""
-
-from typing import Any, Dict, Optional, Union
-
-from unilabos.resources.resource_tracker import ResourceDictInstance
-
-
-def ensure_resource_instance(
-    resource: Union[Dict[str, Any], ResourceDictInstance, None],
-) -> Optional[ResourceDictInstance]:
-    """将 dict 或 ResourceDictInstance 统一转为 ResourceDictInstance
-
-    编译器入口统一调用此函数，即可同时兼容旧 dict 传参和新 ResourceDictInstance 传参。
-
-    Args:
-        resource: 资源数据，可以是 plain dict、ResourceDictInstance 或 None
-
-    Returns:
-        ResourceDictInstance 或 None（当输入为 None 时）
-    """
-    if resource is None:
-        return None
-    if isinstance(resource, ResourceDictInstance):
-        return resource
-    if isinstance(resource, dict):
-        return ResourceDictInstance.get_resource_instance_from_dict(resource)
-    raise TypeError(f"不支持的资源类型: {type(resource)}, 期望 dict 或 ResourceDictInstance")
-
-
-def resource_to_dict(resource: Union[Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
-    """将 ResourceDictInstance 或 dict 统一转为 plain dict
-
-    用于需要 dict 操作的场景（如 children dict 操作）。
-
-    Args:
-        resource: ResourceDictInstance 或 dict
-
-    Returns:
-        plain dict
-    """
-    if isinstance(resource, dict):
-        return resource
-    if isinstance(resource, ResourceDictInstance):
-        return resource.get_plr_nested_dict()
-    raise TypeError(f"不支持的资源类型: {type(resource)}")
-
-
-def get_resource_id(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
-    """从资源对象中提取 ID
-
-    Args:
-        resource: 字符串 ID、dict 或 ResourceDictInstance
-
-    Returns:
-        资源 ID 字符串
-    """
-    if isinstance(resource, str):
-        return resource
-    if isinstance(resource, ResourceDictInstance):
-        return resource.res_content.id
-    if isinstance(resource, dict):
-        if "id" in resource:
-            return resource["id"]
-        # 兼容 {station_id: {...}} 格式
-        first_val = next(iter(resource.values()), {})
-        if isinstance(first_val, dict):
-            return first_val.get("id", "")
-        return ""
-    raise TypeError(f"不支持的资源类型: {type(resource)}")
-
-
-def get_resource_data(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> Dict[str, Any]:
-    """从资源对象中提取 data 字段
-
-    Args:
-        resource: 字符串、dict 或 ResourceDictInstance
-
-    Returns:
-        data 字典
-    """
-    if isinstance(resource, str):
-        return {}
-    if isinstance(resource, ResourceDictInstance):
-        return dict(resource.res_content.data)
-    if isinstance(resource, dict):
-        return resource.get("data", {})
-    return {}
-
-
-def get_resource_display_info(resource: Union[str, Dict[str, Any], ResourceDictInstance]) -> str:
-    """获取资源的显示信息（用于日志）
-
-    Args:
-        resource: 字符串 ID、dict 或 ResourceDictInstance
-
-    Returns:
-        显示信息字符串
-    """
-    if isinstance(resource, str):
-        return resource
-    if isinstance(resource, ResourceDictInstance):
-        res = resource.res_content
-        return f"{res.id} ({res.name})" if res.name and res.name != res.id else res.id
-    if isinstance(resource, dict):
-        res_id = resource.get("id", "unknown")
-        res_name = resource.get("name", "")
-        if res_name and res_name != res_id:
-            return f"{res_id} ({res_name})"
-        return res_id
-    return str(resource)
-
-
-def get_resource_liquid_volume(resource: Union[Dict[str, Any], ResourceDictInstance]) -> float:
-    """从资源中获取液体体积
-
-    Args:
-        resource: dict 或 ResourceDictInstance
-
-    Returns:
-        液体总体积 (mL)
-    """
-    data = get_resource_data(resource)
-    liquids = data.get("liquid", [])
-    if isinstance(liquids, list):
-        return sum(l.get("volume", 0.0) for l in liquids if isinstance(l, dict))
-    return 0.0
-
-
-def update_vessel_volume(vessel, G, new_volume: float, description: str = "") -> None:
-    """
-    更新容器体积（同时更新vessel字典和图节点）
-
-    Args:
-        vessel: 容器字典或 ResourceDictInstance
-        G: 网络图 (nx.DiGraph)
-        new_volume: 新体积 (mL)
-        description: 更新描述（用于日志）
-    """
-    import logging
-    logger = logging.getLogger("unilabos.compile")
-
-    vessel_id = get_resource_id(vessel)
-
-    if description:
-        logger.info(f"[RESOURCE] 更新容器体积 - {description}")
-
-    # 更新 vessel 字典中的体积
-    if isinstance(vessel, dict):
-        if "data" not in vessel:
-            vessel["data"] = {}
-        lv = vessel["data"].get("liquid_volume")
-        if isinstance(lv, list) and len(lv) > 0:
-            vessel["data"]["liquid_volume"][0] = new_volume
-        else:
-            vessel["data"]["liquid_volume"] = new_volume
-
-    # 同时更新图中的容器数据
-    if vessel_id and vessel_id in G.nodes():
-        if "data" not in G.nodes[vessel_id]:
-            G.nodes[vessel_id]["data"] = {}
-        node_lv = G.nodes[vessel_id]["data"].get("liquid_volume")
-        if isinstance(node_lv, list) and len(node_lv) > 0:
-            G.nodes[vessel_id]["data"]["liquid_volume"][0] = new_volume
-        else:
-            G.nodes[vessel_id]["data"]["liquid_volume"] = new_volume
-
-    logger.info(f"[RESOURCE] 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")

unilabos/compile/utils/unit_parser.py

@@ -184,42 +184,6 @@ def parse_time_input(time_input: Union[str, float]) -> float:
 
     return time_sec
 
-
-def parse_temperature_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
-    """
-    解析温度输入，支持字符串和数值
-
-    Args:
-        temp_input: 温度输入（如 "256 °C", "reflux", 45.0）
-        default_temp: 默认温度
-
-    Returns:
-        float: 温度（°C）
-    """
-    if not temp_input:
-        return default_temp
-
-    if isinstance(temp_input, (int, float)):
-        return float(temp_input)
-
-    temp_str = str(temp_input).lower().strip()
-
-    # 特殊温度关键词
-    special_temps = {
-        "room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
-        "boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0,
-    }
-    if temp_str in special_temps:
-        return special_temps[temp_str]
-
-    # 正则解析（如 "256 °C", "45°C", "45"）
-    match = re.search(r'(\d+(?:\.\d+)?)\s*°?[cf]?', temp_str)
-    if match:
-        return float(match.group(1))
-
-    debug_print(f"无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
-    return default_temp
-
 # 测试函数
 def test_unit_parser():
     """测试单位解析功能"""

unilabos/compile/utils/vessel_parser.py

@@ -1,23 +1,27 @@
 import networkx as nx
 
 from .logger_util import debug_print
-from .resource_helper import get_resource_id, get_resource_data
 
 
 def get_vessel(vessel):
     """
     统一处理vessel参数，返回vessel_id和vessel_data。
-    支持 dict、str、ResourceDictInstance。
 
     Args:
-        vessel: 可以是一个字典、字符串或 ResourceDictInstance，表示vessel的ID或数据。
+        vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
 
     Returns:
         tuple: 包含vessel_id和vessel_data。
     """
-    # 统一使用 resource_helper 处理
-    vessel_id = get_resource_id(vessel)
-    vessel_data = get_resource_data(vessel)
+    if isinstance(vessel, dict):
+        if "id" not in vessel:
+            vessel_id = list(vessel.values())[0].get("id", "")
+        else:
+            vessel_id = vessel.get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = {}
     return vessel_id, vessel_data
 
 
@@ -274,31 +278,4 @@ def find_solid_dispenser(G: nx.DiGraph) -> str:
             return node
 
     debug_print(f"❌ 未找到固体加样器")
-    return ""
-
-
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """查找与指定容器相连的加热/冷却设备"""
-    heatchill_nodes = []
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        node_name = node.lower()
-        if ('heatchill' in node_class.lower() or 'virtual_heatchill' in node_class
-                or 'heater' in node_name or 'heat' in node_name):
-            heatchill_nodes.append(node)
-
-    # 检查连接
-    if vessel and heatchill_nodes:
-        for hc in heatchill_nodes:
-            if G.has_edge(hc, vessel) or G.has_edge(vessel, hc):
-                debug_print(f"加热设备 '{hc}' 与容器 '{vessel}' 相连")
-                return hc
-
-    # 使用第一个可用设备
-    if heatchill_nodes:
-        debug_print(f"使用第一个加热设备: {heatchill_nodes[0]}")
-        return heatchill_nodes[0]
-
-    debug_print("未找到加热设备，使用默认设备")
-    return "heatchill_1"
+    return ""

unilabos/compile/wash_solid_protocol.py

@@ -4,55 +4,199 @@ import logging
 import re
 
 from .utils.unit_parser import parse_time_input, parse_volume_input
-from .utils.resource_helper import get_resource_id, get_resource_display_info, get_resource_liquid_volume, update_vessel_volume
-from .utils.logger_util import debug_print
 
 logger = logging.getLogger(__name__)
 
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[WASH_SOLID] {message}")
+
 
 def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
-    """查找溶剂源"""
+    """查找溶剂源（精简版）"""
+    debug_print(f"🔍 查找溶剂源: {solvent}")
+    
+    # 简化搜索列表
     search_patterns = [
         f"flask_{solvent}", f"bottle_{solvent}", f"reagent_{solvent}",
         "liquid_reagent_bottle_1", "flask_1", "solvent_bottle"
     ]
-
+    
     for pattern in search_patterns:
         if pattern in G.nodes():
-            debug_print(f"找到溶剂源: {pattern}")
+            debug_print(f"🎉 找到溶剂源: {pattern}")
             return pattern
-
-    debug_print(f"使用默认溶剂源: flask_{solvent}")
+    
+    debug_print(f"⚠️ 使用默认溶剂源: flask_{solvent}")
     return f"flask_{solvent}"
 
 def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
-    """查找滤液容器"""
+    """查找滤液容器（精简版）"""
+    debug_print(f"🔍 查找滤液容器: {filtrate_vessel}")
+    
+    # 如果指定了且存在，直接使用
     if filtrate_vessel and filtrate_vessel in G.nodes():
+        debug_print(f"✅ 使用指定容器: {filtrate_vessel}")
         return filtrate_vessel
-
+    
+    # 简化搜索列表
     default_vessels = ["waste_workup", "filtrate_vessel", "flask_1", "collection_bottle_1"]
-
+    
     for vessel in default_vessels:
         if vessel in G.nodes():
-            debug_print(f"找到滤液容器: {vessel}")
+            debug_print(f"🎉 找到滤液容器: {vessel}")
             return vessel
-
+    
+    debug_print(f"⚠️ 使用默认滤液容器: waste_workup")
     return "waste_workup"
 
-def extract_vessel_id(vessel) -> str:
-    """从vessel参数中提取vessel_id，兼容 str / dict / ResourceDictInstance"""
-    return get_resource_id(vessel)
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """
+    从vessel参数中提取vessel_id
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: vessel_id
+    """
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
+        return vessel_id
+    elif isinstance(vessel, str):
+        debug_print(f"🔧 vessel参数为字符串: {vessel}")
+        return vessel
+    else:
+        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
+        return ""
 
-def get_vessel_display_info(vessel) -> str:
-    """获取容器的显示信息（用于日志），兼容 str / dict / ResourceDictInstance"""
-    return get_resource_display_info(vessel)
+def get_vessel_display_info(vessel: Union[str, dict]) -> str:
+    """
+    获取容器的显示信息（用于日志）
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: 显示信息
+    """
+    if isinstance(vessel, dict):
+        vessel_id = vessel.get("id", "unknown")
+        vessel_name = vessel.get("name", "")
+        if vessel_name:
+            return f"{vessel_id} ({vessel_name})"
+        else:
+            return vessel_id
+    else:
+        return str(vessel)
+
+def get_vessel_liquid_volume(vessel: dict) -> float:
+    """
+    获取容器中的液体体积 - 支持vessel字典
+    
+    Args:
+        vessel: 容器字典
+        
+    Returns:
+        float: 液体体积（mL）
+    """
+    if not vessel or "data" not in vessel:
+        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
+        return 0.0
+    
+    vessel_data = vessel["data"]
+    vessel_id = vessel.get("id", "unknown")
+    
+    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
+    
+    # 检查liquid_volume字段
+    if "liquid_volume" in vessel_data:
+        liquid_volume = vessel_data["liquid_volume"]
+        
+        # 处理列表格式
+        if isinstance(liquid_volume, list):
+            if len(liquid_volume) > 0:
+                volume = liquid_volume[0]
+                if isinstance(volume, (int, float)):
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
+                    return float(volume)
+        
+        # 处理直接数值格式
+        elif isinstance(liquid_volume, (int, float)):
+            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
+            return float(liquid_volume)
+    
+    # 检查其他可能的体积字段
+    volume_keys = ['current_volume', 'total_volume', 'volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                if volume > 0:
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
+                    return volume
+            except (ValueError, TypeError):
+                continue
+    
+    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 0.0mL")
+    return 0.0
+
+def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
+    """
+    更新容器体积（同时更新vessel字典和图节点）
+    
+    Args:
+        vessel: 容器字典
+        G: 网络图
+        new_volume: 新体积
+        description: 更新描述
+    """
+    vessel_id = vessel.get("id", "unknown")
+    
+    if description:
+        debug_print(f"🔧 更新容器体积 - {description}")
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel:
+        if "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            else:
+                vessel["data"]["liquid_volume"] = new_volume
+        else:
+            vessel["data"]["liquid_volume"] = new_volume
+    else:
+        vessel["data"] = {"liquid_volume": new_volume}
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+    
+    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
 
 def generate_wash_solid_protocol(
     G: nx.DiGraph,
-    vessel: Union[str, dict],
+    vessel: Union[str, dict],  # 🔧 修改：支持vessel字典
     solvent: str,
     volume: Union[float, str] = "50",
-    filtrate_vessel: Union[str, dict] = "",
+    filtrate_vessel: Union[str, dict] = "",  # 🔧 修改：支持vessel字典
     temp: float = 25.0,
     stir: bool = False,
     stir_speed: float = 0.0,
@@ -66,7 +210,7 @@ def generate_wash_solid_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成固体清洗协议 - 支持vessel字典和体积运算
-
+    
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
         vessel: 清洗容器字典（从XDL传入）或容器ID字符串
@@ -83,78 +227,106 @@ def generate_wash_solid_protocol(
         mass: 固体质量（用于计算溶剂用量）
         event: 事件描述
         **kwargs: 其他可选参数
-
+    
     Returns:
         List[Dict[str, Any]]: 固体清洗操作的动作序列
     """
-
+    
+    # 🔧 核心修改：从vessel参数中提取vessel_id
     vessel_id = extract_vessel_id(vessel)
     vessel_display = get_vessel_display_info(vessel)
-
+    
+    # 🔧 处理filtrate_vessel参数
     filtrate_vessel_id = extract_vessel_id(filtrate_vessel) if filtrate_vessel else ""
-
-    debug_print(f"开始生成固体清洗协议: vessel={vessel_id}, solvent={solvent}, volume={volume}, repeats={repeats}")
-
-    # 记录清洗前的容器状态
+    
+    debug_print("🧼" * 20)
+    debug_print("🚀 开始生成固体清洗协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"  🧪 solvent: {solvent}")
+    debug_print(f"  💧 volume: {volume}")
+    debug_print(f"  🗑️ filtrate_vessel: {filtrate_vessel_id}")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🔄 repeats: {repeats}")
+    debug_print("🧼" * 20)
+    
+    # 🔧 新增：记录清洗前的容器状态
+    debug_print("🔍 记录清洗前容器状态...")
     if isinstance(vessel, dict):
-        original_volume = get_resource_liquid_volume(vessel)
+        original_volume = get_vessel_liquid_volume(vessel)
+        debug_print(f"📊 清洗前液体体积: {original_volume:.2f}mL")
     else:
         original_volume = 0.0
-
-    # 快速验证
-    if not vessel_id or vessel_id not in G.nodes():
+        debug_print(f"📊 vessel为字符串格式，无法获取体积信息")
+    
+    # 📋 快速验证
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败! 😱")
         raise ValueError("vessel 参数无效")
-
+    
     if not solvent:
+        debug_print("❌ 溶剂不能为空! 😱")
         raise ValueError("solvent 参数不能为空")
-
-    # 参数解析
+    
+    debug_print("✅ 基础验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤1: 参数解析... ⚡")
     final_volume = parse_volume_input(volume, volume_spec, mass)
     final_time = parse_time_input(time)
-
-    # 重复次数处理
+    
+    # 重复次数处理（简化）
     if repeats_spec:
         spec_map = {'few': 2, 'several': 3, 'many': 4, 'thorough': 5}
         final_repeats = next((v for k, v in spec_map.items() if k in repeats_spec.lower()), repeats)
     else:
-        final_repeats = max(1, min(repeats, 5))
-
-    # 模拟时间优化
+        final_repeats = max(1, min(repeats, 5))  # 限制1-5次
+    
+    # 🕐 模拟时间优化
+    debug_print("  ⏱️ 模拟时间优化...")
     original_time = final_time
     if final_time > 60.0:
-        final_time = 60.0
-        debug_print(f"时间优化: {original_time}s -> {final_time}s")
-
+        final_time = 60.0  # 限制最长60秒
+        debug_print(f"  🎮 时间优化: {original_time}s → {final_time}s ⚡")
+    
     # 参数修正
-    temp = max(25.0, min(temp, 80.0))
-    stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0
-
-    debug_print(f"最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
-
-    # 查找设备
+    temp = max(25.0, min(temp, 80.0))  # 温度范围25-80°C
+    stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0  # 速度范围0-300
+    
+    debug_print(f"🎯 最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤2: 查找设备... 🔍")
     try:
         solvent_source = find_solvent_source(G, solvent)
         actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel_id)
+        debug_print(f"🎉 设备配置完成 ✨")
+        debug_print(f"  🧪 溶剂源: {solvent_source}")
+        debug_print(f"  🗑️ 滤液容器: {actual_filtrate_vessel}")
     except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"设备查找失败: {str(e)}")
-
-    # 生成动作序列
+    
+    # 🚀 生成动作序列
+    debug_print("📍 步骤3: 生成清洗动作... 🧼")
     action_sequence = []
-
+    
+    # 🔧 新增：体积变化跟踪变量
     current_volume = original_volume
     total_solvent_used = 0.0
-
+    
     for cycle in range(final_repeats):
-        debug_print(f"第{cycle+1}/{final_repeats}次清洗")
-
+        debug_print(f"  🔄 第{cycle+1}/{final_repeats}次清洗...")
+        
         # 1. 转移溶剂
         try:
             from .pump_protocol import generate_pump_protocol_with_rinsing
-
+            
+            debug_print(f"    💧 添加溶剂: {final_volume}mL {solvent}")
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=solvent_source,
-                to_vessel=vessel_id,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=final_volume,
                 amount="",
                 time=0.0,
@@ -166,160 +338,211 @@ def generate_wash_solid_protocol(
                 flowrate=2.5,
                 transfer_flowrate=0.5
             )
-
+            
             if transfer_actions:
                 action_sequence.extend(transfer_actions)
-
+                debug_print(f"    ✅ 转移动作: {len(transfer_actions)}个 🚚")
+                
+                # 🔧 新增：更新体积 - 添加溶剂后
                 current_volume += final_volume
                 total_solvent_used += final_volume
-
+                
                 if isinstance(vessel, dict):
-                    update_vessel_volume(vessel, G, current_volume,
+                    update_vessel_volume(vessel, G, current_volume, 
                                        f"第{cycle+1}次清洗添加{final_volume}mL溶剂后")
-
+            
         except Exception as e:
-            debug_print(f"转移失败: {str(e)}")
-
+            debug_print(f"    ❌ 转移失败: {str(e)} 😞")
+        
         # 2. 搅拌（如果需要）
         if stir and final_time > 0:
+            debug_print(f"    🌪️ 搅拌: {final_time}s @ {stir_speed}RPM")
             stir_action = {
                 "device_id": "stirrer_1",
                 "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": {"id": vessel_id},
+                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                     "time": str(time),
                     "stir_time": final_time,
                     "stir_speed": stir_speed,
-                    "settling_time": 10.0
+                    "settling_time": 10.0  # 🕐 缩短沉降时间
                 }
             }
             action_sequence.append(stir_action)
-
+            debug_print(f"    ✅ 搅拌动作: {final_time}s, {stir_speed}RPM 🌪️")
+        
         # 3. 过滤
+        debug_print(f"    🌊 过滤到: {actual_filtrate_vessel}")
         filter_action = {
             "device_id": "filter_1",
             "action_name": "filter",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},
+                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
                 "filtrate_vessel": actual_filtrate_vessel,
                 "temp": temp,
                 "volume": final_volume
             }
         }
         action_sequence.append(filter_action)
-
-        # 更新体积 - 过滤后
-        filtered_volume = current_volume * 0.9
+        debug_print(f"    ✅ 过滤动作: → {actual_filtrate_vessel} 🌊")
+        
+        # 🔧 新增：更新体积 - 过滤后（液体被滤除）
+        # 假设滤液完全被移除，固体残留在容器中
+        filtered_volume = current_volume * 0.9  # 假设90%的液体被过滤掉
         current_volume = current_volume - filtered_volume
-
+        
         if isinstance(vessel, dict):
-            update_vessel_volume(vessel, G, current_volume,
+            update_vessel_volume(vessel, G, current_volume, 
                                f"第{cycle+1}次清洗过滤后")
-
-        # 4. 等待
-        wait_time = 5.0
+        
+        # 4. 等待（缩短时间）
+        wait_time = 5.0  # 🕐 缩短等待时间：10s → 5s
         action_sequence.append({
             "action_name": "wait",
             "action_kwargs": {"time": wait_time}
         })
-
-    # 最终状态
+        debug_print(f"    ✅ 等待: {wait_time}s ⏰")
+    
+    # 🔧 新增：清洗完成后的最终状态报告
     if isinstance(vessel, dict):
-        final_volume_vessel = get_resource_liquid_volume(vessel)
+        final_volume_vessel = get_vessel_liquid_volume(vessel)
     else:
         final_volume_vessel = current_volume
-
-    debug_print(f"固体清洗协议生成完成: {len(action_sequence)} 个动作, {final_repeats}次清洗, 溶剂总用量={total_solvent_used:.2f}mL")
-
+    
+    # 🎊 总结
+    debug_print("🧼" * 20)
+    debug_print(f"🎉 固体清洗协议生成完成! ✨")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
+    debug_print(f"  🥽 清洗容器: {vessel_display}")
+    debug_print(f"  🧪 使用溶剂: {solvent}")
+    debug_print(f"  💧 单次体积: {final_volume}mL")
+    debug_print(f"  🔄 清洗次数: {final_repeats}次")
+    debug_print(f"  💧 总溶剂用量: {total_solvent_used:.2f}mL")
+    debug_print(f"📊 体积变化统计:")
+    debug_print(f"  - 清洗前体积: {original_volume:.2f}mL")
+    debug_print(f"  - 清洗后体积: {final_volume_vessel:.2f}mL")
+    debug_print(f"  - 溶剂总用量: {total_solvent_used:.2f}mL")
+    debug_print(f"⏱️ 预计总时间: {(final_time + 5) * final_repeats / 60:.1f} 分钟")
+    debug_print("🧼" * 20)
+    
     return action_sequence
 
-# 便捷函数
-def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict],
-                   volume: Union[float, str] = "50",
+# 🔧 新增：便捷函数
+def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict], 
+                   volume: Union[float, str] = "50", 
                    repeats: int = 2) -> List[Dict[str, Any]]:
     """用水清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💧 水洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "water", volume=volume, repeats=repeats)
 
-def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict],
-                     volume: Union[float, str] = "30",
+def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict], 
+                     volume: Union[float, str] = "30", 
                      repeats: int = 1) -> List[Dict[str, Any]]:
     """用乙醇清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🍺 乙醇洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "ethanol", volume=volume, repeats=repeats)
 
-def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict],
-                     volume: Union[float, str] = "25",
+def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict], 
+                     volume: Union[float, str] = "25", 
                      repeats: int = 1) -> List[Dict[str, Any]]:
     """用丙酮清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💨 丙酮洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "acetone", volume=volume, repeats=repeats)
 
-def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict],
-                   volume: Union[float, str] = "40",
+def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict], 
+                   volume: Union[float, str] = "40", 
                    repeats: int = 2) -> List[Dict[str, Any]]:
     """用乙醚清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🌬️ 乙醚洗固体: {vessel_display} ({repeats} 次)")
     return generate_wash_solid_protocol(G, vessel, "diethyl_ether", volume=volume, repeats=repeats)
 
-def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict],
-                          solvent: str, volume: Union[float, str] = "30",
+def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
+                          solvent: str, volume: Union[float, str] = "30", 
                           repeats: int = 1) -> List[Dict[str, Any]]:
     """用冷溶剂清洗固体"""
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"❄️ 冷{solvent}洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
                                       temp=5.0, repeats=repeats)
 
-def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict],
-                         solvent: str, volume: Union[float, str] = "50",
+def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
+                         solvent: str, volume: Union[float, str] = "50", 
                          repeats: int = 1) -> List[Dict[str, Any]]:
     """用热溶剂清洗固体"""
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🔥 热{solvent}洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
                                       temp=60.0, repeats=repeats)
 
-def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict],
-                      solvent: str, volume: Union[float, str] = "50",
-                      stir_time: Union[str, float] = "5 min",
+def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
+                      solvent: str, volume: Union[float, str] = "50", 
+                      stir_time: Union[str, float] = "5 min", 
                       repeats: int = 1) -> List[Dict[str, Any]]:
     """带搅拌的溶剂清洗"""
-    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume,
-                                      stir=True, stir_speed=200.0,
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🌪️ 搅拌清洗: {vessel_display} with {solvent} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+                                      stir=True, stir_speed=200.0, 
                                       time=stir_time, repeats=repeats)
 
-def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict],
+def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict], 
                  solvent: str, volume: Union[float, str] = "50") -> List[Dict[str, Any]]:
     """彻底清洗（多次重复）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🔄 彻底清洗: {vessel_display} with {solvent} (5 次)")
     return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=5)
 
-def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict],
+def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict], 
                solvent: str, volume: Union[float, str] = "20") -> List[Dict[str, Any]]:
     """快速冲洗（单次，小体积）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"⚡ 快速冲洗: {vessel_display} with {solvent}")
     return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=1)
 
-def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict],
+def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict], 
                    solvents: list, volume: Union[float, str] = "40") -> List[Dict[str, Any]]:
     """连续多溶剂清洗"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"📝 连续清洗: {vessel_display} with {' → '.join(solvents)}")
+    
     action_sequence = []
     for solvent in solvents:
-        wash_actions = generate_wash_solid_protocol(G, vessel, solvent,
+        wash_actions = generate_wash_solid_protocol(G, vessel, solvent, 
                                                    volume=volume, repeats=1)
         action_sequence.extend(wash_actions)
-
+    
     return action_sequence
 
 # 测试函数
 def test_wash_solid_protocol():
     """测试固体清洗协议"""
-    debug_print("=== WASH SOLID PROTOCOL 测试 ===")
-
-    vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1",
+    debug_print("🧪 === WASH SOLID PROTOCOL 测试 === ✨")
+    
+    # 测试vessel参数处理
+    debug_print("🔧 测试vessel参数处理...")
+    
+    # 测试字典格式
+    vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1", 
                   "data": {"liquid_volume": 25.0}}
     vessel_id = extract_vessel_id(vessel_dict)
     vessel_display = get_vessel_display_info(vessel_dict)
-    volume = get_resource_liquid_volume(vessel_dict)
-    debug_print(f"字典格式: ID={vessel_id}, 显示={vessel_display}, 体积={volume}mL")
-
+    volume = get_vessel_liquid_volume(vessel_dict)
+    debug_print(f"  字典格式: {vessel_dict}")
+    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}, 体积: {volume}mL")
+    
+    # 测试字符串格式
     vessel_str = "filter_flask_2"
     vessel_id = extract_vessel_id(vessel_str)
     vessel_display = get_vessel_display_info(vessel_str)
-    debug_print(f"字符串格式: ID={vessel_id}, 显示={vessel_display}")
-
-    debug_print("测试完成")
+    debug_print(f"  字符串格式: {vessel_str}")
+    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}")
+    
+    debug_print("✅ 测试完成 🎉")
 
 if __name__ == "__main__":
-    test_wash_solid_protocol()
+    test_wash_solid_protocol()

unilabos/config/config.py

@@ -22,9 +22,6 @@ class BasicConfig:
     startup_json_path = None  # 填写绝对路径
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
-    check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
-    extra_resource = False  # 是否加载lab_开头的额外资源
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -41,7 +38,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 20  # ping间隔（秒）
+    ping_interval = 30  # ping间隔（秒）
 
 
 # HTTP配置
@@ -147,5 +144,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/device_comms/opcua_client/node/uniopcua.py

@@ -43,7 +43,7 @@ class Base(ABC):
         self._type = typ
         self._data_type = data_type
         self._node: Optional[Node] = None
-
+        
     def _get_node(self) -> Node:
         if self._node is None:
             try:
@@ -66,7 +66,7 @@ class Base(ABC):
                 # 直接以字符串形式处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-
+                    
                     # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
                     # 提取括号内的内容
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
@@ -116,16 +116,16 @@ class Base(ABC):
     def read(self) -> Tuple[Any, bool]:
         """读取节点值，返回(值, 是否出错)"""
         pass
-
+    
     @abstractmethod
     def write(self, value: Any) -> bool:
         """写入节点值，返回是否出错"""
         pass
-
+    
     @property
     def type(self) -> NodeType:
         return self._type
-
+    
     @property
     def node_id(self) -> str:
         return self._node_id
@@ -210,15 +210,15 @@ class Method(Base):
         super().__init__(client, name, node_id, NodeType.METHOD, data_type)
         self._parent_node_id = parent_node_id
         self._parent_node = None
-
+        
     def _get_parent_node(self) -> Node:
         if self._parent_node is None:
             try:
                 # 处理父节点ID，使用与_get_node相同的解析逻辑
                 import re
-
+                
                 nid = self._parent_node_id
-
+                
                 # 如果已经是 NodeId 对象，直接使用
                 try:
                     from opcua.ua import NodeId as UaNodeId
@@ -227,16 +227,16 @@ class Method(Base):
                         return self._parent_node
                 except Exception:
                     pass
-
+                
                 # 字符串处理
                 if isinstance(nid, str):
                     nid = nid.strip()
-
+                    
                     # 处理包含类名的格式
                     match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
                     if match_wrapped:
                         nid = match_wrapped.group(2).strip()
-
+                    
                     # 常见短格式
                     if re.match(r'^ns=\d+;[is]=', nid):
                         self._parent_node = self._client.get_node(nid)
@@ -271,7 +271,7 @@ class Method(Base):
     def write(self, value: Any) -> bool:
         """方法节点不支持写入操作"""
         return True
-
+        
     def call(self, *args) -> Tuple[Any, bool]:
         """调用方法，返回(返回值, 是否出错)"""
         try:
@@ -285,7 +285,7 @@ class Method(Base):
 class Object(Base):
     def __init__(self, client: Client, name: str, node_id: str):
         super().__init__(client, name, node_id, NodeType.OBJECT, None)
-
+        
     def read(self) -> Tuple[Any, bool]:
         """对象节点不支持直接读取操作"""
         return None, True
@@ -293,7 +293,7 @@ class Object(Base):
     def write(self, value: Any) -> bool:
         """对象节点不支持直接写入操作"""
         return True
-
+    
     def get_children(self) -> Tuple[List[Node], bool]:
         """获取子节点列表，返回(子节点列表, 是否出错)"""
         try:
@@ -301,4 +301,4 @@ class Object(Base):
             return children, False
         except Exception as e:
             print(f"获取对象 {self._name} 的子节点失败: {e}")
-            return [], True
+            return [], True 

unilabos/device_comms/universal_driver.py

@@ -1,3 +1,4 @@
+
 from abc import abstractmethod
 from functools import wraps
 import inspect

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -21,18 +21,13 @@ from pylabrobot.resources import (
     ResourceHolder,
     Lid,
     Trash,
-    Tip, TubeRack,
+    Tip,
 )
 from typing_extensions import TypedDict
 
 from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.registry.placeholder_type import ResourceSlot
-from unilabos.resources.resource_tracker import (
-    ResourceTreeSet,
-    ResourceDict,
-    EXTRA_SAMPLE_UUID,
-    EXTRA_UNILABOS_SAMPLE_UUID,
-)
+from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
@@ -235,12 +230,18 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         res_samples = []
         res_volumes = []
-        for resource, volume, channel in zip(resources, vols, use_channels):
-            sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None)
-            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value})
+        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
+        if use_channels is None:
+            # 对于单通道操作，推断通道为 [0]
+            channels_to_use = [0] * len(resources)
+        else:
+            channels_to_use = use_channels
+
+        for resource, volume, channel in zip(resources, vols, channels_to_use):
+            res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
-                EXTRA_SAMPLE_UUID: sample_uuid_value,
+                "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
                 "volume": volume,
             }
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -282,10 +283,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
+            res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
             self.pending_liquids_dict[channel]["volume"] -= volume
-            resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
-            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
+            resource.unilabos_extra["sample_uuid"] = res_uuid
+            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
             res_volumes.append(volume)
 
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -690,19 +691,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         )
 
     def set_liquid_from_plate(
-        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
-        assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}"
-        plate: Union[Plate, TubeRack]
+        if isinstance(plate, list):  # 未来移除
+            plate = plate[0]
+        assert issubclass(plate.__class__, Plate), "plate must be a Plate"
+        plate: Plate = cast(Plate, plate)
         # 根据 well_names 获取对应的 Well 对象
-        if issubclass(plate.__class__, Plate):
-            wells = [plate.get_well(name) for name in well_names]
-        elif issubclass(plate.__class__, TubeRack):
-            wells = [plate.get_tube(name) for name in well_names]
+        wells = [plate.get_well(name) for name in well_names]
         res_volumes = []
 
         # 如果 liquid_names 和 volumes 都为空，直接返回
@@ -1191,6 +1191,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         if mix_times is not None:
             mix_times = int(mix_times)
 
+        # 设置tip racks
+        self.set_tiprack(tip_racks)
+
         # 识别传输模式（mix_times 为 None 也应该能正常移液，只是不做 mix）
         num_sources = len(sources)
         num_targets = len(targets)
@@ -1300,9 +1303,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """一对一传输模式：N sources -> N targets"""
         # 验证参数长度
         if len(asp_vols) != len(targets):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+            if len(asp_vols) == 1:
+                asp_vols = [asp_vols[0]] * len(targets)
+            else:
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
         if len(dis_vols) != len(targets):
-            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+            if len(dis_vols) == 1:
+                dis_vols = [dis_vols[0]] * len(targets)
+            else:
+                raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
         if len(sources) != len(targets):
             raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
 
@@ -1321,6 +1330,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1359,6 +1369,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1395,6 +1406,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1431,6 +1443,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1487,6 +1500,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx : idx + 1] if offsets and len(offsets) > idx else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
             # 从源容器吸液（总体积）
@@ -1530,6 +1544,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx : idx + 1] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
                 if touch_tip:
                     await self.touch_tip([target])
@@ -1573,6 +1588,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[i : i + 8] if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
@@ -1618,6 +1634,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets if offsets else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
+                        use_channels=use_channels,
                     )
 
                 if touch_tip:
@@ -1650,8 +1667,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         """多对一传输模式：N sources -> 1 target（汇总/混合）"""
         # 验证和扩展体积参数
         if len(asp_vols) != len(sources):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
-
+            if len(asp_vols) == 1:
+                asp_vols = [asp_vols[0]] * len(sources)
+            else:
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
+        
         # 支持两种模式：
         # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
         # 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
@@ -1669,10 +1689,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 f"(matching `asp_vols`). Got length {len(dis_vols)}."
             )
 
+        need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
+        defer_final_discard = need_mix_after or touch_tip
+
         if len(use_channels) == 1:
             # 单通道模式：多次吸液，一次分液
-            # 先混合前（如果需要）
+
+            # 如果需要 before mix，先 pick up tip 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1680,8 +1709,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
+                await self.discard_tips(use_channels=use_channels)
+
             # 从每个源容器吸液并分液到目标容器
             for idx, source in enumerate(sources):
                 tip = []
@@ -1739,10 +1771,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
 
-                await self.discard_tips(use_channels=use_channels)
+                if not (defer_final_discard and idx == len(sources) - 1):
+                    await self.discard_tips(use_channels=use_channels)
 
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1750,11 +1783,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
             if touch_tip:
                 await self.touch_tip([target])
 
+            if defer_final_discard:
+                await self.discard_tips(use_channels=use_channels)
+        
         elif len(use_channels) == 8:
             # 8通道模式：需要确保源数量是8的倍数
             if len(sources) % 8 != 0:
@@ -1762,6 +1799,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
             # 每次处理8个源
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1769,8 +1811,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
@@ -1833,10 +1878,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
 
-                await self.discard_tips([0, 1, 2, 3, 4, 5, 6, 7])
+                if not (defer_final_discard and i + 8 >= len(sources)):
+                    await self.discard_tips([0,1,2,3,4,5,6,7])
 
             # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+            if need_mix_after:
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1844,11 +1890,15 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     offsets=offsets[0:1] if offsets else None,
                     height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                     mix_rate=mix_rate if mix_rate else None,
+                    use_channels=use_channels,
                 )
 
             if touch_tip:
                 await self.touch_tip([target])
 
+            if defer_final_discard:
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e
@@ -1867,7 +1917,12 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await self._ros_node.sleep(seconds)
+            # Use ROS node sleep if available, otherwise use asyncio.sleep
+            if hasattr(self, '_ros_node') and self._ros_node is not None:
+                await self._ros_node.sleep(seconds)
+            else:
+                import asyncio
+                await asyncio.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
@@ -1905,27 +1960,59 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
+        use_channels: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        if mix_time is None:  # No mixing required
+        if mix_time is None or mix_time <= 0:  # No mixing required
             return
         """Mix the liquid in the target wells."""
+        if mix_vol is None:
+            raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
+
+        targets_list: List[Container] = list(targets)
+        if len(targets_list) == 0:
+            return
+
+        def _expand(value, count: int):
+            if value is None:
+                return [None] * count
+            if isinstance(value, (list, tuple)):
+                if len(value) != count:
+                    raise ValueError("Length of per-target parameters must match targets.")
+                return list(value)
+            return [value] * count
+
+        offsets_list = _expand(offsets, len(targets_list))
+        heights_list = _expand(height_to_bottom, len(targets_list))
+        rates_list = _expand(mix_rate, len(targets_list))
+
         for _ in range(mix_time):
-            await self.aspirate(
-                resources=[targets],
-                vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
-                offsets=[offsets] if offsets else None,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
-            )
-            await self.custom_delay(seconds=1)
-            await self.dispense(
-                resources=[targets],
-                vols=[mix_vol],
-                flow_rates=[mix_rate] if mix_rate else None,
-                offsets=[offsets] if offsets else None,
-                liquid_height=[height_to_bottom] if height_to_bottom else None,
-            )
+            for idx, target in enumerate(targets_list):
+                offset_arg = (
+                    [offsets_list[idx]] if offsets_list[idx] is not None else None
+                )
+                height_arg = (
+                    [heights_list[idx]] if heights_list[idx] is not None else None
+                )
+                rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
+
+                await self.aspirate(
+                    resources=[target],
+                    vols=[mix_vol],
+                    use_channels=use_channels,
+                    flow_rates=rate_arg,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
+                )
+                await self.custom_delay(seconds=1)
+                await self.dispense(
+                    resources=[target],
+                    vols=[mix_vol],
+                    use_channels=use_channels,
+                    flow_rates=rate_arg,
+                    offsets=offset_arg,
+                    liquid_height=height_arg,
+                )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -55,7 +55,6 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
     TransferLiquidReturn,
 )
 from unilabos.registry.placeholder_type import ResourceSlot
-from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -91,103 +90,23 @@ class PRCXI9300Deck(Deck):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    # T1-T16 默认位置 (4列×4行)
-    _DEFAULT_SITE_POSITIONS = [
-        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),         # T1-T4
-        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),     # T5-T8
-        (0, 192, 0), (138, 192, 0), (276, 192, 0), (414, 192, 0), # T9-T12
-        (0, 288, 0), (138, 288, 0), (276, 288, 0), (414, 288, 0), # T13-T16
-    ]
-    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86, "depth": 0}
-    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "plates", "tip_racks", "tube_rack", "adaptor"]
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
+        super().__init__(name, size_x, size_y, size_z)
+        self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
+        self.slot_locations = []
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
-                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
-        if sites is not None:
-            self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
-        else:
-            self.sites = []
-            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
-                self.sites.append({
-                    "label": f"T{i + 1}",
-                    "visible": True,
-                    "position": {"x": x, "y": y, "z": z},
-                    "size": dict(self._DEFAULT_SITE_SIZE),
-                    "content_type": list(self._DEFAULT_CONTENT_TYPE),
-                })
-        # _ordering: label -> None, 用于外部通过 list(keys()).index(site) 将 Tn 转换为 spot index
-        self._ordering = collections.OrderedDict(
-            (site["label"], None) for site in self.sites
-        )
-
-    def _get_site_location(self, idx: int) -> Coordinate:
-        pos = self.sites[idx]["position"]
-        return Coordinate(pos["x"], pos["y"], pos["z"])
-
-    def _get_site_resource(self, idx: int) -> Optional[Resource]:
-        site_loc = self._get_site_location(idx)
-        for child in self.children:
-            if child.location == site_loc:
-                return child
-        return None
-
-    def assign_child_resource(
-        self,
-        resource: Resource,
-        location: Optional[Coordinate] = None,
-        reassign: bool = True,
-        spot: Optional[int] = None,
-    ):
-        idx = spot
-        if spot is not None:
-            idx = spot
-        else:
-            for i, site in enumerate(self.sites):
-                site_loc = self._get_site_location(i)
-                if site.get("label") == resource.name:
-                    idx = i
-                    break
-                if location is not None and site_loc == location:
-                    idx = i
-                    break
-
-        if idx is None:
-            for i in range(len(self.sites)):
-                if self._get_site_resource(i) is None:
-                    idx = i
-                    break
-
-        if idx is None:
-            raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
-
-        if not reassign and self._get_site_resource(idx) is not None:
-            raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
-
-        loc = self._get_site_location(idx)
-        super().assign_child_resource(resource, location=loc, reassign=reassign)
+        for i in range(0, 16):
+            self.slot_locations.append(Coordinate((i%4)*137.5+5, (3-int(i/4))*96+13, 0))
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
-        self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
+        if self.slots[slot - 1] is not None and not reassign:
+            raise ValueError(f"Spot {slot} is already occupied")
 
-    def serialize(self) -> dict:
-        data = super().serialize()
-        sites_out = []
-        for i, site in enumerate(self.sites):
-            occupied = self._get_site_resource(i)
-            sites_out.append({
-                "label": site["label"],
-                "visible": site.get("visible", True),
-                "occupied_by": occupied.name if occupied is not None else None,
-                "position": site["position"],
-                "size": site["size"],
-                "content_type": site["content_type"],
-            })
-        data["sites"] = sites_out
-        return data
+        self.slots[slot - 1] = resource
+        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
 
 
-class PRCXI9300Container(Container):
+class PRCXI9300Container(Plate):
     """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
@@ -200,10 +119,11 @@ class PRCXI9300Container(Container):
         size_y: float,
         size_z: float,
         category: str,
+        ordering: collections.OrderedDict,
         model: Optional[str] = None,
         **kwargs,
     ):
-        super().__init__(name, size_x, size_y, size_z, category=category, model=model)
+        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -258,9 +178,30 @@ class PRCXI9300Plate(Plate):
                 elif value is None:
                     ordering_param = ordering
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items = ordering
-                ordering_param = None
+                # ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
+                # 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
+                sample_value = next(iter(ordering.values()), None)
+                if sample_value is not None and hasattr(sample_value, 'location'):
+                    # 如果是 Well 对象但 location 为 None，说明是反序列化过程
+                    # 让 Plate 自己创建 Well 对象
+                    if sample_value.location is None:
+                        items = None
+                        ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                    else:
+                        # Well 对象有有效的 location，可以直接使用
+                        items = ordering
+                        ordering_param = None
+                elif sample_value is None:
+                    # ordering 的值都是 None，让 Plate 自己创建 Well 对象
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                else:
+                    # 其他情况，直接使用
+                    items = ordering
+                    ordering_param = None
+        else:
+            items = None
+            ordering_param = collections.OrderedDict()  # 提供空的 ordering
 
         # 根据情况传递不同的参数
         if items is not None:
@@ -331,20 +272,26 @@ class PRCXI9300TipRack(TipRack):
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
-            first_val = next(iter(ordering.values()), None) if ordering else None
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
+                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，使用 ordering 参数
+                    items = None
+                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         else:
             items = None
             ordering_param = None
@@ -403,17 +350,11 @@ class PRCXI9300Trash(Trash):
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """
 
-    def __init__(
-        self,
-        name: str,
-        size_x: float,
-        size_y: float,
-        size_z: float,
-        category: str = "trash",
-        material_info: Optional[Dict[str, Any]] = None,
-        **kwargs,
-    ):
-
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
+                 category: str = "plate", 
+                 material_info: Optional[Dict[str, Any]] = None,
+                 **kwargs):
+        
         if name != "trash":
             print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.")
         super().__init__(name, size_x, size_y, size_z, **kwargs)
@@ -481,20 +422,25 @@ class PRCXI9300TubeRack(TubeRack):
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
-            first_val = next(iter(ordering.values()), None) if ordering else None
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
-                # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，这种情况下我们让 TubeRack 使用默认行为
+                # 不在初始化时创建 items，而是在 deserialize 后处理
                 items_to_pass = None
-                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())  # 提供空的 ordering 来满足要求
+                # 保存 ordering 信息以便后续处理
+                self._temp_ordering = ordering
             else:
-                # ordering 的值已经是对象，可以直接使用
-                items_to_pass = ordering
-                ordering_param = None
+                # ordering 的值已经是对象，需要过滤掉 None 值
+                # 只保留有效的对象，用于 ordered_items 参数
+                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                if valid_items:
+                    items_to_pass = valid_items
+                    ordering_param = None
+                else:
+                    # 如果没有有效对象，创建空的 ordered_items
+                    items_to_pass = {}
+                    ordering_param = None
         elif items is not None:
             # 兼容旧的 items 参数
             items_to_pass = items
@@ -516,6 +462,29 @@ class PRCXI9300TubeRack(TubeRack):
         if material_info:
             self._unilabos_state["Material"] = material_info
 
+        # 如果有临时 ordering 信息，在初始化完成后处理
+        if hasattr(self, '_temp_ordering') and self._temp_ordering:
+            self._process_temp_ordering()
+
+    def _process_temp_ordering(self):
+        """处理临时的 ordering 信息，创建相应的 Tube 对象"""
+        from pylabrobot.resources import Tube, Coordinate
+
+        for location, item_type in self._temp_ordering.items():
+            if item_type == 'Tube' or item_type == 'tube':
+                # 为每个位置创建 Tube 对象
+                tube = Tube(name=f"{self.name}_{location}", size_x=10, size_y=10, size_z=50, max_volume=2000.0)
+                # 使用 assign_child_resource 添加到 rack 中
+                self.assign_child_resource(tube, location=Coordinate(0, 0, 0))
+
+        # 清理临时数据
+        del self._temp_ordering
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """从给定的状态加载工作台信息。"""
+        # super().load_state(state)
+        self._unilabos_state = state
+
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         try:
             data = super().serialize_state()
@@ -542,6 +511,97 @@ class PRCXI9300TubeRack(TubeRack):
 
             data.update(safe_state)
         return data
+class PRCXI9300PlateAdapterSite(ItemizedCarrier):
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 material_info: Optional[Dict[str, Any]] = None, **kwargs):
+        # 处理 sites 参数的不同格式
+
+        sites = create_homogeneous_resources(
+        klass=ResourceHolder,
+        locations=[Coordinate(0, 0, 0)],
+        resource_size_x=size_x,
+        resource_size_y=size_y,
+        resource_size_z=size_z,
+        name_prefix=name,
+        )[0]
+        
+        # 确保不传递重复的参数
+        kwargs.pop('layout', None)
+        sites_in = kwargs.pop('sites', None)
+
+        # 创建默认的sites字典
+        sites_dict = {name: sites}
+        # 优先从 sites_in 读取 'content_type'，否则使用默认值
+
+        content_type = [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+        # 如果提供了sites参数，则用sites_in中的值替换sites_dict中对应的元素
+        if sites_in is not None and isinstance(sites_in, dict):
+            for site_key, site_value in sites_in.items():
+                if site_key in sites_dict:
+                    sites_dict[site_key] = site_value
+        
+        super().__init__(name, size_x, size_y, size_z,
+        sites=sites_dict,
+        num_items_x=kwargs.pop('num_items_x', 1),
+        num_items_y=kwargs.pop('num_items_y', 1),
+        num_items_z=kwargs.pop('num_items_z', 1),
+        content_type=content_type,
+        **kwargs)
+        self._unilabos_state = {}
+        if material_info:
+            self._unilabos_state["Material"] = material_info
+
+
+    def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None):
+        """重写 assign_child_resource 方法，对于适配器位置，不使用索引分配"""
+        # 直接调用 Resource 的 assign_child_resource，避免 ItemizedCarrier 的索引逻辑
+        from pylabrobot.resources.resource import Resource
+        Resource.assign_child_resource(self, resource, location=location, reassign=reassign)
+
+    def unassign_child_resource(self, resource):
+        """重写 unassign_child_resource 方法，对于适配器位置，不使用 sites 列表"""
+        # 直接调用 Resource 的 unassign_child_resource，避免 ItemizedCarrier 的 sites 逻辑
+        from pylabrobot.resources.resource import Resource
+        Resource.unassign_child_resource(self, resource)
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        try:
+            data = super().serialize_state()
+        except AttributeError:
+            data = {}
+
+        # 包含 sites 配置信息，但避免序列化 ResourceHolder 对象
+        if hasattr(self, 'sites') and self.sites:
+            # 只保存 sites 的基本信息，不保存 ResourceHolder 对象本身
+            sites_info = []
+            for site in self.sites:
+                if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__):
+                    # 对于 pylabrobot 对象，只保存基本信息
+                    sites_info.append({
+                        "__pylabrobot_object__": True,
+                        "class": site.__class__.__name__,
+                        "module": site.__class__.__module__,
+                        "name": getattr(site, 'name', str(site))
+                    })
+                else:
+                    sites_info.append(site)
+            data['sites'] = sites_info
+
+        return data
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """加载状态，包括 sites 配置信息"""
+        super().load_state(state)
+
+        # 从状态中恢复 sites 配置信息
+        if 'sites' in state:
+            self.sites = [state['sites']]
 
 
 class PRCXI9300PlateAdapter(PlateAdapter):
@@ -634,7 +694,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def __init__(
         self,
-        deck: PRCXI9300Deck,
+        deck: Deck,
         host: str,
         port: int,
         timeout: float,
@@ -646,18 +706,51 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         step_mode=False,
         matrix_id="",
         is_9320=False,
+        start_rail=2,
+        rail_nums=4,
+        rail_interval=0,
+        x_increase = -0.003636,
+        y_increase = -0.003636,
+        x_offset = -0.8,
+        y_offset = -37.98,
+        deck_z = 300,
+        deck_y = 400,
+        rail_width=27.5,
+        xy_coupling = -0.0045,
     ):
-        tablets_info = []
-        for site_id in range(len(deck.sites)):
-            child = deck._get_site_resource(site_id)
-            # 如果放其他类型的物料，是不可以的
-            if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
-                number = site_id + 1
-                tablets_info.append(
-                    WorkTablets(
-                        Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
-                    )
-                )
+
+        self.deck_x = (start_rail + rail_nums*5 + (rail_nums-1)*rail_interval) * rail_width
+        self.deck_y = deck_y
+        self.deck_z = deck_z
+        self.x_increase = x_increase
+        self.y_increase = y_increase
+        self.x_offset = x_offset
+        self.y_offset = y_offset
+        self.xy_coupling = xy_coupling
+
+        tablets_info = {}
+        plate_positions = []
+        for child in deck.children:
+            number = int(child.name.replace("T", ""))
+
+            if child.children:
+                if "Material" in child.children[0]._unilabos_state:
+                    tablets_info[number] = child.children[0]._unilabos_state["Material"].get("uuid", "730067cf07ae43849ddf4034299030e9")
+                else:
+                    tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
+            else:
+                tablets_info[number] = "730067cf07ae43849ddf4034299030e9"
+            pos = self.plr_pos_to_prcxi(child)
+            plate_positions.append(
+                {
+                    "Number": number,
+                    "XPos": pos.x,
+                    "YPos": pos.y,
+                    "ZPos": pos.z
+                }
+            )
+
+        
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性
@@ -667,10 +760,38 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
                 self.step_mode = step_mode
             else:
                 print("9300设备不支持 单点动作模式")
+        
         self._unilabos_backend = PRCXI9300Backend(
-            tablets_info, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320
+            tablets_info, plate_positions, host, port, timeout, channel_num, axis, setup, debug, matrix_id, is_9320,
+            x_increase, y_increase, x_offset, y_offset, 
+            deck_z, deck_x=self.deck_x, deck_y=self.deck_y, xy_coupling=xy_coupling
         )
+
         super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
+    
+    def plr_pos_to_prcxi(self, resource: Resource):
+        resource_pos = resource.get_absolute_location(x="c",y="c",z="t")
+        x = resource_pos.x 
+        y = resource_pos.y 
+        z = resource_pos.z
+        # 如果z等于0，则递归resource.parent的高度并向z加，使用get_size_z方法
+
+        parent = resource.parent
+        res_z = resource.location.z
+        while not isinstance(parent, LiquidHandlerAbstract) and (res_z == 0) and parent is not None:
+            z += parent.get_size_z()
+            res_z = parent.location.z
+            parent = getattr(parent, "parent", None)
+        
+        prcxi_x = (self.deck_x - x)*(1+self.x_increase) + self.x_offset + self.xy_coupling * (self.deck_y - y)
+        prcxi_y = (self.deck_y - y)*(1+self.y_increase) + self.y_offset
+        prcxi_z = self.deck_z - z
+
+        prcxi_x = min(max(0, prcxi_x),self.deck_x)
+        prcxi_y = min(max(0, prcxi_y),self.deck_y)
+        prcxi_z = min(max(0, prcxi_z),self.deck_z)
+
+        return Coordinate(prcxi_x, prcxi_y, prcxi_z)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         super().post_init(ros_node)
@@ -680,7 +801,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return super().set_liquid(wells, liquid_names, volumes)
 
     def set_liquid_from_plate(
-        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
 
@@ -941,6 +1062,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
         return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
 
+    async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
+        return await self._unilabos_backend.magnetic_action(time, module_no, height, is_wait)
+    
+    async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        return await self._unilabos_backend.shaking_incubation_action(time, module_no, amplitude, is_wait, temperature)
     async def heater_action(self, temperature: float, time: int):
         return await self._unilabos_backend.heater_action(temperature, time)
 
@@ -957,7 +1083,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         **backend_kwargs,
     ):
 
-        return await super().move_plate(
+        res = await super().move_plate(
             plate,
             to,
             intermediate_locations,
@@ -969,6 +1095,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             target_plate_number=to,
             **backend_kwargs,
         )
+        plate.unassign()
+        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
+        return res
 
 
 class PRCXI9300Backend(LiquidHandlerBackend):
@@ -993,6 +1125,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     def __init__(
         self,
         tablets_info: list[WorkTablets],
+        plate_positions: dict[int, Coordinate],
         host: str = "127.0.0.1",
         port: int = 9999,
         timeout: float = 10.0,
@@ -1001,10 +1134,19 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         setup=True,
         debug=False,
         matrix_id="",
-        is_9320=False,
+        is_9320=False, 
+        x_increase = 0,
+        y_increase = 0,
+        x_offset = 0,
+        y_offset = 0,
+        deck_z = 300,
+        deck_x = 0,
+        deck_y = 0,
+        xy_coupling = 0.0,
     ) -> None:
         super().__init__()
         self.tablets_info = tablets_info
+        self.plate_positions = plate_positions
         self.matrix_id = matrix_id
         self.api_client = PRCXI9300Api(host, port, timeout, axis, debug, is_9320)
         self.host, self.port, self.timeout = host, port, timeout
@@ -1012,6 +1154,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._execute_setup = setup
         self.debug = debug
         self.axis = "Left"
+        self.x_increase = x_increase
+        self.y_increase = y_increase
+        self.xy_coupling = xy_coupling
+        self.x_offset = x_offset
+        self.y_offset = y_offset
+        self.deck_x = deck_x
+        self.deck_y = deck_y
+        self.deck_z = deck_z
+        self.tip_length = 0
 
     async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
         step = self.api_client.shaker_action(
@@ -1023,6 +1174,27 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
+    async def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        step = self.api_client.shaking_incubation_action(
+            time=time,
+            module_no=module_no,
+            amplitude=amplitude,
+            is_wait=is_wait,
+            temperature=temperature,
+        )
+        self.steps_todo_list.append(step)
+        return step
+
+    async def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool): 
+        step = self.api_client.magnetic_action(
+            time=time,
+            module_no=module_no,
+            height=height,
+            is_wait=is_wait,
+        )
+        self.steps_todo_list.append(step)
+        return step
+
     async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
 
         resource = pickup.resource
@@ -1061,29 +1233,42 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self._ros_node = ros_node
 
     def create_protocol(self, protocol_name):
+        if protocol_name == "":
+            protocol_name = f"protocol_{time.time()}"
         self.protocol_name = protocol_name
         self.steps_todo_list = []
 
+        if not len(self.matrix_id):
+            self.matrix_id = str(uuid.uuid4())
+            
+            material_list = self.api_client.get_all_materials()
+            material_dict = {material["uuid"]: material for material in material_list}
+            
+            work_tablets = []
+            for num, material_id in self.tablets_info.items():
+                work_tablets.append({
+                    "Number": num,
+                    "Material": material_dict[material_id]
+                })
+
+            self.matrix_info = {
+                "MatrixId": self.matrix_id,
+                "MatrixName": self.matrix_id,
+                "WorkTablets": work_tablets,
+                }
+            # print(json.dumps(self.matrix_info, indent=2))
+            res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
+            if not res["Success"]:
+                self.matrix_id = ""
+                raise AssertionError(f"Failed to create matrix: {res.get('Message', 'Unknown error')}")
+            print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
+
     def run_protocol(self):
         assert self.is_reset_ok, "PRCXI9300Backend is not reset successfully. Please call setup() first."
         run_time = time.time()
-        self.matrix_info = MatrixInfo(
-            MatrixId=f"{int(run_time)}",
-            MatrixName=f"protocol_{run_time}",
-            MatrixCount=len(self.tablets_info),
-            WorkTablets=self.tablets_info,
+        solution_id = self.api_client.add_solution(
+            f"protocol_{run_time}", self.matrix_id, self.steps_todo_list
         )
-        # print(json.dumps(self.matrix_info, indent=2))
-        if not len(self.matrix_id):
-            res = self.api_client.add_WorkTablet_Matrix(self.matrix_info)
-            assert res["Success"], f"Failed to create matrix: {res.get('Message', 'Unknown error')}"
-            print(f"PRCXI9300Backend created matrix with ID: {self.matrix_info['MatrixId']}, result: {res}")
-            solution_id = self.api_client.add_solution(
-                f"protocol_{run_time}", self.matrix_info["MatrixId"], self.steps_todo_list
-            )
-        else:
-            print(f"PRCXI9300Backend using predefined worktable {self.matrix_id}, skipping matrix creation.")
-            solution_id = self.api_client.add_solution(f"protocol_{run_time}", self.matrix_id, self.steps_todo_list)
         print(f"PRCXI9300Backend created solution with ID: {solution_id}")
         self.api_client.load_solution(solution_id)
         print(json.dumps(self.steps_todo_list, indent=2))
@@ -1126,6 +1311,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                     else:
                         await asyncio.sleep(1)
                 print("PRCXI9300 reset successfully.")
+                
+                self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)
+
         except ConnectionRefusedError as e:
             raise RuntimeError(
                 f"Failed to connect to PRCXI9300 API at {self.host}:{self.port}. "
@@ -1174,7 +1362,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self._num_channels == 1:
+        if self.num_channels != 8:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Load(
@@ -1187,7 +1375,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             blending_times=0,
             balance_height=0,
             plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-            hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels == 1 else "1,2,3,4,5",
+            hole_numbers=f"{(hole_col - 1) * 8 + hole_row}" if self._num_channels != 8 else "1,2,3,4,5",
         )
         self.steps_todo_list.append(step)
 
@@ -1248,7 +1436,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
-        if self.channel_num == 1:
+        if self.num_channels != 8:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.UnLoad(
@@ -1300,7 +1488,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self.num_channels == 1:
+        if self.num_channels != 8:
             hole_row = tipspot_index % 8 + 1
 
         assert mix_time > 0
@@ -1357,7 +1545,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
         hole_row = 1
-        if self.num_channels == 1:
+        if self.num_channels != 8:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Imbibing(
@@ -1415,7 +1603,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         hole_col = tip_columns[0] + 1
 
         hole_row = 1
-        if self.num_channels == 1:
+        if self.num_channels != 8:
             hole_row = tipspot_index % 8 + 1
 
         step = self.api_client.Tapping(
@@ -1541,10 +1729,10 @@ class PRCXI9300Api:
         start = False
         while not success:
             status = self.step_state_list()
-            if len(status) == 1:
-                start = True
             if status is None:
                 break
+            if len(status) == 1:
+                start = True
             if len(status) == 0:
                 break
             if status[-1]["State"] == 2 and start:
@@ -1623,6 +1811,13 @@ class PRCXI9300Api:
         """GetWorkTabletMatrixById"""
         return self.call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
 
+    def update_clamp_jaw_position(self, target_matrix_id: str, plate_positions: List[Dict[str, Any]]):
+        position_params = {
+            "MatrixId": target_matrix_id,  
+            "WorkTablets": plate_positions
+        }
+        return self.call("IMatrix", "UpdateClampJawPosition", [position_params])
+
     def add_WorkTablet_Matrix(self, matrix: MatrixInfo):
         return self.call("IMatrix", "AddWorkTabletMatrix2" if self.is_9320 else "AddWorkTabletMatrix", [matrix])
 
@@ -1865,6 +2060,26 @@ class PRCXI9300Api:
             "AssistFun4": is_wait,
         }
 
+    def shaking_incubation_action(self, time: int, module_no: int, amplitude: int, is_wait: bool, temperature: int):
+        return {
+            "StepAxis": "Left",
+            "Function": "Shaking_Incubation",
+            "AssistFun1": time,
+            "AssistFun2": module_no,
+            "AssistFun3": amplitude,
+            "AssistFun4": is_wait,
+            "AssistFun5": temperature,
+        }
+    
+    def magnetic_action(self, time: int, module_no: int, height: int, is_wait: bool):
+        return {
+            "StepAxis": "Left",
+            "Function": "Magnetic",
+            "AssistFun1": time,
+            "AssistFun2": module_no,
+            "AssistFun3": height,
+            "AssistFun4": is_wait,
+        }
 
 class DefaultLayout:
 
@@ -1896,82 +2111,82 @@ class DefaultLayout:
                     {
                         "Number": 1,
                         "Code": "T1",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 2,
                         "Code": "T2",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 3,
                         "Code": "T3",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 4,
                         "Code": "T4",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 5,
                         "Code": "T5",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 6,
                         "Code": "T6",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 7,
                         "Code": "T7",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 8,
                         "Code": "T8",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 9,
                         "Code": "T9",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 10,
                         "Code": "T10",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 11,
                         "Code": "T11",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 12,
                         "Code": "T12",
-                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
                     },  # 这个设置成废液槽，用储液槽表示
                     {
                         "Number": 13,
                         "Code": "T13",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 14,
                         "Code": "T14",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 15,
                         "Code": "T15",
-                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f"},
                     },
                     {
                         "Number": 16,
                         "Code": "T16",
-                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
+                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9"},
                     },  # 这个设置成垃圾桶，用储液槽表示
                 ],
             }

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,11 +19,10 @@ from rclpy.node import Node
 import re
 
 class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
-    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
-            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/devices/transport/agv_workstation.py

@@ -1,127 +0,0 @@
-"""
-AGV 通用转运工站 Driver
-
-继承 WorkstationBase，通过 WorkstationNodeCreator 自动获得 ROS2WorkstationNode 能力。
-Warehouse 作为 children 中的资源节点，由 attach_resource() 自动注册到 resource_tracker。
-deck=None，不使用 PLR Deck 抽象。
-"""
-
-from typing import Any, Dict, List, Optional
-
-from pylabrobot.resources import Deck
-
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-from unilabos.resources.warehouse import WareHouse
-from unilabos.utils import logger
-
-
-class AGVTransportStation(WorkstationBase):
-    """通用 AGV 转运工站
-
-    初始化链路（零框架改动）：
-        ROS2DeviceNode.__init__():
-          issubclass(AGVTransportStation, WorkstationBase) → True
-          → WorkstationNodeCreator.create_instance(data):
-              data["deck"] = None
-              → DeviceClassCreator.create_instance(data) → AGVTransportStation(deck=None, ...)
-              → attach_resource(): children 中 type="warehouse" → resource_tracker.add_resource(wh)
-          → ROS2WorkstationNode(protocol_type=[...], children=[nav, arm], ...)
-          → driver.post_init(ros_node):
-              self.carrier 从 resource_tracker 中获取 WareHouse
-    """
-
-    def __init__(
-        self,
-        deck: Optional[Deck] = None,
-        children: Optional[List[Any]] = None,
-        route_table: Optional[Dict[str, Dict[str, str]]] = None,
-        device_roles: Optional[Dict[str, str]] = None,
-        **kwargs,
-    ):
-        super().__init__(deck=None, **kwargs)
-        self.route_table: Dict[str, Dict[str, str]] = route_table or {}
-        self.device_roles: Dict[str, str] = device_roles or {}
-
-    # ============ 载具 (Warehouse) ============
-
-    @property
-    def carrier(self) -> Optional[WareHouse]:
-        """从 resource_tracker 中找到 AGV 载具 Warehouse"""
-        if not hasattr(self, "_ros_node"):
-            return None
-        for res in self._ros_node.resource_tracker.resources:
-            if isinstance(res, WareHouse):
-                return res
-        return None
-
-    @property
-    def capacity(self) -> int:
-        """AGV 载具总容量（slot 数）"""
-        wh = self.carrier
-        if wh is None:
-            return 0
-        return wh.num_items_x * wh.num_items_y * wh.num_items_z
-
-    @property
-    def free_slots(self) -> List[str]:
-        """返回当前空闲 slot 名称列表"""
-        wh = self.carrier
-        if wh is None:
-            return []
-        ordering = getattr(wh, "_ordering", {})
-        return [name for name, site in ordering.items() if site.resource is None]
-
-    @property
-    def occupied_slots(self) -> Dict[str, Any]:
-        """返回已占用的 slot → Resource 映射"""
-        wh = self.carrier
-        if wh is None:
-            return {}
-        ordering = getattr(wh, "_ordering", {})
-        return {name: site.resource for name, site in ordering.items() if site.resource is not None}
-
-    # ============ 路由查询 ============
-
-    def resolve_route(self, from_station: str, to_station: str) -> Dict[str, str]:
-        """查询路由表，返回导航和机械臂指令
-
-        Args:
-            from_station: 来源工站 ID
-            to_station: 目标工站 ID
-
-        Returns:
-            {"nav_command": "...", "arm_pick": "...", "arm_place": "..."}
-
-        Raises:
-            KeyError: 路由表中未找到对应路线
-        """
-        route_key = f"{from_station}->{to_station}"
-        if route_key not in self.route_table:
-            raise KeyError(f"路由表中未找到路线: {route_key}")
-        return self.route_table[route_key]
-
-    def get_device_id(self, role: str) -> str:
-        """获取子设备 ID
-
-        Args:
-            role: 设备角色，如 "navigator", "arm"
-
-        Returns:
-            设备 ID 字符串
-
-        Raises:
-            KeyError: 未配置该角色的设备
-        """
-        if role not in self.device_roles:
-            raise KeyError(f"未配置设备角色: {role}，当前已配置: {list(self.device_roles.keys())}")
-        return self.device_roles[role]
-
-    # ============ 生命周期 ============
-
-    def post_init(self, ros_node) -> None:
-        super().post_init(ros_node)
-        wh = self.carrier
-        if wh is not None:
-            logger.info(f"AGV {ros_node.device_id} 载具已就绪: {wh.name}, 容量={self.capacity}")
-        else:
-            logger.warning(f"AGV {ros_node.device_id} 未发现 Warehouse 载具资源")

unilabos/devices/virtual/virtual_sample_demo.py

@@ -1,88 +0,0 @@
-"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
-
-import asyncio
-import logging
-import random
-import time
-from typing import Any, Dict, List, Optional
-
-
-class VirtualSampleDemo:
-    """虚拟样品追踪演示设备，提供两种典型返回模式：
-    - measure_samples: 等长输入输出 (前端按 index 自动对齐)
-    - split_and_measure: 输出比输入长，附带 samples 列标注归属
-    """
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop("id")
-        if config is None and "config" in kwargs:
-            config = kwargs.pop("config")
-
-        self.device_id = device_id or "unknown_sample_demo"
-        self.config = config or {}
-        self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
-        self.data: Dict[str, Any] = {"status": "Idle"}
-
-    # ------------------------------------------------------------------
-    # Action 1: 等长输入输出，无 samples 列
-    # ------------------------------------------------------------------
-    async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
-        """模拟光度测量。absorbance = concentration * 0.05 + noise
-
-        入参和出参 list 长度相等，前端按 index 自动对齐。
-        """
-        self.logger.info(f"measure_samples: concentrations={concentrations}")
-        absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
-        return {"concentrations": concentrations, "absorbance": absorbance}
-
-    # ------------------------------------------------------------------
-    # Action 2: 输出比输入长，带 samples 列
-    # ------------------------------------------------------------------
-    async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
-        """将每个样品均分为 split_count 份后逐份测量。
-
-        返回的 list 长度 = len(volumes) * split_count，
-        附带 samples 列标注每行属于第几个输入样品 (0-based index)。
-        """
-        self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
-        out_volumes: List[float] = []
-        readings: List[float] = []
-        samples: List[int] = []
-
-        for idx, vol in enumerate(volumes):
-            split_vol = round(vol / split_count, 2)
-            for _ in range(split_count):
-                out_volumes.append(split_vol)
-                readings.append(round(random.uniform(0.1, 1.0), 4))
-                samples.append(idx)
-
-        return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
-
-    # ------------------------------------------------------------------
-    # Action 3: 入参和出参都带 samples 列（不等长）
-    # ------------------------------------------------------------------
-    async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
-        """对 split_and_measure 的输出做二次分析。
-
-        入参 readings/samples 长度相同但 > 原始样品数，
-        出参同样带 samples 列，长度与入参一致。
-        """
-        self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
-        scores: List[float] = []
-        passed: List[bool] = []
-        threshold = 0.4
-
-        for r in readings:
-            score = round(r * 100 + random.gauss(0, 2), 2)
-            scores.append(score)
-            passed.append(r >= threshold)
-
-        return {"scores": scores, "passed": passed, "unilabos_samples": samples}
-
-    # ------------------------------------------------------------------
-    # 状态属性
-    # ------------------------------------------------------------------
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Idle")

unilabos/devices/virtual/virtual_transferpump.py

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
 
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-
+    
     _ros_node: BaseROS2DeviceNode
-
+    
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
-
+        
         Args:
             device_id: 设备ID
             config: 配置字典，包含max_volume, port等参数
             **kwargs: 其他参数，确保兼容性
         """
         self.device_id = device_id or "virtual_transfer_pump"
-
+        
         # 从config或kwargs中获取参数，确保类型正确
         if config:
-            self.max_volume = float(config.get("max_volume", 25.0))
-            self.port = config.get("port", "VIRTUAL")
+            self.max_volume = float(config.get('max_volume', 25.0))
+            self.port = config.get('port', 'VIRTUAL')
         else:
-            self.max_volume = float(kwargs.get("max_volume", 25.0))
-            self.port = kwargs.get("port", "VIRTUAL")
-
-        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
-        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
-
+            self.max_volume = float(kwargs.get('max_volume', 25.0))
+            self.port = kwargs.get('port', 'VIRTUAL')
+        
+        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
+        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
+        
         # 状态变量 - 确保都是正确类型
         self._status = "Idle"
         self._position = 0.0  # float
-        self._max_velocity = 5.0  # float
+        self._max_velocity = 5.0  # float 
         self._current_volume = 0.0  # float
 
         # 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,16 +52,14 @@ class VirtualTransferPump:
         self._fast_dispense_time = 1.0  # 快速喷射时间（秒）
 
         self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-
+        
         print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
-        print(
-            f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
-        )
+        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-
+    
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
-
+    
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -70,33 +68,33 @@ class VirtualTransferPump:
         self._current_volume = 0.0
         self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
         return True
-
+    
     async def cleanup(self) -> bool:
         """清理虚拟泵 🧹"""
         self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
         self._status = "Idle"
         self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
         return True
-
+    
     # 基本属性
     @property
     def status(self) -> str:
         return self._status
-
+    
     @property
     def position(self) -> float:
         """当前柱塞位置 (ml) 📍"""
         return self._position
-
+    
     @property
     def current_volume(self) -> float:
         """当前注射器中的体积 (ml) 💧"""
         return self._current_volume
-
+    
     @property
     def max_velocity(self) -> float:
         return self._max_velocity
-
+    
     @property
     def transfer_rate(self) -> float:
         return self._transfer_rate
@@ -105,17 +103,17 @@ class VirtualTransferPump:
         """设置最大速度 (ml/s) 🌊"""
         self._max_velocity = max(0.1, min(50.0, velocity))  # 限制在合理范围内
         self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-
+    
     def get_status(self) -> str:
         """获取泵状态 📋"""
         return self._status
-
+    
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
         await self._ros_node.sleep(duration)
         self._status = "Idle"
-
+    
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算操作持续时间 ⏰
@@ -123,10 +121,10 @@ class VirtualTransferPump:
         """
         if velocity is None:
             velocity = self._max_velocity
-
+        
         # 📊 计算理论时间（用于日志显示）
         theoretical_duration = abs(volume) / velocity
-
+        
         # 🚀 如果启用快速模式，使用固定的快速时间
         if self._fast_mode:
             # 根据操作类型选择快速时间
@@ -134,13 +132,13 @@ class VirtualTransferPump:
                 actual_duration = self._fast_move_time
             else:  # 很小的操作
                 actual_duration = 0.5
-
+            
             self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
             return actual_duration
         else:
             # 正常模式使用理论时间
             return theoretical_duration
-
+    
     def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算显示用的持续时间（用于日志） 📊
@@ -149,16 +147,16 @@ class VirtualTransferPump:
         if velocity is None:
             velocity = self._max_velocity
         return abs(volume) / velocity
-
+    
     # 新的set_position方法 - 专门用于SetPumpPosition动作
     async def set_position(self, position: float, max_velocity: float = None):
         """
         移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-
+        
         Args:
             position (float): 目标位置 (ml)
             max_velocity (float): 移动速度 (ml/s)
-
+        
         Returns:
             dict: 符合SetPumpPosition.action定义的结果
         """
@@ -166,19 +164,19 @@ class VirtualTransferPump:
             # 验证并转换参数
             target_position = float(position)
             velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-
+            
             # 限制位置在有效范围内
             target_position = max(0.0, min(float(self.max_volume), target_position))
-
+            
             # 计算移动距离
             volume_to_move = abs(target_position - self._position)
-
+            
             # 📊 计算显示用的时间（用于日志）
             display_duration = self._calculate_display_duration(volume_to_move, velocity)
-
+            
             # ⚡ 计算实际执行时间（快速模式）
             actual_duration = self._calculate_duration(volume_to_move, velocity)
-
+            
             # 🎯 确定操作类型和emoji
             if target_position > self._position:
                 operation_type = "吸液"
@@ -189,34 +187,28 @@ class VirtualTransferPump:
             else:
                 operation_type = "保持"
                 operation_emoji = "📍"
-
+            
             self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(
-                f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
-            )
+            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
             self.logger.info(f"  🌊 速度: {velocity:.2f} mL/s")
             self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+            
             if self._fast_mode:
                 self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+            
             # 🚀 模拟移动过程
             if volume_to_move > 0.01:  # 只有当移动距离足够大时才显示进度
                 start_position = self._position
                 steps = 5 if actual_duration > 0.5 else 2  # 根据实际时间调整步数
                 step_duration = actual_duration / steps
-
+                
                 self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-
+                
                 for i in range(steps + 1):
                     # 计算当前位置和进度
                     progress = (i / steps) * 100 if steps > 0 else 100
-                    current_pos = (
-                        start_position + (target_position - start_position) * (i / steps)
-                        if steps > 0
-                        else target_position
-                    )
-
+                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
+                    
                     # 更新状态
                     if i < steps:
                         self._status = f"{operation_type}中"
@@ -224,10 +216,10 @@ class VirtualTransferPump:
                     else:
                         self._status = "Idle"
                         status_emoji = "✅"
-
+                    
                     self._position = current_pos
                     self._current_volume = current_pos
-
+                    
                     # 显示进度（每25%或最后一步）
                     if i == 0:
                         self.logger.debug(f"  🔄 {operation_type}开始: {progress:.0f}%")
@@ -235,7 +227,7 @@ class VirtualTransferPump:
                         self.logger.debug(f"  🔄 {operation_type}进度: {progress:.0f}%")
                     elif i == steps:
                         self.logger.info(f"  ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-
+                    
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
                         await self._ros_node.sleep(step_duration)
@@ -244,27 +236,25 @@ class VirtualTransferPump:
                 self._position = target_position
                 self._current_volume = target_position
                 self.logger.info(f"  📍 微调完成: {target_position:.2f}mL")
-
+        
             # 确保最终位置准确
             self._position = target_position
             self._current_volume = target_position
             self._status = "Idle"
-
+            
             # 📊 最终状态日志
             if volume_to_move > 0.01:
-                self.logger.info(
-                    f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
-                )
-
+                self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
+            
             # 返回符合action定义的结果
             return {
                 "success": True,
                 "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
                 "final_position": self._position,
                 "final_volume": self._current_volume,
-                "operation_type": operation_type,
+                "operation_type": operation_type
             }
-
+            
         except Exception as e:
             error_msg = f"❌ 设置位置失败: {str(e)}"
             self.logger.error(error_msg)
@@ -272,136 +262,134 @@ class VirtualTransferPump:
                 "success": False,
                 "message": error_msg,
                 "final_position": self._position,
-                "final_volume": self._current_volume,
+                "final_volume": self._current_volume
             }
-
+    
     # 其他泵操作方法
     async def pull_plunger(self, volume: float, velocity: float = None):
         """
         拉取柱塞（吸液） 📥
-
+        
         Args:
             volume (float): 要拉取的体积 (ml)
             velocity (float): 拉取速度 (ml/s)
         """
         new_position = min(self.max_volume, self._position + volume)
         actual_volume = new_position - self._position
-
+        
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
             return
-
+        
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
         self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
         await self._simulate_operation(actual_duration)
-
+        
         self._position = new_position
         self._current_volume = new_position
-
+        
         self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     async def push_plunger(self, volume: float, velocity: float = None):
         """
         推出柱塞（排液） 📤
-
+        
         Args:
             volume (float): 要推出的体积 (ml)
             velocity (float): 推出速度 (ml/s)
         """
         new_position = max(0, self._position - volume)
         actual_volume = self._position - new_position
-
+        
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
             return
-
+        
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-
+        
         self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-
+        
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-
+        
         await self._simulate_operation(actual_duration)
-
+        
         self._position = new_position
         self._current_volume = new_position
-
+        
         self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     # 便捷操作方法
     async def aspirate(self, volume: float, velocity: float = None):
         """吸液操作 📥"""
         await self.pull_plunger(volume, velocity)
-
+    
     async def dispense(self, volume: float, velocity: float = None):
         """排液操作 📤"""
         await self.push_plunger(volume, velocity)
-
+    
     async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
         """转移操作（先吸后排） 🔄"""
         self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-
+        
         # 吸液
         await self.aspirate(volume, aspirate_velocity)
-
+        
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
         await self._ros_node.sleep(0.1)
-
+        
         # 排液
         await self.dispense(volume, dispense_velocity)
-
+    
     async def empty_syringe(self, velocity: float = None):
         """清空注射器"""
         await self.set_position(0, velocity)
-
+    
     async def fill_syringe(self, velocity: float = None):
         """充满注射器"""
         await self.set_position(self.max_volume, velocity)
-
+    
     async def stop_operation(self):
         """停止当前操作"""
         self._status = "Idle"
         self.logger.info("Operation stopped")
-
+    
     # 状态查询方法
     def get_position(self) -> float:
         """获取当前位置"""
         return self._position
-
+    
     def get_current_volume(self) -> float:
         """获取当前体积"""
         return self._current_volume
-
+    
     def get_remaining_capacity(self) -> float:
         """获取剩余容量"""
         return self.max_volume - self._current_volume
-
+    
     def is_empty(self) -> bool:
         """检查是否为空"""
         return self._current_volume <= 0.01  # 允许小量误差
-
+    
     def is_full(self) -> bool:
         """检查是否已满"""
         return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
-
+    
     def __str__(self):
-        return (
-            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-        )
-
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+    
     def __repr__(self):
         return self.__str__()
 
@@ -410,20 +398,20 @@ class VirtualTransferPump:
 async def demo():
     """虚拟泵使用示例"""
     pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-
+    
     await pump.initialize()
-
+    
     print(f"Initial state: {pump}")
-
+    
     # 测试set_position方法
     result = await pump.set_position(10.0, max_velocity=2.0)
     print(f"Set position result: {result}")
     print(f"After setting position to 10ml: {pump}")
-
+    
     # 吸液测试
     await pump.aspirate(5.0, velocity=2.0)
     print(f"After aspirating 5ml: {pump}")
-
+    
     # 清空测试
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")

unilabos/devices/virtual/workbench.py

@@ -1,874 +0,0 @@
-"""
-Virtual Workbench Device - 模拟工作台设备
-包含:
-- 1个机械臂 (每次操作3s, 独占锁)
-- 3个加热台 (每次加热10s, 可并行)
-
-工作流程:
-1. A1-A5 物料同时启动, 竞争机械臂
-2. 机械臂将物料移动到空闲加热台
-3. 加热完成后, 机械臂将物料移动到C1-C5
-
-注意: 调用来自线程池, 使用 threading.Lock 进行同步
-"""
-
-import logging
-import time
-from typing import Dict, Any, Optional, List
-from dataclasses import dataclass
-from enum import Enum
-from threading import Lock, RLock
-
-from typing_extensions import TypedDict
-
-from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
-)
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
-
-
-# ============ TypedDict 返回类型定义 ============
-
-
-class MoveToHeatingStationResult(TypedDict):
-    """move_to_heating_station 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-class StartHeatingResult(TypedDict):
-    """start_heating 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    material_number: int
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-class MoveToOutputResult(TypedDict):
-    """move_to_output 返回类型"""
-
-    success: bool
-    station_id: int
-    material_id: str
-    output_position: str
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-class PrepareMaterialsResult(TypedDict):
-    """prepare_materials 返回类型 - 批量准备物料"""
-
-    success: bool
-    count: int
-    material_1: int  # 物料编号1
-    material_2: int  # 物料编号2
-    material_3: int  # 物料编号3
-    material_4: int  # 物料编号4
-    material_5: int  # 物料编号5
-    message: str
-    unilabos_samples: List[LabSample]
-
-
-# ============ 状态枚举 ============
-
-
-class HeatingStationState(Enum):
-    """加热台状态枚举"""
-
-    IDLE = "idle"  # 空闲
-    OCCUPIED = "occupied"  # 已放置物料, 等待加热
-    HEATING = "heating"  # 加热中
-    COMPLETED = "completed"  # 加热完成, 等待取走
-
-
-class ArmState(Enum):
-    """机械臂状态枚举"""
-
-    IDLE = "idle"  # 空闲
-    BUSY = "busy"  # 工作中
-
-
-@dataclass
-class HeatingStation:
-    """加热台数据结构"""
-
-    station_id: int
-    state: HeatingStationState = HeatingStationState.IDLE
-    current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
-    material_number: Optional[int] = None  # 物料编号 (1-5)
-    heating_start_time: Optional[float] = None
-    heating_progress: float = 0.0
-
-
-@device(
-    id="virtual_workbench",
-    category=["virtual_device"],
-    description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
-)
-class VirtualWorkbench:
-    """
-    Virtual Workbench Device - 虚拟工作台设备
-
-    模拟一个包含1个机械臂和3个加热台的工作站
-    - 机械臂操作耗时3秒, 同一时间只能执行一个操作
-    - 加热台加热耗时10秒, 3个加热台可并行工作
-
-    工作流:
-    1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
-    2. 获取机械臂后, 查找空闲加热台
-    3. 机械臂将物料放入加热台, 开始加热
-    4. 加热完成后, 机械臂将物料移动到目标位置Cn
-    """
-
-    _ros_node: BaseROS2DeviceNode
-
-    # 配置常量
-    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 60.0  # 加热时间(秒)
-    NUM_HEATING_STATIONS: int = 3  # 加热台数量
-
-    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        # 处理可能的不同调用方式
-        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop("id")
-        if config is None and "config" in kwargs:
-            config = kwargs.pop("config")
-
-        self.device_id = device_id or "virtual_workbench"
-        self.config = config or {}
-
-        self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}")
-        self.data: Dict[str, Any] = {}
-
-        # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
-        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
-
-        # 机械臂状态和锁
-        self._arm_lock = Lock()
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task: Optional[str] = None
-
-        # 加热台状态
-        self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
-        }
-        self._stations_lock = RLock()
-
-        # 任务追踪
-        self._active_tasks: Dict[str, Dict[str, Any]] = {}
-        self._tasks_lock = Lock()
-
-        # 处理其他kwargs参数
-        skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"}
-        for key, value in kwargs.items():
-            if key not in skip_keys and not hasattr(self, key):
-                setattr(self, key, value)
-
-        self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===")
-        self.logger.info(
-            f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | "
-            f"加热时间: {self.HEATING_TIME}s | "
-            f"加热台数量: {self.NUM_HEATING_STATIONS}"
-        )
-
-    @not_action
-    def post_init(self, ros_node: BaseROS2DeviceNode):
-        """ROS节点初始化后回调"""
-        self._ros_node = ros_node
-
-    @not_action
-    def initialize(self) -> bool:
-        """初始化虚拟工作台"""
-        self.logger.info(f"初始化虚拟工作台 {self.device_id}")
-
-        with self._stations_lock:
-            for station in self._heating_stations.values():
-                station.state = HeatingStationState.IDLE
-                station.current_material = None
-                station.material_number = None
-                station.heating_progress = 0.0
-
-        self.data.update(
-            {
-                "status": "Ready",
-                "arm_state": ArmState.IDLE.value,
-                "arm_current_task": None,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": 0,
-                "message": "工作台就绪",
-            }
-        )
-
-        self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
-        return True
-
-    @not_action
-    def cleanup(self) -> bool:
-        """清理虚拟工作台"""
-        self.logger.info(f"清理虚拟工作台 {self.device_id}")
-
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-
-        with self._stations_lock:
-            self._heating_stations.clear()
-
-        with self._tasks_lock:
-            self._active_tasks.clear()
-
-        self.data.update(
-            {
-                "status": "Offline",
-                "arm_state": ArmState.IDLE.value,
-                "heating_stations": {},
-                "message": "工作台已关闭",
-            }
-        )
-        return True
-
-    def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
-        """获取所有加热台状态"""
-        with self._stations_lock:
-            return {
-                station_id: {
-                    "state": station.state.value,
-                    "current_material": station.current_material,
-                    "material_number": station.material_number,
-                    "heating_progress": station.heating_progress,
-                }
-                for station_id, station in self._heating_stations.items()
-            }
-
-    def _update_data_status(self, message: Optional[str] = None):
-        """更新状态数据"""
-        self.data.update(
-            {
-                "arm_state": self._arm_state.value,
-                "arm_current_task": self._arm_current_task,
-                "heating_stations": self._get_stations_status(),
-                "active_tasks_count": len(self._active_tasks),
-            }
-        )
-        if message:
-            self.data["message"] = message
-
-    def _find_available_heating_station(self) -> Optional[int]:
-        """查找空闲的加热台"""
-        with self._stations_lock:
-            for station_id, station in self._heating_stations.items():
-                if station.state == HeatingStationState.IDLE:
-                    return station_id
-        return None
-
-    def _acquire_arm(self, task_description: str) -> bool:
-        """获取机械臂使用权(阻塞直到获取)"""
-        self.logger.info(f"[{task_description}] 等待获取机械臂...")
-        self._arm_lock.acquire()
-        self._arm_state = ArmState.BUSY
-        self._arm_current_task = task_description
-        self._update_data_status(f"机械臂执行: {task_description}")
-        self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
-        return True
-
-    def _release_arm(self):
-        """释放机械臂"""
-        task = self._arm_current_task
-        self._arm_state = ArmState.IDLE
-        self._arm_current_task = None
-        self._arm_lock.release()
-        self._update_data_status(f"机械臂已释放 (完成: {task})")
-        self.logger.info(f"机械臂已释放 (完成: {task})")
-
-    @action(
-        auto_prefix=True,
-        description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
-        handles=[
-            ActionOutputHandle(key="channel_1", data_type="workbench_material",
-                         label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_2", data_type="workbench_material",
-                         label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_3", data_type="workbench_material",
-                         label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_4", data_type="workbench_material",
-                         label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="channel_5", data_type="workbench_material",
-                         label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def prepare_materials(
-        self,
-        sample_uuids: SampleUUIDsType,
-        count: int = 5,
-    ) -> PrepareMaterialsResult:
-        """
-        批量准备物料 - 虚拟起始节点
-
-        作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
-        输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
-        """
-        materials = [i for i in range(1, count + 1)]
-
-        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
-        )
-
-        return {
-            "success": True,
-            "count": count,
-            "material_1": materials[0] if len(materials) > 0 else 0,
-            "material_2": materials[1] if len(materials) > 1 else 0,
-            "material_3": materials[2] if len(materials) > 2 else 0,
-            "material_4": materials[3] if len(materials) > 3 else 0,
-            "material_5": materials[4] if len(materials) > 4 else 0,
-            "message": f"已准备 {count} 个物料: A1-A{count}",
-            "unilabos_samples": [
-                LabSample(
-                    sample_uuid=sample_uuid,
-                    oss_path="",
-                    extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
-        }
-
-    @action(
-        auto_prefix=True,
-        description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
-        handles=[
-            ActionInputHandle(key="material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
-                         label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="material_number_output", data_type="workbench_material",
-                         label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def move_to_heating_station(
-        self,
-        sample_uuids: SampleUUIDsType,
-        material_number: int,
-    ) -> MoveToHeatingStationResult:
-        """
-        将物料从An位置移动到加热台
-
-        多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
-        """
-        material_id = f"A{material_number}"
-        task_desc = f"移动{material_id}到加热台"
-        self.logger.info(f"[任务] {task_desc} - 开始执行")
-
-        with self._tasks_lock:
-            self._active_tasks[material_id] = {
-                "status": "waiting_for_arm",
-                "start_time": time.time(),
-            }
-
-        try:
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "waiting_for_arm"
-            self._acquire_arm(task_desc)
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "finding_station"
-            station_id = None
-
-            while station_id is None:
-                station_id = self._find_available_heating_station()
-                if station_id is None:
-                    self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
-                    self._release_arm()
-                    time.sleep(0.5)
-                    self._acquire_arm(task_desc)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
-                self._heating_stations[station_id].current_material = material_id
-                self._heating_stations[station_id].material_number = material_number
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "arm_moving"
-                self._active_tasks[material_id]["assigned_station"] = station_id
-            self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...")
-
-            time.sleep(self.ARM_OPERATION_TIME)
-
-            self._update_data_status(f"{material_id}已放入加热台{station_id}")
-            self.logger.info(
-                f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
-            )
-
-            self._release_arm()
-
-            with self._tasks_lock:
-                self._active_tasks[material_id]["status"] = "placed_on_station"
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"{material_id}已成功移动到加热台{station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-        except Exception as e:
-            self.logger.error(f"[{material_id}] 移动失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": -1,
-                "material_id": material_id,
-                "material_number": material_number,
-                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-    @action(
-        auto_prefix=True,
-        always_free=True,
-        description="启动指定加热台的加热程序",
-        handles=[
-            ActionInputHandle(key="station_id_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="material_number_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-            ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
-                         label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
-            ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
-                         label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
-        ],
-    )
-    def start_heating(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> StartHeatingResult:
-        """
-        启动指定加热台的加热程序
-        """
-        self.logger.info(f"[加热台{station_id}] 开始加热")
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "material_number": material_number,
-                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-
-            if station.current_material is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
-                }
-
-            if station.state == HeatingStationState.HEATING:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": station.current_material,
-                    "material_number": material_number,
-                    "message": f"加热台{station_id}已经在加热中",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
-                }
-
-            material_id = station.current_material
-
-            station.state = HeatingStationState.HEATING
-            station.heating_start_time = time.time()
-            station.heating_progress = 0.0
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating"
-
-        self._update_data_status(f"加热台{station_id}开始加热{material_id}")
-
-        with self._stations_lock:
-            heating_list = [
-                f"加热台{sid}:{s.current_material}"
-                for sid, s in self._heating_stations.items()
-                if s.state == HeatingStationState.HEATING and s.current_material
-            ]
-        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
-
-        start_time = time.time()
-        last_countdown_log = start_time
-        while True:
-            elapsed = time.time() - start_time
-            remaining = max(0.0, self.HEATING_TIME - elapsed)
-            progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].heating_progress = progress
-
-            self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
-
-            if time.time() - last_countdown_log >= 5.0:
-                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
-                last_countdown_log = time.time()
-
-            if elapsed >= self.HEATING_TIME:
-                break
-
-            time.sleep(1.0)
-
-        with self._stations_lock:
-            self._heating_stations[station_id].state = HeatingStationState.COMPLETED
-            self._heating_stations[station_id].heating_progress = 100.0
-
-        with self._tasks_lock:
-            if material_id in self._active_tasks:
-                self._active_tasks[material_id]["status"] = "heating_completed"
-
-        self._update_data_status(f"加热台{station_id}加热完成")
-        self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)")
-
-        return {
-            "success": True,
-            "station_id": station_id,
-            "material_id": material_id,
-            "material_number": material_number,
-            "message": f"加热台{station_id}加热完成",
-            "unilabos_samples": [
-                LabSample(
-                    sample_uuid=sample_uuid,
-                    oss_path="",
-                    extra=(
-                        {"material_uuid": content}
-                        if isinstance(content, str) else (content.serialize() if content else {})
-                    ),
-                )
-                for sample_uuid, content in sample_uuids.items()
-            ],
-        }
-
-    @action(
-        auto_prefix=True,
-        description="将物料从加热台移动到输出位置Cn",
-        handles=[
-            ActionInputHandle(key="output_station_input", data_type="workbench_station",
-                        label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
-            ActionInputHandle(key="output_material_input", data_type="workbench_material",
-                        label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
-        ],
-    )
-    def move_to_output(
-        self,
-        sample_uuids: SampleUUIDsType,
-        station_id: int,
-        material_number: int,
-    ) -> MoveToOutputResult:
-        """
-        将物料从加热台移动到输出位置Cn
-        """
-        output_number = material_number
-
-        if station_id not in self._heating_stations:
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": f"C{output_number}",
-                "message": f"无效的加热台ID: {station_id}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-        with self._stations_lock:
-            station = self._heating_stations[station_id]
-            material_id = station.current_material
-
-            if material_id is None:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": "",
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}上没有物料",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
-                }
-
-            if station.state != HeatingStationState.COMPLETED:
-                return {
-                    "success": False,
-                    "station_id": station_id,
-                    "material_id": material_id,
-                    "output_position": f"C{output_number}",
-                    "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
-                    "unilabos_samples": [
-                        LabSample(
-                            sample_uuid=sample_uuid,
-                            oss_path="",
-                            extra=(
-                                {"material_uuid": content}
-                                if isinstance(content, str) else (content.serialize() if content else {})
-                            ),
-                        )
-                        for sample_uuid, content in sample_uuids.items()
-                    ],
-                }
-
-        output_position = f"C{output_number}"
-        task_desc = f"从加热台{station_id}移动{material_id}到{output_position}"
-        self.logger.info(f"[任务] {task_desc}")
-
-        try:
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
-
-            self._acquire_arm(task_desc)
-
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "arm_moving_to_output"
-
-            self.logger.info(
-                f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
-            )
-            time.sleep(self.ARM_OPERATION_TIME)
-
-            with self._stations_lock:
-                self._heating_stations[station_id].state = HeatingStationState.IDLE
-                self._heating_stations[station_id].current_material = None
-                self._heating_stations[station_id].material_number = None
-                self._heating_stations[station_id].heating_progress = 0.0
-                self._heating_stations[station_id].heating_start_time = None
-
-            self._release_arm()
-
-            with self._tasks_lock:
-                if material_id in self._active_tasks:
-                    self._active_tasks[material_id]["status"] = "completed"
-                    self._active_tasks[material_id]["end_time"] = time.time()
-
-            self._update_data_status(f"{material_id}已移动到{output_position}")
-            self.logger.info(
-                f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
-            )
-
-            return {
-                "success": True,
-                "station_id": station_id,
-                "material_id": material_id,
-                "output_position": output_position,
-                "message": f"{material_id}已成功移动到{output_position}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str)
-                            else (content.serialize() if content is not None else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-        except Exception as e:
-            self.logger.error(f"移动到输出位置失败: {str(e)}")
-            if self._arm_lock.locked():
-                self._release_arm()
-            return {
-                "success": False,
-                "station_id": station_id,
-                "material_id": "",
-                "output_position": output_position,
-                "message": f"移动失败: {str(e)}",
-                "unilabos_samples": [
-                    LabSample(
-                        sample_uuid=sample_uuid,
-                        oss_path="",
-                        extra=(
-                            {"material_uuid": content}
-                            if isinstance(content, str) else (content.serialize() if content else {})
-                        ),
-                    )
-                    for sample_uuid, content in sample_uuids.items()
-                ],
-            }
-
-    # ============ 状态属性 ============
-
-    @property
-    @topic_config()
-    def status(self) -> str:
-        return self.data.get("status", "Unknown")
-
-    @property
-    @topic_config()
-    def arm_state(self) -> str:
-        return self._arm_state.value
-
-    @property
-    @topic_config()
-    def arm_current_task(self) -> str:
-        return self._arm_current_task or ""
-
-    @property
-    @topic_config()
-    def heating_station_1_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_1_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_1_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(1)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def heating_station_2_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_2_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_2_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(2)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def heating_station_3_state(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.state.value if station else "unknown"
-
-    @property
-    @topic_config()
-    def heating_station_3_material(self) -> str:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.current_material or "" if station else ""
-
-    @property
-    @topic_config()
-    def heating_station_3_progress(self) -> float:
-        with self._stations_lock:
-            station = self._heating_stations.get(3)
-            return station.heating_progress if station else 0.0
-
-    @property
-    @topic_config()
-    def active_tasks_count(self) -> int:
-        with self._tasks_lock:
-            return len(self._active_tasks)
-
-    @property
-    @topic_config()
-    def message(self) -> str:
-        return self.data.get("message", "")

unilabos/devices/workstation/README.md

@@ -1,5 +1,9 @@
 # 工作站抽象基类物料系统架构说明
 
+## 设计理念
+
+基于用户需求"请你帮我系统思考一下，工作站抽象基类的物料系统基类该如何构建"，我们最终确定了一个**PyLabRobot Deck为中心**的简化架构。
+
 ### 核心原则
 
 1. **PyLabRobot为物料管理核心**：使用PyLabRobot的Deck系统作为物料管理的基础，利用其成熟的Resource体系

unilabos/devices/workstation/bioyond_studio/bioyond_cell/20251229_多订单返回说明.md

@@ -1,113 +0,0 @@
-# Bioyond Cell 工作站 - 多订单返回示例
-
-本文档说明了 `create_orders` 函数如何收集并返回所有订单的完成报文。
-
-## 问题描述
-
-之前的实现只会等待并返回第一个订单的完成报文，如果有多个订单（例如从 Excel 解析出 3 个订单），只能得到第一个订单的推送信息。
-
-## 解决方案
-
-修改后的 `create_orders` 函数现在会：
-
-1. **提取所有 orderCode**：从 LIMS 接口返回的 `data` 列表中提取所有订单编号
-2. **逐个等待完成**：遍历所有 orderCode，调用 `wait_for_order_finish` 等待每个订单完成
-3. **收集所有报文**：将每个订单的完成报文存入 `all_reports` 列表
-4. **统一返回**：返回包含所有订单报文的 JSON 格式数据
-
-## 返回格式
-
-```json
-{
-    "status": "all_completed",
-    "total_orders": 3,
-    "reports": [
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:32:09.2148671+08:00",
-            "data": {
-                "orderId": "3a1e614d-a082-c44a-60be-68647a35e6f1",
-                "orderCode": "BSO2025122400024",
-                "orderName": "DP20251224001",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        },
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:32:09.9999039+08:00",
-            "data": {
-                "orderId": "3a1e614d-a0a2-f7a9-9360-610021c9479d",
-                "orderCode": "BSO2025122400025",
-                "orderName": "DP20251224002",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        },
-        {
-            "token": "",
-            "request_time": "2025-12-24T15:34:00.4139986+08:00",
-            "data": {
-                "orderId": "3a1e614d-a0cd-81ca-9f7f-2f4e93af01cd",
-                "orderCode": "BSO2025122400026",
-                "orderName": "DP20251224003",
-                "status": "30",
-                "workflowStatus": "completed",
-                "usedMaterials": [...]
-            }
-        }
-    ],
-    "original_response": {...}
-}
-```
-
-## 使用示例
-
-```python
-# 调用 create_orders
-result = workstation.create_orders("20251224.xlsx")
-
-# 访问返回数据
-print(f"总订单数: {result['total_orders']}")
-print(f"状态: {result['status']}")
-
-# 遍历所有订单的报文
-for i, report in enumerate(result['reports'], 1):
-    order_data = report.get('data', {})
-    print(f"\n订单 {i}:")
-    print(f"  orderCode: {order_data.get('orderCode')}")
-    print(f"  orderName: {order_data.get('orderName')}")
-    print(f"  status: {order_data.get('status')}")
-    print(f"  使用物料数: {len(order_data.get('usedMaterials', []))}")
-```
-
-## 控制台输出示例
-
-```
-[create_orders] 即将提交订单数量: 3
-[create_orders] 接口返回: {...}
-[create_orders] 等待 3 个订单完成: ['BSO2025122400024', 'BSO2025122400025', 'BSO2025122400026']
-[create_orders] 正在等待第 1/3 个订单: BSO2025122400024
-[create_orders] ✓ 订单 BSO2025122400024 完成
-[create_orders] 正在等待第 2/3 个订单: BSO2025122400025
-[create_orders] ✓ 订单 BSO2025122400025 完成
-[create_orders] 正在等待第 3/3 个订单: BSO2025122400026
-[create_orders] ✓ 订单 BSO2025122400026 完成
-[create_orders] 所有订单已完成，共收集 3 个报文
-实验记录本========================create_orders========================
-返回报文数量: 3
-报文 1: orderCode=BSO2025122400024, status=30
-报文 2: orderCode=BSO2025122400025, status=30
-报文 3: orderCode=BSO2025122400026, status=30
-========================
-```
-
-## 关键改进
-
-1. ✅ **等待所有订单**：不再只等待第一个订单，而是遍历所有 orderCode
-2. ✅ **收集完整报文**：每个订单的完整推送报文都被保存在 `reports` 数组中
-3. ✅ **详细日志**：清晰显示正在等待哪个订单，以及完成情况
-4. ✅ **错误处理**：即使某个订单失败，也会记录其状态信息
-5. ✅ **统一格式**：返回的 JSON 格式便于后续处理和分析

unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_JSON配置迁移经验.md

@@ -1,204 +0,0 @@
-# BioyondCellWorkstation JSON 配置迁移经验总结
-
-**日期**: 2026-01-13  
-**目的**: 从 `config.py` 迁移到 JSON 配置文件
-
----
-
-## 问题背景
-
-原系统通过 `config.py` 管理配置，导致：
-1. HTTP 服务重复启动（父类 `BioyondWorkstation` 和子类都启动）
-2. 配置分散在代码中，不便于管理
-3. 无法通过 JSON 统一配置所有参数
-
----
-
-## 解决方案：嵌套配置结构
-
-### JSON 结构设计
-
-**正确示例** (嵌套在 `config` 中):
-```json
-{
-  "nodes": [{
-    "id": "bioyond_cell_workstation",
-    "config": {
-      "deck": {...},
-      "protocol_type": [],
-      "bioyond_config": {
-        "api_host": "http://172.16.11.219:44388",
-        "api_key": "8A819E5C",
-        "timeout": 30,
-        "HTTP_host": "172.16.11.206",
-        "HTTP_port": 8080,
-        "debug_mode": false,
-        "material_type_mappings": {...},
-        "warehouse_mapping": {...},
-        "solid_liquid_mappings": {...}
-      }
-    },
-    "data": {}
-  }]
-}
-```
-
-**关键点**：
-- ✅ `bioyond_config` 放在 `config` 中（会传递到 `__init__`）
-- ❌ **不要**放在 `data` 中（`data` 是运行时状态，不会传递）
-
----
-
-## Python 代码适配
-
-### 1. 修改 `BioyondCellWorkstation.__init__` 签名
-
-**文件**: `bioyond_cell_workstation.py`
-
-```python
-def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
-    """
-    Args:
-        bioyond_config: 从 JSON 加载的配置字典
-        deck: Deck 配置
-        protocol_type: 协议类型
-    """
-    # 验证配置
-    if bioyond_config is None:
-        raise ValueError("需要 bioyond_config 参数")
-    
-    # 保存配置
-    self.bioyond_config = bioyond_config
-    
-    # 设置 HTTP 服务去重标志
-    self.bioyond_config["_disable_auto_http_service"] = True
-    
-    # 调用父类
-    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
-```
-
-### 2. 替换全局变量引用
-
-**修改前**（使用全局变量）:
-```python
-from config import MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING
-
-def create_sample(self, board_type, ...):
-    carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
-    location_id = WAREHOUSE_MAPPING[warehouse_name]["site_uuids"][location_code]
-```
-
-**修改后**（从配置读取）:
-```python
-def create_sample(self, board_type, ...):
-    carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
-    location_id = self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"][location_code]
-```
-
-### 3. 修复父类配置访问
-
-在 `station.py` 中安全访问配置默认值：
-
-```python
-# 修改前（会 KeyError）
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"])
-}
-
-# 修改后（安全访问）
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", ""))
-}
-```
-
----
-
-## 常见陷阱
-
-### ❌ 错误1：将配置放在 `data` 字段
-```json
-"config": {"deck": {...}},
-"data": {"bioyond_config": {...}}  // ❌ 不会传递到 __init__
-```
-
-### ❌ 错误2：扁平化配置（已废弃方案）
-虽然扁平化也能工作，但不推荐：
-```json
-"config": {
-  "deck": {...},
-  "api_host": "...",     // ❌ 不够清晰
-  "api_key": "...",
-  "HTTP_host": "..."
-}
-```
-
-### ❌ 错误3：忘记替换全局变量引用
-代码中直接使用 `MATERIAL_TYPE_MAPPINGS` 等全局变量会导致 `NameError`。
-
----
-
-## 云端同步注意事项
-
-使用 `--upload_registry` 时，云端配置可能覆盖本地配置：
-- 首次上传时确保 JSON 完整
-- 或使用新的 `ak/sk` 避免旧配置干扰
-- 调试时可暂时移除 `--upload_registry` 参数
-
----
-
-## 验证清单
-
-启动成功后应看到：
-```
-✅ 从 JSON 配置加载 bioyond_config 成功
-   API Host: http://...
-   HTTP Service: ...
-✅ BioyondCellWorkstation 初始化完成
-Loaded ResourceTreeSet with ... nodes
-```
-
-运行时不应出现：
-- ❌ `NameError: name 'MATERIAL_TYPE_MAPPINGS' is not defined`
-- ❌ `KeyError: 'http_service_host'`
-- ❌ `bioyond_config 缺少必需参数`
-
----
-
-## 调试经验
-
-1. **添加调试日志**查看参数传递链路：
-   - `graphio.py`: JSON 加载后的 config 内容
-   - `initialize_device.py`: `device_config.res_content.config` 的键
-   - `bioyond_cell_workstation.py`: `__init__` 接收到的参数
-
-2. **config vs data 区别**：
-   - `config`: 初始化参数，传递给 `__init__`
-   - `data`: 运行时状态，不传递给 `__init__`
-
-3. **参数名必须匹配**：
-   - JSON 中的键名必须与 `__init__` 参数名完全一致
-
-4. **调试代码清理**：完成后记得删除调试日志（🔍 DEBUG 标记）
-
----
-
-## 修改文件清单
-
-| 文件 | 修改内容 |
-|------|----------|
-| `yibin_electrolyte_config.json` | 创建嵌套 `config.bioyond_config` 结构 |
-| `bioyond_cell_workstation.py` | 修改 `__init__` 接收 `bioyond_config`，替换所有全局变量引用 |
-| `station.py` | 安全访问 `HTTP_SERVICE_CONFIG` 默认值 |
-
----
-
-## 参考代码位置
-
-- JSON 配置示例: `yibin_electrolyte_config.json` L12-L353
-- `__init__` 实现: `bioyond_cell_workstation.py` L39-L94
-- 全局变量替换示例: `bioyond_cell_workstation.py` L2005, L1863, L1966
-- HTTP 服务配置: `station.py` L629-L634
-
----
-
-**总结**: 使用嵌套结构将所有配置放在 `config.bioyond_config` 中，修改 `__init__` 直接接收该参数，并替换所有全局变量引用为 `self.bioyond_config` 访问。

unilabos/devices/workstation/bioyond_studio/bioyond_cell/20260113_配置迁移修改总结.md

@@ -1,312 +0,0 @@
-# BioyondCell 配置迁移修改总结
-
-**日期**: 2026-01-13  
-**目标**: 从 `config.py` 完全迁移到 JSON 配置，消除所有全局变量依赖
-
----
-
-## 📋 修改概览
-
-本次修改完成了 BioyondCell 模块从 Python 配置文件到 JSON 配置的完整迁移，并清理了所有对 `config.py` 全局变量的依赖。
-
-### 核心成果
-
-- ✅ 完全移除对 `config.py` 的导入依赖
-- ✅ 使用嵌套 JSON 结构 `config.bioyond_config`
-- ✅ 修复 7 处 `bioyond_cell_workstation.py` 中的全局变量引用
-- ✅ 修复 3 处其他文件中的全局变量引用
-- ✅ HTTP 服务去重机制完善
-- ✅ 系统成功启动并正常运行
-
----
-
-## 🔧 修改文件清单
-
-### 1. JSON 配置文件
-
-**文件**: `yibin_electrolyte_config.json`
-
-**修改**:
-- 采用嵌套结构将所有配置放在 `config.bioyond_config` 中
-- 包含：`api_host`, `api_key`, `HTTP_host`, `HTTP_port`, `material_type_mappings`, `warehouse_mapping`, `solid_liquid_mappings` 等
-
-**示例结构**:
-```json
-{
-  "nodes": [{
-    "id": "bioyond_cell_workstation",
-    "config": {
-      "deck": {...},
-      "protocol_type": [],
-      "bioyond_config": {
-        "api_host": "http://172.16.11.219:44388",
-        "api_key": "8A819E5C",
-        "HTTP_host": "172.16.11.206",
-        "HTTP_port": 8080,
-        "material_type_mappings": {...},
-        "warehouse_mapping": {...},
-        "solid_liquid_mappings": {...}
-      }
-    }
-  }]
-}
-```
-
----
-
-### 2. bioyond_cell_workstation.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py`
-
-#### 修改 A: `__init__` 方法签名 (L39-99)
-
-**修改前**:
-```python
-def __init__(self, deck=None, protocol_type=None, **kwargs):
-    # 从 kwargs 收集配置字段
-    self.bioyond_config = {}
-    for field in bioyond_field_names:
-        if field in kwargs:
-            self.bioyond_config[field] = kwargs.pop(field)
-```
-
-**修改后**:
-```python
-def __init__(self, bioyond_config: dict = None, deck=None, protocol_type=None, **kwargs):
-    """直接接收 bioyond_config 参数"""
-    if bioyond_config is None:
-        raise ValueError("需要 bioyond_config 参数")
-    
-    self.bioyond_config = bioyond_config
-    
-    # 设置 HTTP 服务去重标志
-    self.bioyond_config["_disable_auto_http_service"] = True
-    
-    super().__init__(bioyond_config=self.bioyond_config, deck=deck, **kwargs)
-```
-
-#### 修改 B: 替换全局变量引用 (7 处)
-
-| 位置 | 原代码 | 修改后 |
-|------|--------|--------|
-| L2005 | `MATERIAL_TYPE_MAPPINGS[board_type][1]` | `self.bioyond_config['material_type_mappings'][board_type][1]` |
-| L2006 | `MATERIAL_TYPE_MAPPINGS[bottle_type][1]` | `self.bioyond_config['material_type_mappings'][bottle_type][1]` |
-| L2009 | `WAREHOUSE_MAPPING` | `self.bioyond_config['warehouse_mapping']` |
-| L2013 | `WAREHOUSE_MAPPING[warehouse_name]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]` |
-| L2017 | `WAREHOUSE_MAPPING[warehouse_name]["site_uuids"]` | `self.bioyond_config['warehouse_mapping'][warehouse_name]["site_uuids"]` |
-| L1863 | `SOLID_LIQUID_MAPPINGS.get(material_name)` | `self.bioyond_config.get('solid_liquid_mappings', {}).get(material_name)` |
-| L1966, L1976 | `MATERIAL_TYPE_MAPPINGS.items()` | `self.bioyond_config['material_type_mappings'].items()` |
-
----
-
-### 3. station.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/station.py`
-
-#### 修改 A: 删除 config 导入 (L26-28)
-
-**修改前**:
-```python
-from unilabos.devices.workstation.bioyond_studio.config import (
-    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
-)
-```
-
-**修改后**:
-```python
-# 已删除此导入
-```
-
-#### 修改 B: `_create_communication_module` 方法 (L691-702)
-
-**修改前**:
-```python
-def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
-    default_config = {
-        **API_CONFIG,
-        "workflow_mappings": WORKFLOW_MAPPINGS,
-        "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-        "warehouse_mapping": WAREHOUSE_MAPPING
-    }
-    if config:
-        self.bioyond_config = {**default_config, **config}
-    else:
-        self.bioyond_config = default_config
-```
-
-**修改后**:
-```python
-def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
-    """创建Bioyond通信模块"""
-    # 使用传入的 config 参数（来自 bioyond_config）
-    # 不再依赖全局变量 API_CONFIG 等
-    if config:
-        self.bioyond_config = config
-    else:
-        # 如果没有传入配置，创建空配置（用于测试或兼容性）
-        self.bioyond_config = {}
-    
-    self.hardware_interface = BioyondV1RPC(self.bioyond_config)
-```
-
-#### 修改 C: HTTP 服务配置 (L627-632)
-
-**修改前**:
-```python
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG.get("http_service_host", "")),
-    "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG.get("http_service_port", 0))
-}
-```
-
-**修改后**:
-```python
-self._http_service_config = {
-    "host": bioyond_config.get("http_service_host", bioyond_config.get("HTTP_host", "")),
-    "port": bioyond_config.get("http_service_port", bioyond_config.get("HTTP_port", 0))
-}
-```
-
----
-
-### 4. bioyond_rpc.py
-
-**位置**: `unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`
-
-#### 修改 A: 删除 config 导入 (L12)
-
-**修改前**:
-```python
-from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
-```
-
-**修改后**:
-```python
-# 已删除此导入
-```
-
-#### 修改 B: `material_outbound` 方法 (L278-280)
-
-**修改前**:
-```python
-def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-    """指定库位出库物料（通过库位名称）"""
-    location_id = LOCATION_MAPPING.get(location_name, location_name)
-```
-
-**修改后**:
-```python
-def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-    """指定库位出库物料（通过库位名称）"""
-    # location_name 参数实际上应该直接是 location_id (UUID)
-    location_id = location_name
-```
-
-**说明**: `LOCATION_MAPPING` 在 `config-0113.py` 中本来就是空字典 `{}`，所以直接使用 `location_name` 逻辑等价。
-
----
-
-## 🎯 关键设计决策
-
-### 1. 嵌套 vs 扁平配置
-
-**选择**: 嵌套结构 `config.bioyond_config`
-
-**理由**:
-- ✅ 语义清晰，配置分组明确
-- ✅ 参数传递直观，直接对应 `__init__` 参数
-- ✅ 易于维护，不需要硬编码字段列表
-- ✅ 符合 UniLab 设计模式
-
-### 2. HTTP 服务去重
-
-**实现**: 子类设置 `_disable_auto_http_service` 标志
-
-```python
-# bioyond_cell_workstation.py
-self.bioyond_config["_disable_auto_http_service"] = True
-
-# station.py (post_init)
-if self.bioyond_config.get("_disable_auto_http_service"):
-    logger.info("子类已自行管理HTTP服务，跳过自动启动")
-    return
-```
-
-### 3. 全局变量替换策略
-
-**原则**: 所有配置从 `self.bioyond_config` 获取
-
-**模式**:
-```python
-# 修改前
-from config import MATERIAL_TYPE_MAPPINGS
-carrier_type_id = MATERIAL_TYPE_MAPPINGS[board_type][1]
-
-# 修改后
-carrier_type_id = self.bioyond_config['material_type_mappings'][board_type][1]
-```
-
----
-
-## ✅ 验证结果
-
-### 启动成功日志
-```
-✅ 从 JSON 配置加载 bioyond_config 成功
-   API Host: http://172.16.11.219:44388
-   HTTP Service: 172.16.11.206:8080
-🔧 已设置 _disable_auto_http_service 标志，防止 HTTP 服务重复启动
-✅ BioyondCellWorkstation 初始化完成
-Loaded ResourceTreeSet with 1 trees, 1785 total nodes
-```
-
-### 功能验证
-- ✅ 订单创建 (`create_orders_v2`)
-- ✅ 质量比计算
-- ✅ 物料转移 (`transfer_3_to_2_to_1`)
-- ✅ HTTP 报送接收 (step_finish, sample_finish, order_finish)
-- ✅ 等待机制 (`wait_for_order_finish`)
-- ✅ 仓库 UUID 映射
-- ✅ 物料类型映射
-
----
-
-## 📚 相关文档
-
-- **配置迁移经验**: `2026-01-13_JSON配置迁移经验.md`
-- **任务清单**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\task.md`
-- **实施计划**: `C:\Users\AndyXie\.gemini\antigravity\brain\...\implementation_plan.md`
-
----
-
-## ⚠️ 注意事项
-
-### 其他工作站模块
-
-以下文件仍在使用 `config.py` 全局变量（未包含在本次修改中）:
-- `reaction_station.py` - 使用 `API_CONFIG`
-- `experiment.py` - 使用 `API_CONFIG`, `WORKFLOW_MAPPINGS`, `MATERIAL_TYPE_MAPPINGS`
-- `dispensing_station.py` - 使用 `API_CONFIG`, `WAREHOUSE_MAPPING`
-- `station.py` L176, L177, L529, L530 - 动态导入 `WAREHOUSE_MAPPING`
-
-**建议**: 后续可以统一迁移这些模块到 JSON 配置。
-
-### config.py 文件
-
-`config.py` 文件已恢复但**不再被 bioyond_cell 使用**。可以：
-- 保留作为其他模块的参考
-- 或者完全删除（如果其他模块也迁移完成）
-
----
-
-## 🚀 下一步建议
-
-1. **清理调试代码** ✅ (已完成)
-2. **提交代码到 Git**
-3. **迁移其他工作站模块** (可选)
-4. **更新文档和启动脚本**
-
----
-
-**修改完成日期**: 2026-01-13  
-**系统状态**: ✅ 稳定运行

unilabos/devices/workstation/bioyond_studio/bioyond_cell/批量出库模板使用说明.md

@@ -1,157 +0,0 @@
-# 批量出库 Excel 模板使用说明
-
-**文件**: `outbound_template.xlsx`  
-**用途**: 配合 `auto_batch_outbound_from_xlsx()` 方法进行批量出库操作  
-**API 端点**: `/api/lims/storage/auto-batch-out-bound`
-
----
-
-## 📋 Excel 列说明
-
-| 列名 | 说明 | 示例 | 必填 |
-|------|------|------|------|
-| `locationId` | **库位 ID（UUID）** | `3a19da43-57b5-294f-d663-154a1cc32270` | ✅ 是 |
-| `warehouseId` | **仓库 ID 或名称** | `配液站内试剂仓库` | ✅ 是 |
-| `quantity` | **出库数量** | `1.0`, `2.0` | ✅ 是 |
-| `x` | **X 坐标（库位横向位置）** | `1`, `2`, `3` | ✅ 是 |
-| `y` | **Y 坐标（库位纵向位置）** | `1`, `2`, `3` | ✅ 是 |
-| `z` | **Z 坐标（库位层数/高度）** | `1`, `2`, `3` | ✅ 是 |
-| `备注说明` | 可选备注信息 | `配液站内试剂仓库-A01` | ❌ 否 |
-
-### 📐 坐标说明
-
-**x, y, z** 是库位在仓库内的**三维坐标**：
-
-```
-仓库（例如 WH4）
-├── Z=1（第1层/加样头面）
-│   ├── X=1, Y=1（位置 A）
-│   ├── X=2, Y=1（位置 B）
-│   ├── X=3, Y=1（位置 C）
-│   └── ...
-│
-└── Z=2（第2层/原液瓶面）
-    ├── X=1, Y=1（位置 A）
-    ├── X=2, Y=1（位置 B）
-    └── ...
-```
-
-- **warehouseId**: 指定哪个仓库（WH3, WH4, 配液站等）
-- **x, y, z**: 在该仓库内的三维坐标
-- **locationId**: 该坐标位置的唯一 UUID
-
-### 🎯 起点与终点
-
-**重要说明**：批量出库模板**只规定了出库的"起点"**（从哪里取物料），**没有指定"终点"**（放到哪里）。
-
-```
-出库流程：
-起点（Excel 指定） → ？终点（LIMS/工作流决定）
-    ↓
-locationId, x, y, z    → 由 LIMS 系统或当前工作流自动分配
-```
-
-**终点由以下方式确定：**
-- **LIMS 系统自动分配**：根据当前任务自动规划目标位置
-- **工作流预定义**：在创建出库任务时已绑定目标位置
-- **暂存区**：默认放到出库暂存区，等待下一步操作
-
-💡 **对比**：上料操作（`auto_feeding4to3`）则有 `targetWH` 参数可以指定目标仓库
-
----
-
-## 🔍 如何获取 UUID？
-
-### 方法 1：从配置文件获取
-
-参考 `yibin_electrolyte_config.json` 中的 `warehouse_mapping`：
-
-```json
-{
-  "warehouse_mapping": {
-    "配液站内试剂仓库": {
-      "site_uuids": {
-        "A01": "3a19da43-57b5-294f-d663-154a1cc32270",
-        "B01": "3a19da43-57b5-7394-5f49-54efe2c9bef2",
-        "C01": "3a19da43-57b5-5e75-552f-8dbd0ad1075f"
-      }
-    },
-    "手动堆栈": {
-      "site_uuids": {
-        "A01": "3a19deae-2c7a-36f5-5e41-02c5b66feaea",
-        "A02": "3a19deae-2c7a-dc6d-c41e-ef285d946cfe"
-      }
-    }
-  }
-}
-```
-
-### 方法 2：通过 API 查询
-
-```python
-material_info = hardware_interface.material_id_query(workflow_id)
-locations = material_info.get("locations", [])
-```
-
----
-
-## 📝 填写示例
-
-### 示例 1：从配液站内试剂仓库出库
-
-| locationId | warehouseId | quantity | x | y | z | 备注说明 |
-|------------|-------------|----------|---|---|---|----------|
-| `3a19da43-57b5-294f-d663-154a1cc32270` | 配液站内试剂仓库 | 1 | 1 | 1 | 1 | A01 位置 |
-| `3a19da43-57b5-7394-5f49-54efe2c9bef2` | 配液站内试剂仓库 | 2 | 2 | 1 | 1 | B01 位置 |
-
-### 示例 2：从手动堆栈出库
-
-| locationId | warehouseId | quantity | x | y | z | 备注说明 |
-|------------|-------------|----------|---|---|---|----------|
-| `3a19deae-2c7a-36f5-5e41-02c5b66feaea` | 手动堆栈 | 1 | 1 | 1 | 1 | A01 |
-| `3a19deae-2c7a-dc6d-c41e-ef285d946cfe` | 手动堆栈 | 1 | 1 | 2 | 1 | A02 |
-
----
-
-## 💻 使用方法
-
-```python
-from bioyond_cell_workstation import BioyondCellWorkstation
-
-# 初始化工作站
-workstation = BioyondCellWorkstation(config=config, deck=deck)
-
-# 调用批量出库方法
-result = workstation.auto_batch_outbound_from_xlsx(
-    xlsx_path="outbound_template.xlsx"
-)
-```
-
----
-
-## ⚠️ 注意事项
-
-1. **locationId 必须是有效的 UUID**，不能使用库位名称
-2. **x, y, z 坐标必须与 locationId 对应**，表示该库位在仓库内的位置
-3. **quantity 必须是数字**，可以是整数或浮点数
-4. Excel 文件必须包含表头行
-5. 空行会被自动跳过
-6. 确保 UUID 与实际库位对应，否则 API 会报错
-
----
-
-## 📚 相关文件
-
-- **配置文件**: `yibin_electrolyte_config.json`
-- **Python 代码**: `bioyond_cell_workstation.py` (L630-695)
-- **生成脚本**: `create_outbound_template.py`
-- **上料模板**: `material_template.xlsx`
-
----
-
-## 🔄 重新生成模板
-
-```bash
-conda activate newunilab
-python create_outbound_template.py
-```

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -9,7 +9,7 @@ from datetime import datetime, timezone
 from unilabos.device_comms.rpc import BaseRequest
 from typing import Optional, List, Dict, Any
 import json
-
+from unilabos.devices.workstation.bioyond_studio.config import LOCATION_MAPPING
 
 
 class SimpleLogger:
@@ -49,14 +49,6 @@ class BioyondV1RPC(BaseRequest):
         self.config = config
         self.api_key = config["api_key"]
         self.host = config["api_host"]
-
-        # 初始化 location_mapping
-        # 直接从 warehouse_mapping 构建，确保数据源所谓的单一和结构化
-        self.location_mapping = {}
-        warehouse_mapping = self.config.get("warehouse_mapping", {})
-        for warehouse_name, warehouse_config in warehouse_mapping.items():
-            if "site_uuids" in warehouse_config:
-                self.location_mapping.update(warehouse_config["site_uuids"])
         self._logger = SimpleLogger()
         self.material_cache = {}
         self._load_material_cache()
@@ -184,40 +176,7 @@ class BioyondV1RPC(BaseRequest):
             return {}
 
         print(f"add material data: {response['data']}")
-
-        # 自动更新缓存
-        data = response.get("data", {})
-        if data:
-            if isinstance(data, str):
-                # 如果返回的是字符串，通常是ID
-                mat_id = data
-                name = params.get("name")
-            else:
-                # 如果返回的是字典，尝试获取name和id
-                name = data.get("name") or params.get("name")
-                mat_id = data.get("id")
-
-            if name and mat_id:
-                self.material_cache[name] = mat_id
-                print(f"已自动更新缓存: {name} -> {mat_id}")
-
-            # 处理返回数据中的 details (如果有)
-            # 有些 API 返回结构可能直接包含 details，或者在 data 字段中
-            details = data.get("details", []) if isinstance(data, dict) else []
-            if not details and isinstance(data, dict):
-                 details = data.get("detail", [])
-
-            if details:
-                for detail in details:
-                    d_name = detail.get("name")
-                    # 尝试从不同字段获取 ID
-                    d_id = detail.get("id") or detail.get("detailMaterialId")
-
-                    if d_name and d_id:
-                        self.material_cache[d_name] = d_id
-                        print(f"已自动更新 detail 缓存: {d_name} -> {d_id}")
-
-        return data
+        return response.get("data", {})
 
     def query_matial_type_id(self, data) -> list:
         """查找物料typeid"""
@@ -244,7 +203,7 @@ class BioyondV1RPC(BaseRequest):
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
-                "data": 0,
+                "data": {},
             })
         if not response or response['code'] != 1:
             return []
@@ -314,19 +273,11 @@ class BioyondV1RPC(BaseRequest):
 
         if not response or response['code'] != 1:
             return {}
-
-        # 自动更新缓存 - 移除被删除的物料
-        for name, mid in list(self.material_cache.items()):
-            if mid == material_id:
-                del self.material_cache[name]
-                print(f"已从缓存移除物料: {name}")
-                break
-
         return response.get("data", {})
 
     def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
         """指定库位出库物料（通过库位名称）"""
-        location_id = self.location_mapping.get(location_name, location_name)
+        location_id = LOCATION_MAPPING.get(location_name, location_name)
 
         params = {
             "materialId": material_id,
@@ -1152,10 +1103,6 @@ class BioyondV1RPC(BaseRequest):
                     for detail_material in detail_materials:
                         detail_name = detail_material.get("name")
                         detail_id = detail_material.get("detailMaterialId")
-                        if not detail_id:
-                            # 尝试其他可能的字段
-                            detail_id = detail_material.get("id")
-
                         if detail_name and detail_id:
                             self.material_cache[detail_name] = detail_id
                             print(f"加载detail材料: {detail_name} -> ID: {detail_id}")
@@ -1176,14 +1123,6 @@ class BioyondV1RPC(BaseRequest):
             print(f"从缓存找到材料: {material_name_or_id} -> ID: {material_id}")
             return material_id
 
-        # 如果缓存中没有，尝试刷新缓存
-        print(f"缓存中未找到材料 '{material_name_or_id}'，尝试刷新缓存...")
-        self.refresh_material_cache()
-        if material_name_or_id in self.material_cache:
-            material_id = self.material_cache[material_name_or_id]
-            print(f"刷新缓存后找到材料: {material_name_or_id} -> ID: {material_id}")
-            return material_id
-
         print(f"警告: 未在缓存中找到材料名称 '{material_name_or_id}'，将使用原值")
         return material_name_or_id
 

unilabos/devices/workstation/bioyond_studio/config.py

@@ -0,0 +1,142 @@
+# config.py
+"""
+配置文件 - 包含所有配置信息和映射关系
+"""
+
+# API配置
+API_CONFIG = {
+    "api_key": "",
+    "api_host": ""
+}
+
+# 工作流映射配置
+WORKFLOW_MAPPINGS = {
+    "reactor_taken_out": "",
+    "reactor_taken_in": "",
+    "Solid_feeding_vials": "",
+    "Liquid_feeding_vials(non-titration)": "",
+    "Liquid_feeding_solvents": "",
+    "Liquid_feeding(titration)": "",
+    "liquid_feeding_beaker": "",
+    "Drip_back": "",
+}
+
+# 工作流名称到DisplaySectionName的映射
+WORKFLOW_TO_SECTION_MAP = {
+    'reactor_taken_in': '反应器放入',
+    'liquid_feeding_beaker': '液体投料-烧杯',
+    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
+    'Liquid_feeding_solvents': '液体投料-溶剂',
+    'Solid_feeding_vials': '固体投料-小瓶',
+    'Liquid_feeding(titration)': '液体投料-滴定',
+    'reactor_taken_out': '反应器取出'
+}
+
+# 库位映射配置
+WAREHOUSE_MAPPING = {
+    "粉末堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            # 样品板
+            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
+            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
+            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
+            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
+            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
+            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
+            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
+            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
+            # 分装板
+            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
+            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
+            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
+            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
+            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
+            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
+            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
+            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
+        }
+    },
+    "溶液堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
+            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
+            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
+            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
+            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
+            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
+            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
+            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
+            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
+            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
+            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
+            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
+            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
+            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
+            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
+            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
+        }
+    },
+    "试剂堆栈": {
+        "uuid": "",
+        "site_uuids": {
+            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
+            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
+            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
+            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
+            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
+            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
+            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
+            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
+        }
+    }
+}
+
+# 物料类型配置
+MATERIAL_TYPE_MAPPINGS = {
+    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
+    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
+    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
+    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
+    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
+    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
+    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+}
+
+# 步骤参数配置（各工作流的步骤UUID）
+WORKFLOW_STEP_IDS = {
+    "reactor_taken_in": {
+        "config": ""
+    },
+    "liquid_feeding_beaker": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_vials_non_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "liquid_feeding_solvents": {
+        "liquid": "",
+        "observe": ""
+    },
+    "solid_feeding_vials": {
+        "feeding": "",
+        "observe": ""
+    },
+    "liquid_feeding_titration": {
+        "liquid": "",
+        "observe": ""
+    },
+    "drip_back": {
+        "liquid": "",
+        "observe": ""
+    }
+}
+
+LOCATION_MAPPING = {}
+
+ACTION_NAMES = {}
+
+HTTP_SERVICE_CONFIG = {}

unilabos/devices/workstation/bioyond_studio/config.py.deprecated

@@ -1,329 +0,0 @@
-# config.py
-"""
-Bioyond工作站配置文件
-包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
-"""
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-# ============================================================================
-# 基础配置
-# ============================================================================
-
-# API配置
-API_CONFIG = {
-    "api_key": "DE9BDDA0",
-    "api_host": "http://192.168.1.200:44402"
-}
-
-# HTTP 报送服务配置
-HTTP_SERVICE_CONFIG = {
-    "http_service_host": "127.0.0.1",  # 监听地址
-    "http_service_port": 8080,        # 监听端口
-}
-
-# Deck配置 - 反应站工作台配置
-DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
-
-# ============================================================================
-# 工作流配置
-# ============================================================================
-
-# 工作流ID映射
-WORKFLOW_MAPPINGS = {
-    "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-    "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-    "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
-    "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
-    "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-    "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-    "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
-    "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
-}
-
-# 工作流名称到显示名称的映射
-WORKFLOW_TO_SECTION_MAP = {
-    'reactor_taken_in': '反应器放入',
-    'reactor_taken_out': '反应器取出',
-    'Solid_feeding_vials': '固体投料-小瓶',
-    'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
-    'Liquid_feeding_solvents': '液体投料-溶剂',
-    'Liquid_feeding(titration)': '液体投料-滴定',
-    'liquid_feeding_beaker': '液体投料-烧杯',
-    'Drip_back': '液体回滴'
-}
-
-# 工作流步骤ID配置
-WORKFLOW_STEP_IDS = {
-    "reactor_taken_in": {
-        "config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
-    },
-    "liquid_feeding_beaker": {
-        "liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
-        "observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
-    },
-    "liquid_feeding_vials_non_titration": {
-        "liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
-        "observe": "3a167d99-6172-b67b-5f22-a7892197142e"
-    },
-    "liquid_feeding_solvents": {
-        "liquid": "1fcea355-2545-462b-b727-350b69a313bf",
-        "observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
-    },
-    "solid_feeding_vials": {
-        "feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
-        "observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
-    },
-    "liquid_feeding_titration": {
-        "liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
-        "observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
-    },
-    "drip_back": {
-        "liquid": "371be86a-ab77-4769-83e5-54580547c48a",
-        "observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
-    }
-}
-
-# 工作流动作名称配置
-ACTION_NAMES = {
-    "reactor_taken_in": {
-        "config": "通量-配置",
-        "stirring": "反应模块-开始搅拌"
-    },
-    "solid_feeding_vials": {
-        "feeding": "粉末加样模块-投料",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "liquid_feeding_vials_non_titration": {
-        "liquid": "稀释液瓶加液位-液体投料",
-        "observe": "反应模块-滴定结果观察"
-    },
-    "liquid_feeding_solvents": {
-        "liquid": "试剂AB放置位-试剂吸液分液",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "liquid_feeding_titration": {
-        "liquid": "稀释液瓶加液位-稀释液吸液分液",
-        "observe": "反应模块-滴定结果观察"
-    },
-    "liquid_feeding_beaker": {
-        "liquid": "烧杯溶液放置位-烧杯吸液分液",
-        "observe": "反应模块-观察搅拌结果"
-    },
-    "drip_back": {
-        "liquid": "试剂AB放置位-试剂吸液分液",
-        "observe": "反应模块-向下滴定结果观察"
-    }
-}
-
-# ============================================================================
-# 仓库配置
-# ============================================================================
-# 说明:
-# - 出库和入库操作都需要UUID
-WAREHOUSE_MAPPING = {
-    # ========== 反应站仓库 ==========
-
-    # 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
-    "堆栈1左": {
-        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-        "site_uuids": {
-            "A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
-            "A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
-            "A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
-            "A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
-            "B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
-            "B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
-            "B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
-            "B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
-            "C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
-            "C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
-            "C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
-            "C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
-            "D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
-            "D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
-            "D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
-            "D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
-        },
-    },
-
-    # 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
-    "堆栈1右": {
-        "uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-        "site_uuids": {
-            "A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
-            "A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
-            "A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
-            "A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
-            "B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
-            "B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
-            "B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
-            "B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
-            "C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
-            "C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
-            "C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
-            "C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
-            "D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
-            "D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
-            "D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
-            "D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
-        },
-    },
-
-    # 站内试剂存放堆栈
-    "站内试剂存放堆栈": {
-        "uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-        "site_uuids": {
-            "A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
-            "A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
-        }
-    },
-
-
-    # 测量小瓶仓库（测密度）
-    "测量小瓶仓库": {
-        "uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
-        "site_uuids": {
-            "A01": "3a15012f-705e-0524-3161-c523b5aebc97",
-            "A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
-            "A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
-            "B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
-            "B02": "3a15012f-705e-e499-180d-de06d60d0b21",
-            "B03": "3a15012f-705e-eff6-63f1-09f742096b26"
-        }
-    },
-
-    # 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
-    "站内Tip盒堆栈": {
-        "uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
-        "site_uuids": {
-            "A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
-            "A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
-            "A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
-            "B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
-            "B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
-            "B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
-        }
-    },
-    # ========== 配液站仓库 ==========
-    "粉末堆栈": {
-        "uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
-        "site_uuids": {
-            "A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
-            "A02": "3a14198e-6929-4379-affa-9a2935c17f99",
-            "A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-            "A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-            "B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
-            "B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-            "B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
-            "B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
-            "C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-            "C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
-            "C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-            "C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-            "D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-            "D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-            "D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-            "D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-        }
-    },
-    "溶液堆栈": {
-        "uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
-        "site_uuids": {
-            "A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-            "A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
-            "A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
-            "A04": "3a14198e-d724-d378-d266-2508a224a19f",
-            "B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-            "B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
-            "B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
-            "B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
-            "C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-            "C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
-            "C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
-            "C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
-            "D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
-            "D02": "3a14198e-d724-1e28-c885-574c3df468d0",
-            "D03": "3a14198e-d724-28a2-a760-baa896f46b66",
-            "D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
-        }
-    },
-    "试剂堆栈": {
-        "uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
-        "site_uuids": {
-            "A01": "3a14198c-c2cf-8b40-af28-b467808f1c36",  # x=1, y=1, code=0001-0001
-            "A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",  # x=1, y=2, code=0001-0002
-            "A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",  # x=1, y=3, code=0001-0003
-            "A04": "3a14198c-c2d0-725e-523d-34c037ac2440",  # x=1, y=4, code=0001-0004
-            "B01": "3a14198c-c2d0-f3e7-871a-e470d144296f",  # x=2, y=1, code=0001-0005
-            "B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f",  # x=2, y=2, code=0001-0006
-            "B03": "3a14198c-c2d0-1559-105d-0ea30682cab4",  # x=2, y=3, code=0001-0007
-            "B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"   # x=2, y=4, code=0001-0008
-        }
-    }
-}
-
-# ============================================================================
-# 物料类型配置
-# ============================================================================
-# 说明:
-# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
-# - 这个映射基于 resource.model 属性 (不是显示名称!)
-# - UUID为空表示该类型暂未在Bioyond系统中定义
-MATERIAL_TYPE_MAPPINGS = {
-    # ================================================配液站资源============================================================
-    # ==================================================样品===============================================================
-    "BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),  # 配液站-样品-烧杯
-    "BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"),  # 配液站-样品-试剂瓶
-    "BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),  # 配液站-样品-分装板
-    "BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"),  # 配液站-样品-分装板-第一排小瓶
-    "BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),  # 配液站-样品-分装板-第二排小瓶
-    # ==================================================试剂===============================================================
-    "BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"),  # 配液站-试剂-样品板（8孔）
-    "BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),  # 配液站-试剂-样品板-样品瓶
-
-}
-
-# ============================================================================
-# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
-# ============================================================================
-
-LOCATION_MAPPING = {}
-for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
-    if "site_uuids" in warehouse_config:
-        LOCATION_MAPPING.update(warehouse_config["site_uuids"])
-
-# ============================================================================
-# 物料默认参数配置
-# ============================================================================
-# 说明:
-# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
-# - 格式: 物料名称 → {参数字典}
-# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
-# - unit: 物料的计量单位（会用于 unit 字段）
-# - density/densityUnit: 密度信息（会添加到 Parameters 中）
-
-MATERIAL_DEFAULT_PARAMETERS = {
-    # 溶剂类
-    "NMP": {
-        "unit": "毫升",
-        "density": "1.03",
-        "densityUnit": "g/mL",
-        "description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
-    },
-    # 可以继续添加其他物料...
-}
-
-# ============================================================================
-# 物料类型默认参数配置
-# ============================================================================
-# 说明:
-# - 为特定物料类型（UUID）自动添加默认参数
-# - 格式: Bioyond类型UUID → {参数字典}
-# - 优先级低于按名称匹配的配置
-MATERIAL_TYPE_PARAMETERS = {
-    # 示例:
-    # "3a14196b-24f2-ca49-9081-0cab8021bf1a": {  # 烧杯
-    #     "unit": "个"
-    # }
-}

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -4,8 +4,7 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-import pint
-
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
@@ -26,89 +25,13 @@ class ComputeExperimentDesignReturn(TypedDict):
 class BioyondDispensingStation(BioyondWorkstation):
     def __init__(
         self,
-        config: dict = None,
-        deck=None,
-        protocol_type=None,
+        config,
+            # 桌子
+        deck,
+        *args,
         **kwargs,
-    ):
-        """初始化配液站
-
-        Args:
-            config: 配置字典,应包含material_type_mappings等配置
-            deck: Deck对象
-            protocol_type: 协议类型(由ROS系统传递,此处忽略)
-            **kwargs: 其他可能的参数
-        """
-        if config is None:
-            config = {}
-
-        # 将 kwargs 合并到 config 中 (处理扁平化配置如 api_key)
-        config.update(kwargs)
-
-        if deck is None and config:
-            deck = config.get('deck')
-
-        # 🔧 修复: 确保 Deck 上的 warehouses 具有正确的 UUID (必须在 super().__init__ 之前执行，因为父类会触发同步)
-        # 从配置中读取 warehouse_mapping，并应用到实际的 deck 资源上
-        if config and "warehouse_mapping" in config and deck:
-            warehouse_mapping = config["warehouse_mapping"]
-            print(f"正在根据配置更新 Deck warehouse UUIDs... (共有 {len(warehouse_mapping)} 个配置)")
-
-            user_deck = deck
-            # 初始化 warehouses 字典
-            if not hasattr(user_deck, "warehouses") or user_deck.warehouses is None:
-                user_deck.warehouses = {}
-
-            # 1. 尝试从 children 中查找匹配的资源
-            for child in user_deck.children:
-                # 简单判断: 如果名字在 mapping 中，就认为是 warehouse
-                if child.name in warehouse_mapping:
-                    user_deck.warehouses[child.name] = child
-                    print(f"  - 从子资源中找到 warehouse: {child.name}")
-
-            # 2. 如果还是没找到，且 Deck 类有 setup 方法，尝试调用 setup (针对 Deck 对象正确但未初始化的情况)
-            if not user_deck.warehouses and hasattr(user_deck, "setup"):
-                print("  - 尝试调用 deck.setup() 初始化仓库...")
-                try:
-                    user_deck.setup()
-                    # setup 后重新检查
-                    if hasattr(user_deck, "warehouses") and user_deck.warehouses:
-                            print(f"  - setup() 成功，找到 {len(user_deck.warehouses)} 个仓库")
-                except Exception as e:
-                    print(f"  - 调用 setup() 失败: {e}")
-
-            # 3. 如果仍然为空，可能需要手动创建 (仅针对特定已知的 Deck 类型进行补救，这里暂时只打印警告)
-            if not user_deck.warehouses:
-                    print("  - ⚠️ 仍然无法找到任何 warehouse 资源！")
-
-            for wh_name, wh_config in warehouse_mapping.items():
-                target_uuid = wh_config.get("uuid")
-
-                # 尝试在 deck.warehouses 中查找
-                wh_resource = None
-                if hasattr(user_deck, "warehouses") and wh_name in user_deck.warehouses:
-                    wh_resource = user_deck.warehouses[wh_name]
-
-                # 如果没找到，尝试在所有子资源中查找
-                if not wh_resource:
-                    wh_resource = user_deck.get_resource(wh_name)
-
-                if wh_resource:
-                    if target_uuid:
-                        current_uuid = getattr(wh_resource, "uuid", None)
-                        print(f"✅ 更新仓库 '{wh_name}' UUID: {current_uuid} -> {target_uuid}")
-
-                        # 动态添加 uuid 属性
-                        wh_resource.uuid = target_uuid
-                        # 同时也确保 category 正确，避免 graphio 识别错误
-                        # wh_resource.category = "warehouse"
-                    else:
-                            print(f"⚠️ 仓库 '{wh_name}' 在配置中没有 UUID")
-                else:
-                    print(f"❌ 在 Deck 中未找到配置的仓库: '{wh_name}'")
-
-        super().__init__(bioyond_config=config, deck=deck)
-
+        ):
+        super().__init__(config, deck, *args, **kwargs)
         # self.config = config
         # self.api_key = config["api_key"]
         # self.host = config["api_host"]
@@ -120,41 +43,6 @@ class BioyondDispensingStation(BioyondWorkstation):
         # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
         self.order_completion_status = {}
 
-        # 初始化 pint 单位注册表
-        self.ureg = pint.UnitRegistry()
-
-        # 化合物信息
-        self.compound_info = {
-            "MolWt": {
-                "MDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "TDA": 122.16 * self.ureg.g / self.ureg.mol,
-                "PAPP": 521.62 * self.ureg.g / self.ureg.mol,
-                "BTDA": 322.23 * self.ureg.g / self.ureg.mol,
-                "BPDA": 294.22 * self.ureg.g / self.ureg.mol,
-                "6FAP": 366.26 * self.ureg.g / self.ureg.mol,
-                "PMDA": 218.12 * self.ureg.g / self.ureg.mol,
-                "MPDA": 108.14 * self.ureg.g / self.ureg.mol,
-                "SIDA": 248.51 * self.ureg.g / self.ureg.mol,
-                "ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "4,4'-ODA": 200.236 * self.ureg.g / self.ureg.mol,
-                "134": 292.34 * self.ureg.g / self.ureg.mol,
-            },
-            "FuncGroup": {
-                "MDA": "Amine",
-                "TDA": "Amine",
-                "PAPP": "Amine",
-                "BTDA": "Anhydride",
-                "BPDA": "Anhydride",
-                "6FAP": "Amine",
-                "MPDA": "Amine",
-                "SIDA": "Amine",
-                "PMDA": "Anhydride",
-                "ODA": "Amine",
-                "4,4'-ODA": "Amine",
-                "134": "Amine",
-            }
-        }
-
     def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
         """项目接口通用POST调用
 
@@ -166,7 +54,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": self.bioyond_config["api_key"],
+            "apiKey": API_CONFIG["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -197,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": self.bioyond_config["api_key"],
+            "apiKey": API_CONFIG["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -230,22 +118,20 @@ class BioyondDispensingStation(BioyondWorkstation):
                     ratio = json.loads(ratio)
                 except Exception:
                     ratio = {}
+            root = str(Path(__file__).resolve().parents[3])
+            if root not in sys.path:
+                sys.path.append(root)
+            try:
+                mod = importlib.import_module("tem.compute")
+            except Exception as e:
+                raise BioyondException(f"无法导入计算模块: {e}")
             try:
                 wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
                 mt = float(m_tot) if isinstance(m_tot, str) else m_tot
                 tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
             except Exception as e:
                 raise BioyondException(f"参数解析失败: {e}")
-
-            # 2. 调用内部计算方法
-            res = self._generate_experiment_design(
-                ratio=ratio,
-                wt_percent=wp,
-                m_tot=mt,
-                titration_percent=tp
-            )
-
-            # 3. 构造返回结果
+            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
             out = {
                 "solutions": res.get("solutions", []),
                 "titration": res.get("titration", {}),
@@ -254,248 +140,11 @@ class BioyondDispensingStation(BioyondWorkstation):
                 "return_info": json.dumps(res, ensure_ascii=False)
             }
             return out
-
         except BioyondException:
             raise
         except Exception as e:
             raise BioyondException(str(e))
 
-    def _generate_experiment_design(
-        self,
-        ratio: dict,
-        wt_percent: float = 0.25,
-        m_tot: float = 70,
-        titration_percent: float = 0.03,
-    ) -> dict:
-        """内部方法：生成实验设计
-
-        根据FuncGroup自动区分二胺和二酐，每种二胺单独配溶液，严格按照ratio顺序投料。
-
-        参数:
-            ratio: 化合物配比字典，格式: {"compound_name": ratio_value}
-            wt_percent: 固体重量百分比
-            m_tot: 反应混合物总质量(g)
-            titration_percent: 滴定溶液百分比
-
-        返回:
-            包含实验设计详细参数的字典
-        """
-        # 溶剂密度
-        ρ_solvent = 1.03 * self.ureg.g / self.ureg.ml
-        # 二酐溶解度
-        solubility = 0.02 * self.ureg.g / self.ureg.ml
-        # 投入固体时最小溶剂体积
-        V_min = 30 * self.ureg.ml
-        m_tot = m_tot * self.ureg.g
-
-        # 保持ratio中的顺序
-        compound_names = list(ratio.keys())
-        compound_ratios = list(ratio.values())
-
-        # 验证所有化合物是否在 compound_info 中定义
-        undefined_compounds = [name for name in compound_names if name not in self.compound_info["MolWt"]]
-        if undefined_compounds:
-            available = list(self.compound_info["MolWt"].keys())
-            raise ValueError(
-                f"以下化合物未在 compound_info 中定义: {undefined_compounds}。"
-                f"可用的化合物: {available}"
-            )
-
-        # 获取各化合物的分子量和官能团类型
-        molecular_weights = [self.compound_info["MolWt"][name] for name in compound_names]
-        func_groups = [self.compound_info["FuncGroup"][name] for name in compound_names]
-
-        # 记录化合物信息用于调试
-        self.hardware_interface._logger.info(f"化合物名称: {compound_names}")
-        self.hardware_interface._logger.info(f"官能团类型: {func_groups}")
-
-        # 按原始顺序分离二胺和二酐
-        ordered_compounds = list(zip(compound_names, compound_ratios, molecular_weights, func_groups))
-        diamine_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Amine"]
-        anhydride_compounds = [(name, ratio_val, mw, i) for i, (name, ratio_val, mw, fg) in enumerate(ordered_compounds) if fg == "Anhydride"]
-
-        if not diamine_compounds or not anhydride_compounds:
-            raise ValueError(
-                f"需要同时包含二胺(Amine)和二酐(Anhydride)化合物。"
-                f"当前二胺: {[c[0] for c in diamine_compounds]}, "
-                f"当前二酐: {[c[0] for c in anhydride_compounds]}"
-            )
-
-        # 计算加权平均分子量 (基于摩尔比)
-        total_molar_ratio = sum(compound_ratios)
-        weighted_molecular_weight = sum(ratio_val * mw for ratio_val, mw in zip(compound_ratios, molecular_weights))
-
-        # 取最后一个二酐用于滴定
-        titration_anhydride = anhydride_compounds[-1]
-        solid_anhydrides = anhydride_compounds[:-1] if len(anhydride_compounds) > 1 else []
-
-        # 二胺溶液配制参数 - 每种二胺单独配制
-        diamine_solutions = []
-        total_diamine_volume = 0 * self.ureg.ml
-
-        # 计算反应物的总摩尔量
-        n_reactant = m_tot * wt_percent / weighted_molecular_weight
-
-        for name, ratio_val, mw, order_index in diamine_compounds:
-            # 跳过 SIDA
-            if name == "SIDA":
-                continue
-
-            # 计算该二胺需要的摩尔数
-            n_diamine_needed = n_reactant * ratio_val
-
-            # 二胺溶液配制参数 (每种二胺固定配制参数)
-            m_diamine_solid = 5.0 * self.ureg.g  # 每种二胺固体质量
-            V_solvent_for_this = 20 * self.ureg.ml  # 每种二胺溶剂体积
-            m_solvent_for_this = ρ_solvent * V_solvent_for_this
-
-            # 计算该二胺溶液的浓度
-            c_diamine = (m_diamine_solid / mw) / V_solvent_for_this
-
-            # 计算需要移取的溶液体积
-            V_diamine_needed = n_diamine_needed / c_diamine
-
-            diamine_solutions.append({
-                "name": name,
-                "order": order_index,
-                "solid_mass": m_diamine_solid.magnitude,
-                "solvent_volume": V_solvent_for_this.magnitude,
-                "concentration": c_diamine.magnitude,
-                "volume_needed": V_diamine_needed.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-            total_diamine_volume += V_diamine_needed
-
-        # 按原始顺序排序
-        diamine_solutions.sort(key=lambda x: x["order"])
-
-        # 计算滴定二酐的质量
-        titration_name, titration_ratio, titration_mw, _ = titration_anhydride
-        m_titration_anhydride = n_reactant * titration_ratio * titration_mw
-        m_titration_90 = m_titration_anhydride * (1 - titration_percent)
-        m_titration_10 = m_titration_anhydride * titration_percent
-
-        # 计算其他固体二酐的质量 (按顺序)
-        solid_anhydride_masses = []
-        for name, ratio_val, mw, order_index in solid_anhydrides:
-            mass = n_reactant * ratio_val * mw
-            solid_anhydride_masses.append({
-                "name": name,
-                "order": order_index,
-                "mass": mass.magnitude,
-                "molar_ratio": ratio_val
-            })
-
-        # 按原始顺序排序
-        solid_anhydride_masses.sort(key=lambda x: x["order"])
-
-        # 计算溶剂用量
-        total_diamine_solution_mass = sum(
-            sol["volume_needed"] * ρ_solvent for sol in diamine_solutions
-        ) * self.ureg.ml
-
-        # 预估滴定溶剂量、计算补加溶剂量
-        m_solvent_titration = m_titration_10 / solubility * ρ_solvent
-        m_solvent_add = m_tot * (1 - wt_percent) - total_diamine_solution_mass - m_solvent_titration
-
-        # 检查最小溶剂体积要求
-        total_liquid_volume = (total_diamine_solution_mass + m_solvent_add) / ρ_solvent
-        m_tot_min = V_min / total_liquid_volume * m_tot
-
-        # 如果需要，按比例放大
-        scale_factor = 1.0
-        if m_tot_min > m_tot:
-            scale_factor = (m_tot_min / m_tot).magnitude
-            m_titration_90 *= scale_factor
-            m_titration_10 *= scale_factor
-            m_solvent_add *= scale_factor
-            m_solvent_titration *= scale_factor
-
-            # 更新二胺溶液用量
-            for sol in diamine_solutions:
-                sol["volume_needed"] *= scale_factor
-
-            # 更新固体二酐用量
-            for anhydride in solid_anhydride_masses:
-                anhydride["mass"] *= scale_factor
-
-            m_tot = m_tot_min
-
-        # 生成投料顺序
-        feeding_order = []
-
-        # 1. 固体二酐 (按顺序)
-        for anhydride in solid_anhydride_masses:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "solid_anhydride",
-                "name": anhydride["name"],
-                "amount": anhydride["mass"],
-                "order": anhydride["order"]
-            })
-
-        # 2. 二胺溶液 (按顺序)
-        for sol in diamine_solutions:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "diamine_solution",
-                "name": sol["name"],
-                "amount": sol["volume_needed"],
-                "order": sol["order"]
-            })
-
-        # 3. 主要二酐粉末
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "main_anhydride",
-            "name": titration_name,
-            "amount": m_titration_90.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 4. 补加溶剂
-        if m_solvent_add > 0:
-            feeding_order.append({
-                "step": len(feeding_order) + 1,
-                "type": "additional_solvent",
-                "name": "溶剂",
-                "amount": m_solvent_add.magnitude,
-                "order": 999
-            })
-
-        # 5. 滴定二酐溶液
-        feeding_order.append({
-            "step": len(feeding_order) + 1,
-            "type": "titration_anhydride",
-            "name": f"{titration_name} 滴定液",
-            "amount": m_titration_10.magnitude,
-            "titration_solvent": m_solvent_titration.magnitude,
-            "order": titration_anhydride[3]
-        })
-
-        # 返回实验设计结果
-        results = {
-            "total_mass": m_tot.magnitude,
-            "scale_factor": scale_factor,
-            "solutions": diamine_solutions,
-            "solids": solid_anhydride_masses,
-            "titration": {
-                "name": titration_name,
-                "main_portion": m_titration_90.magnitude,
-                "titration_portion": m_titration_10.magnitude,
-                "titration_solvent": m_solvent_titration.magnitude,
-            },
-            "solvents": {
-                "additional_solvent": m_solvent_add.magnitude,
-                "total_liquid_volume": total_liquid_volume.magnitude
-            },
-            "feeding_order": feeding_order,
-            "minimum_required_mass": m_tot_min.magnitude
-        }
-
-        return results
-
     # 90%10%小瓶投料任务创建方法
     def create_90_10_vial_feeding_task(self,
                                        order_name: str = None,
@@ -1312,108 +961,6 @@ class BioyondDispensingStation(BioyondWorkstation):
             'actualVolume': actual_volume
         }
 
-    def _simplify_report(self, report) -> Dict[str, Any]:
-        """简化实验报告，只保留关键信息，去除冗余的工作流参数"""
-        if not isinstance(report, dict):
-            return report
-
-        data = report.get('data', {})
-        if not isinstance(data, dict):
-            return report
-
-        # 提取关键信息
-        simplified = {
-            'name': data.get('name'),
-            'code': data.get('code'),
-            'requester': data.get('requester'),
-            'workflowName': data.get('workflowName'),
-            'workflowStep': data.get('workflowStep'),
-            'requestTime': data.get('requestTime'),
-            'startPreparationTime': data.get('startPreparationTime'),
-            'completeTime': data.get('completeTime'),
-            'useTime': data.get('useTime'),
-            'status': data.get('status'),
-            'statusName': data.get('statusName'),
-        }
-
-        # 提取物料信息（简化版）
-        pre_intakes = data.get('preIntakes', [])
-        if pre_intakes and isinstance(pre_intakes, list):
-            first_intake = pre_intakes[0]
-            sample_materials = first_intake.get('sampleMaterials', [])
-
-            # 简化物料信息
-            simplified_materials = []
-            for material in sample_materials:
-                if isinstance(material, dict):
-                    mat_info = {
-                        'materialName': material.get('materialName'),
-                        'materialTypeName': material.get('materialTypeName'),
-                        'materialCode': material.get('materialCode'),
-                        'materialLocation': material.get('materialLocation'),
-                    }
-
-                    # 解析parameters中的关键信息（如密度、加料历史等）
-                    params_str = material.get('parameters', '{}')
-                    try:
-                        params = json.loads(params_str) if isinstance(params_str, str) else params_str
-                        if isinstance(params, dict):
-                            # 只保留关键参数
-                            if 'density' in params:
-                                mat_info['density'] = params['density']
-                            if 'feedingHistory' in params:
-                                mat_info['feedingHistory'] = params['feedingHistory']
-                            if 'liquidVolume' in params:
-                                mat_info['liquidVolume'] = params['liquidVolume']
-                            if 'm_diamine_tot' in params:
-                                mat_info['m_diamine_tot'] = params['m_diamine_tot']
-                            if 'wt_diamine' in params:
-                                mat_info['wt_diamine'] = params['wt_diamine']
-                    except:
-                        pass
-
-                    simplified_materials.append(mat_info)
-
-            simplified['sampleMaterials'] = simplified_materials
-
-            # 提取extraProperties中的实际值
-            extra_props = first_intake.get('extraProperties', {})
-            if isinstance(extra_props, dict):
-                simplified_extra = {}
-                for key, value in extra_props.items():
-                    try:
-                        parsed_value = json.loads(value) if isinstance(value, str) else value
-                        simplified_extra[key] = parsed_value
-                    except:
-                        simplified_extra[key] = value
-                simplified['extraProperties'] = simplified_extra
-
-        return {
-            'data': simplified,
-            'code': report.get('code'),
-            'message': report.get('message'),
-            'timestamp': report.get('timestamp')
-        }
-
-    def scheduler_start(self) -> dict:
-        """启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
-
-        Returns:
-            dict: 包含return_info的字典，return_info为整型(1=成功)
-
-        Raises:
-            BioyondException: 调度器启动失败时抛出异常
-        """
-        result = self.hardware_interface.scheduler_start()
-        self.hardware_interface._logger.info(f"调度器启动结果: {result}")
-
-        if result != 1:
-            error_msg = "启动调度器失败: 有未处理错误，调度无法启动。请检查Bioyond系统状态。"
-            self.hardware_interface._logger.error(error_msg)
-            raise BioyondException(error_msg)
-
-        return {"return_info": result}
-
     # 等待多个任务完成并获取实验报告
     def wait_for_multiple_orders_and_get_reports(self,
                                                   batch_create_result: str = None,
@@ -1455,12 +1002,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证batch_create_result参数
             if not batch_create_result or batch_create_result == "":
-                raise BioyondException(
-                    "batch_create_result参数为空，请确保:\n"
-                    "1. batch_create节点与wait节点之间正确连接了handle\n"
-                    "2. batch_create节点成功执行并返回了结果\n"
-                    "3. 检查上游batch_create任务是否成功创建了订单"
-                )
+                raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
 
             # 解析batch_create_result JSON对象
             try:
@@ -1489,17 +1031,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证提取的数据
             if not order_codes:
-                self.hardware_interface._logger.error(
-                    f"batch_create任务未生成任何订单。batch_create_result内容: {batch_create_result}"
-                )
-                raise BioyondException(
-                    "batch_create_result中未找到order_codes或为空。\n"
-                    "可能的原因:\n"
-                    "1. batch_create任务执行失败（检查任务是否报错）\n"
-                    "2. 物料配置问题（如'物料样品板分配失败'）\n"
-                    "3. Bioyond系统状态异常\n"
-                    f"请检查batch_create任务的执行结果"
-                )
+                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
             if not order_ids:
                 raise BioyondException("batch_create_result中未找到order_ids字段或为空")
 
@@ -1582,8 +1114,6 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 self.hardware_interface._logger.info(
                                     f"成功获取任务 {order_code} 的实验报告"
                                 )
-                                # 简化报告，去除冗余信息
-                                report = self._simplify_report(report)
 
                             reports.append({
                                 "order_code": order_code,
@@ -1758,7 +1288,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                 f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
             )
 
-            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
+            from .config import WAREHOUSE_MAPPING
             results = []
             successful_count = 0
             failed_count = 0