v0.10.19

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY

.conda/base/recipe.yaml

@@ -0,0 +1,62 @@
+# unilabos: Production package (depends on unilabos-env + pip unilabos)
+# For production deployment
+
+package:
+  name: unilabos
+  version: 0.10.19
+
+source:
+  path: ../../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+    - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
+    - pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../../setup.py $SRC_DIR
+    - pip install $SRC_DIR
+
+requirements:
+  host:
+  - python ==3.11.14
+  - pip
+  - setuptools
+  - zstd
+  - zstandard
+  run:
+  - zstd
+  - zstandard
+  - networkx
+  - typing_extensions
+  - websockets
+  - pint
+  - fastapi
+  - jinja2
+  - requests
+  - uvicorn
+  - if: not osx
+    then:
+    - opcua
+  - pyserial
+  - pandas
+  - pymodbus
+  - matplotlib
+  - pylibftdi
+  - uni-lab::unilabos-env ==0.10.19
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS - Production package with minimal ROS2 dependencies"

.conda/environment/recipe.yaml

@@ -0,0 +1,39 @@
+# unilabos-env: conda environment dependencies (ROS2 + conda packages)
+
+package:
+  name: unilabos-env
+  version: 0.10.19
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Python
+  - zstd
+  - zstandard
+  - conda-forge::python ==3.11.14
+  - conda-forge::opencv
+  # ROS2 dependencies (from ci-check.yml)
+  - robostack-staging::ros-humble-ros-core
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-nav2-msgs
+  - robostack-staging::ros-humble-cv-bridge
+  - robostack-staging::ros-humble-vision-opencv
+  - robostack-staging::ros-humble-tf-transformations
+  - robostack-staging::ros-humble-moveit-msgs
+  - robostack-staging::ros-humble-tf2-ros
+  - robostack-staging::ros-humble-tf2-ros-py
+  - conda-forge::transforms3d
+  - conda-forge::uv
+
+  # UniLabOS custom messages
+  - uni-lab::ros-humble-unilabos-msgs
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -0,0 +1,42 @@
+# unilabos-full: Full package with all features
+# Depends on unilabos + complete ROS2 desktop + dev tools
+
+package:
+  name: unilabos-full
+  version: 0.10.19
+
+build:
+  noarch: generic
+
+requirements:
+  run:
+  # Base unilabos package (includes unilabos-env)
+  - uni-lab::unilabos ==0.10.19
+  # Documentation tools
+  - sphinx
+  - sphinx_rtd_theme
+  # Web UI
+  - gradio
+  - flask
+  # Interactive development
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  # ROS2 full desktop (includes rviz2, gazebo, etc.)
+  - robostack-staging::ros-humble-desktop-full
+  # Navigation and motion control
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  # MoveIt motion planning
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  # Simulation
+  - ros-humble-simulation
+
+about:
+  repository: https://github.com/deepmodeling/Uni-Lab-OS
+  license: GPL-3.0-only
+  description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"

.conda/recipe.yaml

@@ -1,91 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.14
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-    - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - zstd
-  - zstandard
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websockets
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/deepmodeling/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

@@ -1,9 +0,0 @@
-@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

@@ -1,9 +0,0 @@
-#!/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/create-device-skill/SKILL.md

@@ -0,0 +1,328 @@
+---
+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

@@ -0,0 +1,200 @@
+#!/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

@@ -0,0 +1,69 @@
+#!/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

@@ -1,26 +0,0 @@
-.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

@@ -0,0 +1,19 @@
+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

@@ -0,0 +1,67 @@
+name: CI Check
+
+on:
+  push:
+    branches: [main, dev]
+  pull_request:
+    branches: [main, dev]
+
+jobs:
+  registry-check:
+    runs-on: windows-latest
+
+    env:
+      # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
+      PYTHONIOENCODING: utf-8
+      PYTHONUTF8: 1
+
+    defaults:
+      run:
+        shell: cmd
+
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 0
+
+      - name: Setup Miniforge
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniforge-version: latest
+          use-mamba: true
+          channels: robostack-staging,conda-forge,uni-lab
+          channel-priority: flexible
+          activate-environment: check-env
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install ROS dependencies, uv and unilabos-msgs
+        run: |
+          echo Installing ROS dependencies...
+          mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
+
+      - name: Install pip dependencies and unilabos
+        run: |
+          call conda activate check-env
+          echo Installing pip dependencies...
+          uv pip install -r unilabos/utils/requirements.txt
+          uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
+          uv pip uninstall enum34 || echo enum34 not installed, skipping
+          uv pip install .
+
+      - name: Run check mode (AST registry validation)
+        run: |
+          call conda activate check-env
+          echo Running check mode...
+          python -m unilabos --check_mode --skip_env_check
+
+      - name: Check for uncommitted changes
+        shell: bash
+        run: |
+          if ! git diff --exit-code; then
+            echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
+            echo "变化的文件:"
+            git diff --name-only
+            exit 1
+          fi
+          echo "检查通过：无文件变化"

.github/workflows/conda-pack-build.yml

@@ -13,6 +13,11 @@ on:
         required: false
         default: 'win-64'
         type: string
+      build_full:
+        description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
   build-conda-pack:
@@ -24,7 +29,7 @@ jobs:
             platform: linux-64
             env_file: unilabos-linux-64.yaml
             script_ext: sh
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
             env_file: unilabos-osx-64.yaml
             script_ext: sh
@@ -57,7 +62,7 @@ jobs:
             echo "should_build=false" >> $GITHUB_OUTPUT
           fi
 
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         if: steps.should_build.outputs.should_build == 'true'
         with:
           ref: ${{ github.event.inputs.branch }}
@@ -69,7 +74,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.11'
+          python-version: '3.11.14'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -81,7 +86,14 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          echo Build full: ${{ github.event.inputs.build_full }}
+          if "${{ github.event.inputs.build_full }}"=="true" (
+            echo Installing unilabos-full ^(complete package^)...
+            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          ) else (
+            echo Installing unilabos ^(minimal package^)...
+            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          )
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -89,7 +101,14 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          echo "Build full: ${{ github.event.inputs.build_full }}"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "Installing unilabos-full (complete package)..."
+            mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          else
+            echo "Installing unilabos (minimal package)..."
+            mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          fi
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
@@ -293,7 +312,7 @@ jobs:
 
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
           path: dist-package/
@@ -308,7 +327,12 @@ jobs:
           echo ==========================================
           echo Platform: ${{ matrix.platform }}
           echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.11
+          echo Python version: 3.11.14
+          if "${{ github.event.inputs.build_full }}"=="true" (
+            echo Package: unilabos-full ^(complete^)
+          ) else (
+            echo Package: unilabos ^(minimal^)
+          )
           echo.
           echo Distribution package contents:
           dir dist-package
@@ -328,7 +352,12 @@ jobs:
           echo "=========================================="
           echo "Platform: ${{ matrix.platform }}"
           echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.11"
+          echo "Python version: 3.11.14"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "Package: unilabos-full (complete)"
+          else
+            echo "Package: unilabos (minimal)"
+          fi
           echo ""
           echo "Distribution package contents:"
           ls -lh dist-package/

.github/workflows/deploy-docs.yml

@@ -1,10 +1,12 @@
 name: Deploy Docs
 
 on:
-  push:
-    branches: [main]
-  pull_request:
+  # 在 CI Check 成功后自动触发（仅 main 分支）
+  workflow_run:
+    workflows: ["CI Check"]
+    types: [completed]
     branches: [main]
+  # 手动触发
   workflow_dispatch:
     inputs:
       branch:
@@ -33,12 +35,19 @@ concurrency:
 jobs:
   # Build documentation
   build:
+    # 只在以下情况运行：
+    # 1. workflow_run 触发且 CI Check 成功
+    # 2. 手动触发
+    if: |
+      github.event_name == 'workflow_dispatch' ||
+      (github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
-          ref: ${{ github.event.inputs.branch || github.ref }}
+          # workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
+          ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
           fetch-depth: 0
 
       - name: Setup Miniforge (with mamba)
@@ -46,7 +55,7 @@ jobs:
         with:
           miniforge-version: latest
           use-mamba: true
-          python-version: '3.11.11'
+          python-version: '3.11.14'
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
@@ -75,8 +84,10 @@ jobs:
 
       - name: Setup Pages
         id: pages
-        uses: actions/configure-pages@v4
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/configure-pages@v5
+        if: |
+          github.event.workflow_run.head_branch == 'main' ||
+          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
 
       - name: Build Sphinx documentation
         run: |
@@ -94,14 +105,18 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v3
-        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        uses: actions/upload-pages-artifact@v4
+        if: |
+          github.event.workflow_run.head_branch == 'main' ||
+          (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
         with:
           path: docs/_build/html
 
   # Deploy to GitHub Pages
   deploy:
-    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    if: |
+      github.event.workflow_run.head_branch == 'main' ||
+      (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}

.github/workflows/multi-platform-build.yml

@@ -1,11 +1,16 @@
 name: Multi-Platform Conda Build
 
 on:
+  # 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
+  workflow_run:
+    workflows: ["CI Check"]
+    types:
+      - completed
+    branches: [main, dev]
+  # 支持 tag 推送（不依赖 CI Check）
   push:
-    branches: [main, dev]
     tags: ['v*']
-  pull_request:
-    branches: [main, dev]
+  # 手动触发
   workflow_dispatch:
     inputs:
       platforms:
@@ -17,9 +22,37 @@ on:
         required: false
         default: false
         type: boolean
+      skip_ci_check:
+        description: '跳过等待 CI Check (手动触发时可选)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
+  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  wait-for-ci:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'workflow_run'
+    outputs:
+      should_continue: ${{ steps.check.outputs.should_continue }}
+    steps:
+      - name: Check CI status
+        id: check
+        run: |
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+            echo "should_continue=true" >> $GITHUB_OUTPUT
+            echo "CI Check passed, proceeding with build"
+          else
+            echo "should_continue=false" >> $GITHUB_OUTPUT
+            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+          fi
+
   build:
+    needs: [wait-for-ci]
+    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    if: |
+      always() &&
+      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
@@ -27,7 +60,7 @@ jobs:
           - os: ubuntu-latest
             platform: linux-64
             env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
             env_file: unilabos-osx-64.yaml
           - os: macos-latest # ARM64
@@ -44,8 +77,10 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
+          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -69,7 +104,6 @@ jobs:
           channels: conda-forge,robostack-staging,defaults
           channel-priority: strict
           activate-environment: build-env
-          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -115,7 +149,7 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: conda-package-${{ matrix.platform }}
           path: conda-packages-temp

.github/workflows/unilabos-conda-build.yml

@@ -1,32 +1,69 @@
 name: UniLabOS Conda Build
 
 on:
+  # 在 CI Check 成功后自动触发
+  workflow_run:
+    workflows: ["CI Check"]
+    types: [completed]
+    branches: [main, dev]
+  # 标签推送时直接触发（发布版本）
   push:
-    branches: [main, dev]
     tags: ['v*']
-  pull_request:
-    branches: [main, dev]
+  # 手动触发
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'linux-64'
+      build_full:
+        description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
+        required: false
+        default: false
+        type: boolean
       upload_to_anaconda:
         description: '是否上传到Anaconda.org'
         required: false
         default: false
         type: boolean
+      skip_ci_check:
+        description: '跳过等待 CI Check (手动触发时可选)'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
+  # 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
+  wait-for-ci:
+    runs-on: ubuntu-latest
+    if: github.event_name == 'workflow_run'
+    outputs:
+      should_continue: ${{ steps.check.outputs.should_continue }}
+    steps:
+      - name: Check CI status
+        id: check
+        run: |
+          if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
+            echo "should_continue=true" >> $GITHUB_OUTPUT
+            echo "CI Check passed, proceeding with build"
+          else
+            echo "should_continue=false" >> $GITHUB_OUTPUT
+            echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
+          fi
+
   build:
+    needs: [wait-for-ci]
+    # 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
+    if: |
+      always() &&
+      (needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
     strategy:
       fail-fast: false
       matrix:
         include:
           - os: ubuntu-latest
             platform: linux-64
-          - os: macos-13 # Intel
+          - os: macos-15 # Intel (via Rosetta)
             platform: osx-64
           - os: macos-latest # ARM64
             platform: osx-arm64
@@ -40,8 +77,10 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
         with:
+          # 如果是 workflow_run 触发，使用触发 CI Check 的 commit
+          ref: ${{ github.event.workflow_run.head_sha || github.ref }}
           fetch-depth: 0
 
       - name: Check if platform should be built
@@ -65,7 +104,6 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: strict
           activate-environment: build-env
-          auto-activate-base: false
           auto-update-conda: false
           show-channel-urls: true
 
@@ -81,12 +119,61 @@ jobs:
           conda list | grep -E "(rattler-build|anaconda-client)"
           echo "Platform: ${{ matrix.platform }}"
           echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
+          echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
+          echo "Building packages:"
+          echo "  - unilabos-env (environment dependencies)"
+          echo "  - unilabos (with pip package)"
+          if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
+            echo "  - unilabos-full (complete package)"
+          fi
 
-      - name: Build conda package
+      - name: Build unilabos-env (conda environment only, noarch)
         if: steps.should_build.outputs.should_build == 'true'
         run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+          echo "Building unilabos-env (conda environment dependencies)..."
+          rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+
+      - name: Upload unilabos-env to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-env to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-env*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos (with pip package)
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Building unilabos package..."
+          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
+          rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
+      - name: Build unilabos-full - Only when explicitly requested
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true'
+        run: |
+          echo "Building unilabos-full package on ${{ matrix.platform }}..."
+          rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
+
+      - name: Upload unilabos-full to Anaconda.org (if enabled)
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true' &&
+          github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-full to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-full*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
 
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
@@ -108,17 +195,9 @@ jobs:
 
       - name: Upload conda package artifacts
         if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+        uses: actions/upload-artifact@v6
         with:
           name: conda-package-unilabos-${{ matrix.platform }}
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

.gitignore

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

AGENTS.md

@@ -0,0 +1,87 @@
+# 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

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

MANIFEST.in

@@ -1,4 +1,5 @@
 recursive-include unilabos/test *
+recursive-include unilabos/utils *
 recursive-include unilabos/registry *.yaml
 recursive-include unilabos/app/web/static *
 recursive-include unilabos/app/web/templates *

README.md

@@ -31,37 +31,63 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
-Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
+### 1. Setup Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
+
+| Package | Use Case | Contents |
+|---------|----------|----------|
+| `unilabos` | **Recommended for most users** | Complete package, ready to use |
+| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
+| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
 
 ```bash
 # Create new environment
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option A: Standard installation (recommended for most users)
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# Option B: For developers (editable mode development)
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# Then install unilabos and dependencies:
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# Option C: Full installation (simulation/visualization)
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-## Install Dev Uni-Lab-OS
+**When to use which?**
+- **unilabos**: Standard installation for production deployment and general usage (recommended)
+- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
+- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
+
+### 2. Clone Repository (Optional, for developers)
 
 ```bash
-# Clone the repository
+# Clone the repository (only needed for development or examples)
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# Install Uni-Lab-OS
-pip install .
 ```
 
-3. Start Uni-Lab System:
+3. Start Uni-Lab System
 
 Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
 
+4. Best Practice
+
+See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
+
 ## Message Format
 
 Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
 
 ## Citation
 
-If you use Uni-Lab-OS in academic research, please cite:
+If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
 
 ```bibtex
 @article{gao2025unilabos,

README_zh.md

@@ -31,39 +31,63 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 ## 快速开始
 
-1. 配置 Conda 环境
+### 1. 配置 Conda 环境
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
+
+| 安装包 | 适用场景 | 包含内容 |
+|--------|----------|----------|
+| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
+| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
 
 ```bash
 # 创建新环境
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整安装（仿真/可视化）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
-2. 安装开发版 Uni-Lab-OS:
+**如何选择？**
+- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
+- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
+- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
+
+### 2. 克隆仓库（可选，供开发者使用）
 
 ```bash
-# 克隆仓库
+# 克隆仓库（仅开发或查看示例时需要）
 git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-pip install .
 ```
 
-3. 启动 Uni-Lab 系统:
+3. 启动 Uni-Lab 系统
 
 请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
 
+4. 最佳实践
+
+请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
+
 ## 消息格式
 
 Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
 
 ## 引用
 
-如果您在学术研究中使用 Uni-Lab-OS，请引用：
+如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
 
 ```bibtex
 @article{gao2025unilabos,

docs/conf.py

@@ -24,7 +24,7 @@ extensions = [
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
     "sphinx_rtd_theme",
-    "sphinxcontrib.mermaid"
+    "sphinxcontrib.mermaid",
 ]
 
 source_suffix = {
@@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme"
 
 # sphinx-book-theme 主题选项
 html_theme_options = {
-    "repository_url": "https://github.com/用户名/Uni-Lab",
+    "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS",
     "use_repository_button": True,
     "use_issues_button": True,
     "use_edit_page_button": True,

docs/developer_guide/add_device.md

@@ -15,6 +15,9 @@ 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
@@ -23,19 +26,23 @@ 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
 
-    # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
+    # 使用 @topic_config 装饰的属性，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
 
@@ -149,7 +156,7 @@ 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 `@property` 装饰的方法自动识别状态属性
+- `status_types`：从 `@topic_config` 装饰的 `@property` 或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
@@ -179,7 +186,9 @@ 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
 
@@ -198,8 +207,9 @@ 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（会自动广播）"""
+        """设备状态（通过 @topic_config 广播）"""
         return self._status
 
     def my_action(self, param: float) -> Dict[str, Any]:
@@ -217,34 +227,61 @@ class MyDevice:
 
 ## 状态属性 vs 动作方法
 
-### 状态属性（@property）
+### 状态属性（@property + @topic_config）
 
-状态属性会被自动识别并定期广播：
+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：
 
 ```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**:
 
-- 使用`@property`装饰器
-- 只读，不能有参数
-- 自动添加到注册表的`status_types`
+- 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`
 - 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：
@@ -497,6 +534,7 @@ class LiquidHandler:
         self._status = "idle"
 
     @property
+    @topic_config()
     def status(self) -> str:
         return self._status
 
@@ -886,7 +924,52 @@ class MyDevice:
 
 ## 最佳实践
 
-### 1. 类型注解
+### 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
 
 ```python
 from typing import Dict, Any, Optional, List
@@ -901,7 +984,7 @@ def method(
     pass
 ```
 
-### 2. 文档字符串
+### 4. 文档字符串
 
 ```python
 def method(self, param: float) -> Dict[str, Any]:
@@ -923,7 +1006,7 @@ def method(self, param: float) -> Dict[str, Any]:
     pass
 ```
 
-### 3. 配置验证
+### 5. 配置验证
 
 ```python
 def __init__(self, config: Dict[str, Any]):
@@ -937,7 +1020,7 @@ def __init__(self, config: Dict[str, Any]):
     self.baudrate = config['baudrate']
 ```
 
-### 4. 资源清理
+### 6. 资源清理
 
 ```python
 def __del__(self):
@@ -946,7 +1029,7 @@ def __del__(self):
         self.connection.close()
 ```
 
-### 5. 设计前端友好的返回值
+### 7. 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

@@ -422,18 +422,20 @@ placeholder_keys:
 
 ### status_types
 
-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：
+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：
 
 ```yaml
 status_types:
-  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
+  current_temperature: float # 从 @topic_config 装饰的 @property 或方法
+  is_heating: bool
+  status: str
 ```
 
 **注意事项**：
 
-- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
+- 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`）
 - 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`
 
@@ -537,11 +539,13 @@ 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
@@ -809,21 +813,23 @@ my_temperature_controller:
 你的设备类需要符合以下要求：
 
 ```python
-from unilabos.common.device_base import DeviceBase
+from unilabos.registry.decorators import device, topic_config
 
-class MyDevice(DeviceBase):
+@device(id="my_device", category=["temperature"], description="My Device")
+class MyDevice:
     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（会自动生成到 status_types）
+    # 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
     @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
@@ -1039,7 +1045,34 @@ resource.type      # "resource"
 
 ### 代码规范
 
-1. **始终使用类型注解**
+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**
 
 ```python
 # ✓ 好
@@ -1051,7 +1084,7 @@ def method(self, resource, device):
     pass
 ```
 
-2. **提供有意义的参数名**
+4. **提供有意义的参数名**
 
 ```python
 # ✓ 好 - 清晰的参数名
@@ -1063,7 +1096,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-3. **使用 Optional 表示可选参数**
+5. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1076,7 +1109,7 @@ def method(
     pass
 ```
 
-4. **添加详细的文档字符串**
+6. **添加详细的文档字符串**
 
 ```python
 def method(
@@ -1096,13 +1129,13 @@ def method(
     pass
 ```
 
-5. **方法命名规范**
+7. **方法命名规范**
 
-   - 状态方法使用 `@property` 装饰器或 `get_` 前缀
+   - 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
    - 动作方法使用动词开头
    - 保持命名清晰、一致
 
-6. **完善的错误处理**
+8. **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 --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 
 # 实验室B
-unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
+unilab --ak your_ak --sk your_sk --upload_registry
 ```
 
 ---

docs/requirements.txt

@@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0
 
 # 用于自动摘要生成
 sphinx-autobuild>=2024.2.4
+
+# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX)
+rinohtype>=0.5.4
+sphinx-simplepdf>=1.6.0

docs/user_guide/best_practice.md

@@ -31,6 +31,14 @@
 
 详细的安装步骤请参考 [安装指南](installation.md)。
 
+**选择合适的安装包：**
+
+| 安装包 | 适用场景 | 包含组件 |
+|--------|----------|----------|
+| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
+| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
+| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
+
 **关键步骤：**
 
 ```bash
@@ -38,15 +46,30 @@
 # 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
 
 # 2. 创建 Conda 环境
-mamba create -n unilab python=3.11.11
+mamba create -n unilab python=3.11.14
 
 # 3. 激活环境
 mamba activate unilab
 
-# 4. 安装 Uni-Lab-OS
+# 4. 安装 Uni-Lab-OS（选择其一）
+
+# 方案 A：标准安装（推荐大多数用户）
 mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+pip install -e /path/to/Uni-Lab-OS  # 可编辑安装
+uv pip install -r unilabos/utils/requirements.txt  # 安装 pip 依赖
+
+# 方案 C：完整版（仿真/可视化）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
+**选择建议：**
+- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
+- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
+- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
+
 #### 1.2 验证安装
 
 ```bash
@@ -416,6 +439,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 1. 访问 Web 界面，进入"仪器耗材"模块
 2. 在"仪器设备"区域找到并添加上述设备
 3. 在"物料耗材"区域找到并添加容器
+4. 在workstation中配置protocol_type包含PumpTransferProtocol
+
+![添加Protocol类型](image/add_protocol.png)
 
 ![物料列表](image/material.png)
 
@@ -426,8 +452,9 @@ 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_transfer_pump` 拖拽到 `workstation` 中
-3. 在画布上连接它们（建立父子关系）
+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）
 
 ![设备连接](image/links.png)
 
@@ -768,7 +795,43 @@ Waiting for host service...
 
 详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
 
-#### 9.1 为什么需要自定义设备？
+#### 9.1 开发环境准备
+
+**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
+
+```bash
+# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
+mamba create -n unilab python=3.11.14
+conda activate unilab
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+
+# 2. 克隆代码
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
+python scripts/dev_install.py
+
+# 或手动安装：
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+```
+
+**为什么使用这种方式？**
+- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
+- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
+- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
+- 使用 `uv` 替代 `pip`，安装速度更快
+- 可编辑模式：代码修改**立即生效**，无需重新安装
+
+**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
+
+```bash
+pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+#### 9.2 为什么需要自定义设备？
 
 Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
 
@@ -777,7 +840,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
 - 特殊的实验流程
 - 第三方设备集成
 
-#### 9.2 创建 Python 包
+#### 9.3 创建 Python 包
 
 为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
 
@@ -814,7 +877,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
 touch my_lab_devices/my_lab_devices/devices/__init__.py
 ```
 
-#### 9.3 创建 setup.py
+#### 9.4 创建 setup.py
 
 ```python
 # my_lab_devices/setup.py
@@ -845,7 +908,7 @@ setup(
 )
 ```
 
-#### 9.4 开发安装
+#### 9.5 开发安装
 
 使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
 
@@ -860,7 +923,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 - 方便调试和测试
 - 支持版本控制（git）
 
-#### 9.5 编写设备驱动
+#### 9.6 编写设备驱动
 
 创建设备驱动文件：
 
@@ -1001,7 +1064,7 @@ class MyPump:
 - **返回 Dict**：所有动作方法返回字典类型
 - **文档字符串**：详细说明参数和功能
 
-#### 9.6 测试设备驱动
+#### 9.7 测试设备驱动
 
 创建简单的测试脚本：
 

docs/user_guide/graph_files.md

@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
 ### 使用示例
 
 ```python
-from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictInstance
 
 # 旧格式节点
 old_format_node = {
@@ -477,10 +477,10 @@ old_format_node = {
 instance = ResourceDictInstance.get_resource_instance_from_dict(old_format_node)
 
 # 访问标准化后的数据
-print(instance.res_content.id)      # "pump_1"
-print(instance.res_content.uuid)    # 自动生成的 UUID
+print(instance.res_content.id)  # "pump_1"
+print(instance.res_content.uuid)  # 自动生成的 UUID
 print(instance.res_content.config)  # {}
-print(instance.res_content.data)    # {}
+print(instance.res_content.data)  # {}
 ```
 
 ### 格式迁移建议

docs/user_guide/installation.md

@@ -13,15 +13,26 @@
   - 开发者需要 Git 和基本的 Python 开发知识
   - 自定义 msgs 需要 GitHub 账号
 
+## 安装包选择
+
+Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
+
+| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
+|--------|----------|----------|----------|
+| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
+| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
+| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
+
 ## 安装方式选择
 
 根据您的使用场景，选择合适的安装方式：
 
-| 安装方式               | 适用人群             | 特点                           | 安装时间                     |
-| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
-| **方式一：一键安装**   | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
-| **方式二：手动安装**   | 标准用户、生产环境   | 灵活配置，版本可控             | 10-20 分钟                   |
-| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs    | 20-30 分钟                   |
+| 安装方式               | 适用人群             | 推荐安装包        | 特点                           | 安装时间                     |
+| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
+| **方式一：一键安装**   | 快速体验、演示       | 预打包环境        | 离线可用，无需配置             | 5-10 分钟 (网络良好的情况下) |
+| **方式二：手动安装**   | **大多数用户**       | `unilabos`        | 完整功能，开箱即用             | 10-20 分钟                   |
+| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env`    | 可编辑模式，支持自定义开发     | 20-30 分钟                   |
+| **仿真/可视化**        | 仿真测试、可视化调试 | `unilabos-full`   | 含 Gazebo、rviz2、MoveIt       | 30-60 分钟                   |
 
 ---
 
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
 使用以下命令创建 Uni-Lab 专用环境：
 
 ```bash
-mamba create -n unilab python=3.11.11  # 目前ros2组件依赖版本大多为3.11.11
+mamba create -n unilab python=3.11.14  # 目前ros2组件依赖版本大多为3.11.14
 mamba activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 选择安装包（三选一）：
+
+# 方案 A：标准安装（推荐大多数用户）
+mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+
+# 方案 B：开发者环境（可编辑模式开发）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+# 然后安装 unilabos 和 pip 依赖：
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
+pip install -e .
+uv pip install -r unilabos/utils/requirements.txt
+
+# 方案 C：完整版（含仿真和可视化工具）
+mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
 ```
 
 **参数说明**:
 
 - `-n unilab`: 创建名为 "unilab" 的环境
-- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
+- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
+- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
+- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
 - `-c robostack-staging -c conda-forge`: 添加额外的软件源
 
+**包选择建议**：
+- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
+- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
+- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
+
 **如果遇到网络问题**，可以使用清华镜像源加速下载：
 
 ```bash
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
 mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
 
-# 然后重新执行安装命令
+# 然后重新执行安装命令（推荐标准安装）
 mamba create -n unilab uni-lab::unilabos -c robostack-staging
+
+# 或完整版（仿真/可视化）
+mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
+
+# pip 安装时使用清华镜像（开发者安装时使用）
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
 ### 第三步：激活环境
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
    cd Uni-Lab-OS
    ```
 
-### 第二步：安装基础环境
+### 第二步：安装开发环境（unilabos-env）
 
-**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
-
-#### 选项 A：通过一键安装（推荐）
-
-参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
+**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
+- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
+- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
+- 包含 `uv` 工具，用于快速安装 pip 依赖
+- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
 
 ```bash
+# 创建并激活环境
+mamba create -n unilab python=3.11.14
 conda activate unilab
+
+# 安装开发者环境包（ROS2 + conda 依赖 + uv）
+mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
 ```
 
-#### 选项 B：通过手动安装
+### 第三步：安装 pip 依赖和可编辑模式安装
 
-参考上文"方式二：手动安装"，创建并安装环境：
-
-```bash
-mamba create -n unilab python=3.11.11
-conda activate unilab
-mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-```
-
-**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
-
-### 第三步：切换到开发版本
-
-现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
+克隆代码并安装依赖：
 
 ```bash
 # 确保环境已激活
 conda activate unilab
 
-# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
-pip uninstall unilabos -y
-
-# 克隆 dev 分支（如果还未克隆）
-cd /path/to/your/workspace
-git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
-# 或者如果已经克隆，切换到 dev 分支
+# 克隆仓库（如果还未克隆）
+git clone https://github.com/deepmodeling/Uni-Lab-OS.git
 cd Uni-Lab-OS
+
+# 切换到 dev 分支（可选）
 git checkout dev
 git pull
-
-# 以可编辑模式安装开发版 unilabos
-pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 
-**参数说明**：
+**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
 
-- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
-- `-i`: 使用清华镜像源加速下载
-- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
+```bash
+# 自动检测中文环境，如果是中文系统则使用清华镜像
+python scripts/dev_install.py
+
+# 或者手动指定：
+python scripts/dev_install.py --china     # 强制使用清华镜像
+python scripts/dev_install.py --no-mirror # 强制使用 PyPI
+python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
+python scripts/dev_install.py --use-pip   # 使用 pip 而非 uv
+```
+
+**手动安装**（如果脚本安装失败或速度太慢）：
+
+```bash
+# 1. 安装 unilabos（可编辑模式）
+pip install -e .
+
+# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
+uv pip install -r unilabos/utils/requirements.txt
+
+# 国内用户使用清华镜像：
+pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
+```
+
+**注意**：
+- `uv` 已包含在 `unilabos-env` 中，无需单独安装
+- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
+- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
+
+**为什么使用可编辑模式？**
+
+- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
+- 适合开发调试：修改代码后直接运行测试
+- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
+
+**验证安装**：
+
+```bash
+# 检查 unilabos 版本
+python -c "import unilabos; print(unilabos.__version__)"
+
+# 检查安装位置（应该指向你的代码目录）
+pip show unilabos | grep Location
+```
 
 ### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
 
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
 
 ### 问题 8: 环境很大，有办法减小吗？
 
-**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
+**解决方案**: 
+
+1. **使用 `unilabos` 标准版**（推荐大多数用户）：
+   ```bash
+   mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
+   ```
+   标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
+
+2. **使用 `unilabos-env` 开发者版**（最小化）：
+   ```bash
+   mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
+   # 然后手动安装依赖
+   pip install -e .
+   uv pip install -r unilabos/utils/requirements.txt
+   ```
+   开发者版只包含环境依赖，体积最小约 2GB。
+
+3. **按需安装额外组件**：
+   如果后续需要特定功能，可以单独安装：
+   ```bash
+   # 需要 Jupyter
+   mamba install jupyter jupyros
+   
+   # 需要可视化
+   mamba install matplotlib opencv
+   
+   # 需要仿真（注意：这会安装大量依赖）
+   mamba install ros-humble-gazebo-ros
+   ```
+
+4. **预打包环境问题**：
+   预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
+
+**包选择建议**：
+| 需求 | 推荐包 | 预估大小 |
+|------|--------|----------|
+| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
+| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
+| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
 
 ### 问题 9: 如何更新到最新版本？
 
@@ -511,6 +616,7 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
 
 **提示**:
 
-- 生产环境推荐使用方式二（手动安装）的稳定版本
-- 开发和测试推荐使用方式三（开发者安装）
-- 快速体验和演示推荐使用方式一（一键安装）
+- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
+- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
+- **仿真/可视化**推荐安装 `unilabos-full` 完整版
+- **快速体验和演示**推荐使用方式一（一键安装）

docs/user_guide/launch.md

@@ -22,7 +22,6 @@ 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
@@ -85,7 +84,7 @@ 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**：使用 `--use_remote_resource` 从云端获取
+- **远程资源**：不指定本地文件即可
 
 ### 7. 注册表构建
 
@@ -196,7 +195,7 @@ 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 --use_remote_resource
+unilab --ak your_ak --sk your_sk
 
 # 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: 0.10.14
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src
@@ -25,7 +25,7 @@ requirements:
   build:
   - ${{ compiler('cxx') }}
   - ${{ compiler('c') }}
-  - python ==3.11.11
+  - python ==3.11.14
   - numpy
   - if: build_platform != target_platform
     then:
@@ -63,14 +63,14 @@ requirements:
   - robostack-staging::ros-humble-rosidl-default-generators
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   run:
   - robostack-staging::ros-humble-action-msgs
   - robostack-staging::ros-humble-ros-workspace
   - robostack-staging::ros-humble-rosidl-default-runtime
   - robostack-staging::ros-humble-std-msgs
   - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
+  - robostack-staging::ros2-distro-mutex=0.7
   - if: osx and x86_64
     then:
     - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.14"
+  version: "0.10.19"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -85,7 +85,7 @@ Verification:
 -------------
 
 The verify_installation.py script will check:
-  - Python version (3.11.11)
+  - Python version (3.11.14)
   - ROS2 rclpy installation
   - UniLabOS installation and dependencies
 
@@ -104,7 +104,7 @@ Build Information:
 
   Branch:   {branch}
   Platform: {platform}
-  Python:   3.11.11
+  Python:   3.11.14
   Date:     {build_date}
 
 Troubleshooting:

scripts/dev_install.py

@@ -0,0 +1,214 @@
+#!/usr/bin/env python3
+"""
+Development installation script for UniLabOS.
+Auto-detects Chinese locale and uses appropriate mirror.
+
+Usage:
+    python scripts/dev_install.py
+    python scripts/dev_install.py --no-mirror  # Force no mirror
+    python scripts/dev_install.py --china      # Force China mirror
+    python scripts/dev_install.py --skip-deps  # Skip pip dependencies installation
+
+Flow:
+    1. pip install -e . (install unilabos in editable mode)
+    2. Detect Chinese locale
+    3. Use uv to install pip dependencies from requirements.txt
+    4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
+"""
+
+import locale
+import subprocess
+import sys
+import argparse
+from pathlib import Path
+
+# Tsinghua mirror URL
+TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
+
+
+def is_chinese_locale() -> bool:
+    """
+    Detect if system is in Chinese locale.
+    Same logic as EnvironmentChecker._is_chinese_locale()
+    """
+    try:
+        lang = locale.getdefaultlocale()[0]
+        if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
+            return True
+    except Exception:
+        pass
+    return False
+
+
+def run_command(cmd: list, description: str, retry: int = 2) -> bool:
+    """Run command with retry support."""
+    print(f"[INFO] {description}")
+    print(f"[CMD] {' '.join(cmd)}")
+
+    for attempt in range(retry + 1):
+        try:
+            result = subprocess.run(cmd, check=True, timeout=600)
+            print(f"[OK] {description}")
+            return True
+        except subprocess.CalledProcessError as e:
+            if attempt < retry:
+                print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
+            else:
+                print(f"[ERROR] {description} failed: {e}")
+                return False
+        except subprocess.TimeoutExpired:
+            print(f"[ERROR] {description} timed out")
+            return False
+    return False
+
+
+def install_editable(project_root: Path, use_mirror: bool) -> bool:
+    """Install unilabos in editable mode using pip."""
+    cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing unilabos in editable mode")
+
+
+def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
+    """Install pip dependencies using uv (installed via conda-forge::uv)."""
+    cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing pip dependencies with uv", retry=2)
+
+
+def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
+    """Fallback: Install pip dependencies using pip."""
+    cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
+    if use_mirror:
+        cmd.extend(["-i", TSINGHUA_MIRROR])
+
+    return run_command(cmd, "Installing pip dependencies with pip", retry=2)
+
+
+def check_uv_available() -> bool:
+    """Check if uv is available (installed via conda-forge::uv)."""
+    try:
+        subprocess.run(["uv", "--version"], capture_output=True, check=True)
+        return True
+    except (subprocess.CalledProcessError, FileNotFoundError):
+        return False
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
+    parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
+    parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
+    parser.add_argument(
+        "--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
+    )
+    parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
+    args = parser.parse_args()
+
+    # Determine project root
+    script_dir = Path(__file__).parent
+    project_root = script_dir.parent
+    requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
+
+    if not (project_root / "setup.py").exists():
+        print(f"[ERROR] setup.py not found in {project_root}")
+        sys.exit(1)
+
+    print("=" * 60)
+    print("UniLabOS Development Installation")
+    print("=" * 60)
+    print(f"Project root: {project_root}")
+    print()
+
+    # Determine mirror usage based on locale
+    if args.no_mirror:
+        use_mirror = False
+        print("[INFO] Mirror disabled by --no-mirror flag")
+    elif args.china:
+        use_mirror = True
+        print("[INFO] China mirror enabled by --china flag")
+    else:
+        use_mirror = is_chinese_locale()
+        if use_mirror:
+            print("[INFO] Chinese locale detected, using Tsinghua mirror")
+        else:
+            print("[INFO] Non-Chinese locale detected, using default PyPI")
+
+    print()
+
+    # Step 1: Install unilabos in editable mode
+    print("[STEP 1] Installing unilabos in editable mode...")
+    if not install_editable(project_root, use_mirror):
+        print("[ERROR] Failed to install unilabos")
+        print()
+        print("Manual fallback:")
+        if use_mirror:
+            print(f"  pip install -e {project_root} -i {TSINGHUA_MIRROR}")
+        else:
+            print(f"  pip install -e {project_root}")
+        sys.exit(1)
+
+    print()
+
+    # Step 2: Install pip dependencies
+    if args.skip_deps:
+        print("[INFO] Skipping pip dependencies installation (--skip-deps)")
+    else:
+        print("[STEP 2] Installing pip dependencies...")
+
+        if not requirements_file.exists():
+            print(f"[WARN] Requirements file not found: {requirements_file}")
+            print("[INFO] Skipping dependencies installation")
+        else:
+            # Try uv first (faster), fallback to pip
+            if args.use_pip:
+                print("[INFO] Using pip (--use-pip flag)")
+                success = install_requirements_pip(requirements_file, use_mirror)
+            elif check_uv_available():
+                print("[INFO] Using uv (installed via conda-forge::uv)")
+                success = install_requirements_uv(requirements_file, use_mirror)
+                if not success:
+                    print("[WARN] uv failed, falling back to pip...")
+                    success = install_requirements_pip(requirements_file, use_mirror)
+            else:
+                print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
+                print("[INFO] Falling back to pip...")
+                success = install_requirements_pip(requirements_file, use_mirror)
+
+            if not success:
+                print()
+                print("[WARN] Failed to install some dependencies automatically.")
+                print("You can manually install them:")
+                if use_mirror:
+                    print(f"  uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
+                    print("  or:")
+                    print(f"  pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
+                else:
+                    print(f"  uv pip install -r {requirements_file}")
+                    print("  or:")
+                    print(f"  pip install -r {requirements_file}")
+
+    print()
+    print("=" * 60)
+    print("Installation complete!")
+    print("=" * 60)
+    print()
+    print("Note: Some special packages (like pylabrobot) are installed")
+    print("automatically at runtime by unilabos if needed.")
+    print()
+    print("Verify installation:")
+    print('  python -c "import unilabos; print(unilabos.__version__)"')
+    print()
+    print("If you encounter issues, you can manually install dependencies:")
+    if use_mirror:
+        print(f"  uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
+    else:
+        print("  uv pip install -r unilabos/utils/requirements.txt")
+    print()
+
+
+if __name__ == "__main__":
+    main()

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.14',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

tests/resources/test_resourcetreeset.py

@@ -2,9 +2,8 @@ import pytest
 import json
 import os
 
-from pylabrobot.resources import Resource as ResourcePLR
 from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.registry.registry import lab_registry
 
 from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck

tests/workflow/test.json

@@ -0,0 +1,213 @@
+{
+  "workflow": [
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_1",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_2",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines",
+        "targets": "Liquid_3",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_4",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_5",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_2",
+        "targets": "Liquid_6",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set_2",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    },
+    {
+      "action": "transfer_liquid",
+      "action_args": {
+        "sources": "cell_lines_3",
+        "targets": "dest_set_3",
+        "asp_vol": 100.0,
+        "dis_vol": 74.75,
+        "asp_flow_rate": 94.0,
+        "dis_flow_rate": 95.5
+      }
+    }
+  ],
+  "reagent": {
+    "Liquid_1": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "Liquid_4": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "dest_set": {
+      "slot": 1,
+      "well": [
+        "A4",
+        "A7",
+        "A10"
+      ],
+      "labware": "rep 1"
+    },
+    "Liquid_2": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "Liquid_5": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "dest_set_2": {
+      "slot": 2,
+      "well": [
+        "A3",
+        "A5",
+        "A8"
+      ],
+      "labware": "rep 2"
+    },
+    "Liquid_3": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "Liquid_6": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "dest_set_3": {
+      "slot": 3,
+      "well": [
+        "A4",
+        "A6",
+        "A10"
+      ],
+      "labware": "rep 3"
+    },
+    "cell_lines": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    },
+    "cell_lines_2": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    },
+    "cell_lines_3": {
+      "slot": 4,
+      "well": [
+        "A1",
+        "A3",
+        "A5"
+      ],
+      "labware": "DRUG + YOYO-MEDIA"
+    }
+  }
+}

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.14"
+__version__ = "0.10.19"

unilabos/__main__.py

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

unilabos/app/backend.py

@@ -1,6 +1,6 @@
 import threading
 
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 

unilabos/app/main.py

@@ -1,13 +1,14 @@
 import argparse
 import asyncio
 import os
+import platform
 import shutil
 import signal
+import subprocess
 import sys
 import threading
 import time
 from typing import Dict, Any, List
-
 import networkx as nx
 import yaml
 
@@ -17,9 +18,93 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
+from unilabos.app.utils import cleanup_for_restart
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 
+# Global restart flags (used by ws_client and web/server)
+_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:
         config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
@@ -41,7 +126,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
+                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
                 sys.argv[i] = new_arg
                 break
 
@@ -49,6 +134,8 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
+    subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
+
     parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
     parser.add_argument(
@@ -58,6 +145,13 @@ 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,
@@ -147,11 +241,85 @@ def parse_args():
         action="store_true",
         help="Skip environment dependency check on startup",
     )
+    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 registry information",
+        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(
+        "--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",
+        aliases=["wf"],
+        help="Upload workflow from xdl/json/python files",
+    )
+    workflow_parser.add_argument(
+        "-f",
+        "--workflow_file",
+        type=str,
+        required=True,
+        help="Path to the workflow file (JSON format)",
+    )
+    workflow_parser.add_argument(
+        "-n",
+        "--workflow_name",
+        type=str,
+        default=None,
+        help="Workflow name, if not provided will use the name from file or filename",
+    )
+    workflow_parser.add_argument(
+        "--tags",
+        type=str,
+        nargs="*",
+        default=[],
+        help="Tags for the workflow (space-separated)",
+    )
+    workflow_parser.add_argument(
+        "--published",
+        action="store_true",
+        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
 
@@ -164,11 +332,18 @@ 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)
-    if not args_dict.get("skip_env_check", False):
+    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
 
-        print_status("正在进行环境依赖检查...", "info")
         if not check_environment(auto_install=True):
             print_status("环境检查失败，程序退出", "error")
             os._exit(1)
@@ -177,49 +352,75 @@ def main():
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if 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",
-                )
-                os._exit(1)
+    # === 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(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 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")
+        working_dir = os.path.dirname(os.path.abspath(config_path))
+    else:
+        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)
-    # 加载配置文件
+    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"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,
+                )
+                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")
-    load_config_from_file(config_path)
+    if not check_mode:
+        load_config_from_file(config_path)
 
     # 根据配置重新设置日志级别
     from unilabos.utils.log import configure_logger, logger
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+    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}")
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -241,9 +442,12 @@ def main():
     if args_dict.get("sk", ""):
         BasicConfig.sk = args_dict.get("sk", "")
         print_status("传入了sk参数，优先采用传入参数！", "info")
+    BasicConfig.working_dir = working_dir
+
+    workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
 
     # 使用远程资源启动
-    if args_dict["use_remote_resource"]:
+    if not workflow_upload and args_dict["use_remote_resource"]:
         print_status("使用远程资源启动", "info")
         from unilabos.app.web import http_client
 
@@ -256,15 +460,22 @@ def main():
 
     BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
     BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
-    BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     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 = os.popen("hostname").read().strip()
+    machine_name = platform.node()
     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.resources.graphio import (
         read_node_link_json,
@@ -278,16 +489,52 @@ def main():
     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.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+    from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
-    # 注册表
+    # 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
     lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
+        registry_paths=args_dict["registry_path"],
+        devices_dirs=devices_dirs,
+        upload_registry=BasicConfig.upload_registry,
+        check_mode=check_mode,
+        complete_registry=complete_registry,
     )
 
+    # 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)
+
+    # Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
+    if BasicConfig.upload_registry:
+        if BasicConfig.ak and BasicConfig.sk:
+            # 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")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
+
+    # 处理 workflow_upload 子命令
+    if workflow_upload:
+        from unilabos.workflow.wf_utils import handle_workflow_upload_command
+
+        handle_workflow_upload_command(args_dict)
+        print_status("工作流上传完成，程序退出", "info")
+        os._exit(0)
+
     if not BasicConfig.ak or not BasicConfig.sk:
         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)
@@ -357,7 +604,7 @@ 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 request_startup_json and "nodes" in request_startup_json:
+    if file_path is not None and 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)
@@ -368,20 +615,6 @@ def main():
     args_dict["devices_config"] = resource_tree_set
     args_dict["graph"] = graph_res.physical_setup_graph
 
-    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")
-            try:
-                register_devices_and_resources(lab_registry)
-                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:
-            print_status("未提供 ak 和 sk，跳过设备注册", "info")
-    else:
-        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
-
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
     else:
@@ -396,6 +629,7 @@ def main():
         comm_client = get_communication_client()
         if "websocket" in args_dict["app_bridges"]:
             args_dict["bridges"].append(comm_client)
+
             def _exit(signum, frame):
                 comm_client.stop()
                 sys.exit(0)
@@ -437,16 +671,13 @@ def main():
                 resource_visualization.start()
             except OSError as e:
                 if "AMENT_PREFIX_PATH" in str(e):
-                    print_status(
-                        f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
-                        "warning"
-                    )
+                    print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
                     print_status(
                         "建议解决方案：\n"
                         "1. 激活Conda环境: conda activate unilab\n"
                         "2. 或使用 --backend simple 参数\n"
                         "3. 或使用 --visual disable 参数禁用可视化",
-                        "info"
+                        "info",
                     )
                 else:
                     raise
@@ -454,16 +685,26 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(
+            restart_requested = start_server(
                 open_browser=not args_dict["disable_browser"],
                 port=BasicConfig.port,
             )
+            if restart_requested:
+                print_status("[Main] Restart requested, cleaning up...", "info")
+                cleanup_for_restart()
+                return
     else:
         start_backend(**args_dict)
-        start_server(
+
+        # 启动服务器（默认支持WebSocket触发重启）
+        restart_requested = start_server(
             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

@@ -54,6 +54,7 @@ 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

@@ -1,9 +1,8 @@
-import json
 import time
-from typing import Optional, Tuple, Dict, Any
+from typing import Any, Dict, Optional, Tuple
 
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import TypeEncoder
+from unilabos.utils.tools import normalize_json as _normalize_device
 
 
 def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
@@ -11,50 +10,63 @@ 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"]] = json.loads(
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
-        )
-        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+        devices_to_register[device_info["id"]] = _normalize_device(device_info)
+        logger.trace(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.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        logger.trace(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())})
+            response = http_client.resource_registry(
+                {"resources": list(devices_to_register.values())},
+                tag="device_registry",
+            )
             cost_time = time.time() - start_time
-            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")
+            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")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         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())})
+            response = http_client.resource_registry(
+                {"resources": list(resources_to_register.values())},
+                tag="resource_registry",
+            )
             cost_time = time.time() - start_time
-            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")
+            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")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
         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/utils.py

@@ -0,0 +1,176 @@
+"""
+UniLabOS 应用工具函数
+
+提供清理、重启等工具函数
+"""
+
+import glob
+import os
+import shutil
+import sys
+
+
+def patch_rclpy_dll_windows():
+    """在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
+    if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
+        return
+    try:
+        import rclpy
+
+        return
+    except ImportError as e:
+        if not str(e).startswith("DLL load failed"):
+            return
+    cp = os.environ["CONDA_PREFIX"]
+    impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
+    pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
+    if not os.path.exists(impl) or not pyd:
+        return
+    with open(impl, "r", encoding="utf-8") as f:
+        content = f.read()
+    lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
+    patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
+    shutil.copy2(impl, impl + ".bak")
+    with open(impl, "w", encoding="utf-8") as f:
+        f.write(patch + content)
+
+
+patch_rclpy_dll_windows()
+
+import gc
+import threading
+import time
+
+from unilabos.utils.banner_print import print_status
+
+
+def cleanup_for_restart() -> bool:
+    """
+    Clean up all resources for restart without exiting the process.
+
+    This function prepares the system for re-initialization by:
+    1. Stopping all communication clients
+    2. Destroying ROS nodes
+    3. Resetting singletons
+    4. Waiting for threads to finish
+
+    Returns:
+        bool: True if cleanup was successful, False otherwise
+    """
+    print_status("[Restart] Starting cleanup for restart...", "info")
+
+    # Step 1: Stop WebSocket communication client
+    print_status("[Restart] Step 1: Stopping WebSocket client...", "info")
+    try:
+        from unilabos.app.communication import get_communication_client
+
+        comm_client = get_communication_client()
+        if comm_client is not None:
+            comm_client.stop()
+            print_status("[Restart] WebSocket client stopped", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error stopping WebSocket: {e}", "warning")
+
+    # Step 2: Get HostNode and cleanup ROS
+    print_status("[Restart] Step 2: Cleaning up ROS nodes...", "info")
+    try:
+        from unilabos.ros.nodes.presets.host_node import HostNode
+        import rclpy
+        from rclpy.timer import Timer
+
+        host_instance = HostNode.get_instance(timeout=5)
+        if host_instance is not None:
+            print_status(f"[Restart] Found HostNode: {host_instance.device_id}", "info")
+
+            # Gracefully shutdown background threads
+            print_status("[Restart] Shutting down background threads...", "info")
+            HostNode.shutdown_background_threads(timeout=5.0)
+            print_status("[Restart] Background threads shutdown complete", "info")
+
+            # Stop discovery timer
+            if hasattr(host_instance, "_discovery_timer") and isinstance(host_instance._discovery_timer, Timer):
+                host_instance._discovery_timer.cancel()
+                print_status("[Restart] Discovery timer cancelled", "info")
+
+            # Destroy device nodes
+            device_count = len(host_instance.devices_instances)
+            print_status(f"[Restart] Destroying {device_count} device instances...", "info")
+            for device_id, device_node in list(host_instance.devices_instances.items()):
+                try:
+                    if hasattr(device_node, "ros_node_instance") and device_node.ros_node_instance is not None:
+                        device_node.ros_node_instance.destroy_node()
+                        print_status(f"[Restart] Device {device_id} destroyed", "info")
+                except Exception as e:
+                    print_status(f"[Restart] Error destroying device {device_id}: {e}", "warning")
+
+            # Clear devices instances
+            host_instance.devices_instances.clear()
+            host_instance.devices_names.clear()
+
+            # Destroy host node
+            try:
+                host_instance.destroy_node()
+                print_status("[Restart] HostNode destroyed", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error destroying HostNode: {e}", "warning")
+
+            # Reset HostNode state
+            HostNode.reset_state()
+            print_status("[Restart] HostNode state reset", "info")
+
+        # Shutdown executor first (to stop executor.spin() gracefully)
+        if hasattr(rclpy, "__executor") and rclpy.__executor is not None:
+            try:
+                rclpy.__executor.shutdown()
+                rclpy.__executor = None  # Clear for restart
+                print_status("[Restart] ROS executor shutdown complete", "info")
+            except Exception as e:
+                print_status(f"[Restart] Error shutting down executor: {e}", "warning")
+
+        # Shutdown rclpy
+        if rclpy.ok():
+            rclpy.shutdown()
+            print_status("[Restart] rclpy shutdown complete", "info")
+
+    except ImportError as e:
+        print_status(f"[Restart] ROS modules not available: {e}", "warning")
+    except Exception as e:
+        print_status(f"[Restart] Error in ROS cleanup: {e}", "warning")
+        return False
+
+    # Step 3: Reset communication client singleton
+    print_status("[Restart] Step 3: Resetting singletons...", "info")
+    try:
+        from unilabos.app import communication
+
+        if hasattr(communication, "_communication_client"):
+            communication._communication_client = None
+            print_status("[Restart] Communication client singleton reset", "info")
+    except Exception as e:
+        print_status(f"[Restart] Error resetting communication singleton: {e}", "warning")
+
+    # Step 4: Wait for threads to finish
+    print_status("[Restart] Step 4: Waiting for threads to finish...", "info")
+    time.sleep(3)  # Give threads time to finish
+
+    # Check remaining threads
+    remaining_threads = []
+    for t in threading.enumerate():
+        if t.name != "MainThread" and t.is_alive():
+            remaining_threads.append(t.name)
+
+    if remaining_threads:
+        print_status(
+            f"[Restart] Warning: {len(remaining_threads)} threads still running: {remaining_threads}", "warning"
+        )
+    else:
+        print_status("[Restart] All threads stopped", "info")
+
+    # Step 5: Force garbage collection
+    print_status("[Restart] Step 5: Running garbage collection...", "info")
+    gc.collect()
+    gc.collect()  # Run twice for weak references
+    print_status("[Restart] Garbage collection complete", "info")
+
+    print_status("[Restart] Cleanup complete. Ready for re-initialization.", "info")
+    return True

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())
-        asyncio.create_task(broadcast_status_page_data())
+        asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
+        asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")

unilabos/app/web/client.py

@@ -3,15 +3,15 @@ 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
-import time
-from threading import Thread
 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.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
 from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
@@ -76,7 +76,8 @@ class HTTPClient:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
+            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
+            f.write(json.dumps(payload, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -281,22 +282,54 @@ class HTTPClient:
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
+    def resource_registry(
+        self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
+    ) -> requests.Response:
         """
-        注册资源到服务器
+        注册资源到服务器，同步保存请求/响应到 unilabos_data
 
         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",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
+            data=compressed_body,
+            headers=headers,
             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:
@@ -335,6 +368,106 @@ class HTTPClient:
                 logger.error(f"响应内容: {response.text}")
         return None
 
+    def workflow_import(
+        self,
+        name: str,
+        workflow_uuid: str,
+        workflow_name: str,
+        nodes: List[Dict[str, Any]],
+        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
+
+        Args:
+            name: 工作流名称（顶层）
+            workflow_uuid: 工作流UUID
+            workflow_name: 工作流名称（data内部）
+            nodes: 工作流节点列表
+            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)
+        """
+        payload = {
+            "name": name,
+            "data": {
+                "workflow_uuid": workflow_uuid,
+                "workflow_name": workflow_name,
+                "nodes": nodes,
+                "edges": edges,
+                "tags": tags if tags is not None else [],
+            },
+        }
+        # 保存请求到文件
+        with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps(payload, indent=4, ensure_ascii=False))
+
+        response = requests.post(
+            f"{self.remote_addr}/lab/workflow/owner/import",
+            json=payload,
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=60,
+        )
+        # 保存响应到文件
+        with open(os.path.join(BasicConfig.working_dir, "res_workflow_upload.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
+
+        if response.status_code == 200:
+            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.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+            logger.trace(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.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+                logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
             return result
 
     def get_result(self, job_id: str) -> Optional[JobResult]:
@@ -327,6 +327,7 @@ 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

@@ -6,7 +6,6 @@ Web服务器模块
 
 import webbrowser
 
-import uvicorn
 from fastapi import FastAPI, Request
 from fastapi.middleware.cors import CORSMiddleware
 from starlette.responses import Response
@@ -87,7 +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:
@@ -96,7 +95,7 @@ def setup_server() -> FastAPI:
     return app
 
 
-def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
+def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> bool:
     """
     启动服务器
 
@@ -104,7 +103,14 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
         host: 服务器主机
         port: 服务器端口
         open_browser: 是否自动打开浏览器
+
+    Returns:
+        bool: True if restart was requested, False otherwise
     """
+    import threading
+    import time
+    from uvicorn import Config, Server
+
     # 设置服务器
     setup_server()
 
@@ -123,7 +129,37 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
 
     # 启动服务器
     info(f"[Web] 启动FastAPI服务器: {host}:{port}")
-    uvicorn.run(app, host=host, port=port, log_config=log_config)
+
+    # 使用支持重启的模式
+    config = Config(app=app, host=host, port=port, log_config=log_config)
+    server = Server(config)
+
+    # 启动服务器线程
+    server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
+    server_thread.start()
+
+    # info("[Web] Server started, monitoring for restart requests...")
+
+    # 监控重启标志
+    import unilabos.app.main as main_module
+
+    while server_thread.is_alive():
+        if hasattr(main_module, "_restart_requested") and main_module._restart_requested:
+            info(
+                f"[Web] Restart requested via WebSocket, reason: {getattr(main_module, '_restart_reason', 'unknown')}"
+            )
+            main_module._restart_requested = False
+
+            # 停止服务器
+            server.should_exit = True
+            server_thread.join(timeout=5)
+
+            info("[Web] Server stopped, ready for restart")
+            return True
+
+        time.sleep(1)
+
+    return False
 
 
 # 当脚本直接运行时启动服务器

unilabos/app/ws_client.py

@@ -23,9 +23,10 @@ from typing import Optional, Dict, Any, List
 from urllib.parse import urlparse
 from enum import Enum
 
-from jedi.inference.gradual.typing import TypedDict
+from typing_extensions 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
@@ -76,6 +77,7 @@ 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"""
@@ -127,6 +129,15 @@ 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
@@ -154,7 +165,7 @@ 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.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
+            logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}")
             return True
 
     def start_job(self, job_id: str) -> bool:
@@ -176,11 +187,15 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 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
+            # 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
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -203,6 +218,13 @@ 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]
@@ -210,8 +232,9 @@ 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.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}")
+                # 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
             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}")
@@ -227,15 +250,20 @@ 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.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}")
+                logger.trace(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"""
+        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
         with self.lock:
-            return list(self.active_jobs.values())
+            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
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -260,6 +288,14 @@ 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
@@ -268,7 +304,7 @@ 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.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}")
+                logger.trace(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]:
@@ -281,7 +317,7 @@ 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.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
+                    logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel")
                 return True
 
             # 如果是排队中的任务
@@ -295,7 +331,7 @@ class DeviceActionManager:
                     job_log = format_job_log(
                         job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
                     )
-                    logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}")
+                    logger.trace(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)
@@ -333,13 +369,18 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 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)
+            # 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)
             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 self.active_jobs.values():
+            for job_info in ready_candidates:
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -359,7 +400,7 @@ class MessageProcessor:
         self.device_manager = device_manager
         self.queue_processor = None  # 延迟设置
         self.websocket_client = None  # 延迟设置
-        self.session_id = ""
+        self.session_id = str(uuid.uuid4())[:6]  # 产生一个随机的session_id
 
         # WebSocket连接
         self.websocket = None
@@ -368,6 +409,7 @@ 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}")
@@ -394,22 +436,31 @@ 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"""
-        loop = asyncio.new_event_loop()
+        self._loop = asyncio.new_event_loop()
         try:
-            asyncio.set_event_loop(loop)
-            loop.run_until_complete(self._connection_handler())
+            asyncio.set_event_loop(self._loop)
+            self._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 loop:
-                loop.close()
+            if self._loop:
+                self._loop.close()
+            self._loop = None
 
     async def _connection_handler(self):
         """处理WebSocket连接和重连逻辑"""
@@ -426,8 +477,10 @@ 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}",
@@ -438,72 +491,98 @@ class MessageProcessor:
                     self.connected = True
                     self.reconnect_count = 0
 
-                    logger.info(f"[MessageProcessor] Connected to {self.websocket_url}")
+                    logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
 
                     # 启动发送协程
-                    send_task = asyncio.create_task(self._send_handler())
+                    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()
 
                     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] Connection closed")
-                self.connected = False
+                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(f"[MessageProcessor] Connection error: {str(e)}")
                 logger.error(traceback.format_exc())
-                self.connected = False
+                logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
             finally:
+                self.connected = False
                 self.websocket = None
 
             # 重连逻辑
-            if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
+            if not self.is_running:
+                break
+            if self.reconnect_count < WSConfig.max_reconnect_attempts:
                 self.reconnect_count += 1
+                backoff = WSConfig.reconnect_interval
                 logger.info(
-                    f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
-                    f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
+                    f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
                 )
-                await asyncio.sleep(WSConfig.reconnect_interval)
-            elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
+                await asyncio.sleep(backoff)
+            else:
                 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"""
+        """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。
+        """
         if not self.websocket:
             logger.error("[MessageProcessor] WebSocket connection is None")
             return
 
-        try:
-            async for message in self.websocket:
-                try:
-                    data = json.loads(message)
-                    await self._process_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 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:
+                        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())
 
     async def _send_handler(self):
         """处理发送队列中的消息"""
-        logger.debug("[MessageProcessor] Send handler started")
+        logger.trace("[MessageProcessor] Send handler started")
 
         try:
             while self.connected and self.websocket:
@@ -531,7 +610,7 @@ 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())
@@ -548,18 +627,16 @@ 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())
         finally:
             logger.debug("[MessageProcessor] Send handler stopped")
 
-    async def _process_message(self, data: Dict[str, Any]):
+    async def _process_message(self, message_type: str, message_data: Dict[str, Any]):
         """处理收到的消息"""
-        message_type = data.get("action", "")
-        message_data = data.get("data")
-
-        logger.debug(f"[MessageProcessor] Processing message: {message_type}")
+        logger.trace(f"[MessageProcessor] Processing message: {message_type}")
 
         try:
             if message_type == "pong":
@@ -571,16 +648,23 @@ class MessageProcessor:
             elif message_type == "cancel_action" or message_type == "cancel_task":
                 await self._handle_cancel_action(message_data)
             elif message_type == "add_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "add")
             elif message_type == "update_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "update")
             elif message_type == "remove_material":
+                # noinspection PyTypeChecker
                 await self._handle_resource_tree_update(message_data, "remove")
-            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 == "request_reload":
-                await self._handle_request_reload(message_data)
+            # 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:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -594,6 +678,24 @@ 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", "")
@@ -608,6 +710,9 @@ 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,
@@ -617,6 +722,7 @@ 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
@@ -628,13 +734,13 @@ class MessageProcessor:
             await self._send_action_state_response(
                 device_id, action_name, task_id, job_id, "query_action_status", True, 0
             )
-            logger.info(f"[MessageProcessor] Job {job_log} can start immediately")
+            logger.trace(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.info(f"[MessageProcessor] Job {job_log} queued")
+            logger.trace(f"[MessageProcessor] Job {job_log} queued")
 
             # 通知QueueProcessor有新的队列更新
             if self.queue_processor:
@@ -643,6 +749,8 @@ 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)
@@ -674,6 +782,7 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
+                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -838,9 +947,7 @@ class MessageProcessor:
                         device_action_groups[key_add] = []
                     device_action_groups[key_add].append(item["uuid"])
 
-                    logger.info(
-                        f"[MessageProcessor] Resource migrated: {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")
@@ -854,11 +961,13 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.info(f"触发物料更新 {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():
-            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:
@@ -890,19 +999,80 @@ class MessageProcessor:
             )
             thread.start()
 
-    async def _handle_request_reload(self, data: Dict[str, Any]):
+    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]):
         """
-        处理重载请求
-        
-        当LabGo发送request_reload时，重新发送设备注册信息
+        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")
-        logger.info(f"[MessageProcessor] Received reload request, reason: {reason}")
-        
-        # 重新发送host_node_ready信息
-        if self.websocket_client:
-            self.websocket_client.publish_host_ready()
-            logger.info("[MessageProcessor] Re-sent host_node_ready after reload request")
+        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}}
+        )
+
+        # 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")
 
     async def _send_action_state_response(
         self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
@@ -975,13 +1145,14 @@ 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")
 
     def _run(self):
         """运行队列处理主循环"""
-        logger.debug("[QueueProcessor] Queue processor started")
+        logger.trace("[QueueProcessor] Queue processor started")
 
         while self.is_running:
             try:
@@ -1075,6 +1246,11 @@ 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": {
@@ -1090,7 +1266,7 @@ 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.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}")
+                logger.trace(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}")
 
@@ -1113,7 +1289,7 @@ class QueueProcessor:
             job_info.action_name,
         )
 
-        logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}")
+        logger.trace(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)
@@ -1133,8 +1309,8 @@ 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.info(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.debug(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()
@@ -1191,7 +1367,6 @@ class WebSocketClient(BaseCommunicationClient):
         else:
             url = f"{scheme}://{parsed.netloc}/api/v1/ws/schedule"
 
-        logger.debug(f"[WebSocketClient] URL: {url}")
         return url
 
     def start(self) -> None:
@@ -1204,13 +1379,11 @@ class WebSocketClient(BaseCommunicationClient):
             logger.error("[WebSocketClient] WebSocket URL not configured")
             return
 
-        logger.info(f"[WebSocketClient] Starting connection to {self.websocket_url}")
-
         # 启动两个核心线程
         self.message_processor.start()
         self.queue_processor.start()
 
-        logger.info("[WebSocketClient] All threads started")
+        logger.trace("[WebSocketClient] All threads started")
 
     def stop(self) -> None:
         """停止WebSocket客户端"""
@@ -1226,8 +1399,8 @@ 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}")
-                # 给一点时间让消息发送出去
-                time.sleep(1)
+                # send_handler 每100ms检查一次队列，等300ms足以让消息发出
+                time.sleep(0.3)
             except Exception as e:
                 logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
 
@@ -1259,7 +1432,7 @@ 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
@@ -1279,7 +1452,7 @@ class WebSocketClient(BaseCommunicationClient):
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
+            # logger.debug(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)
@@ -1340,15 +1513,17 @@ 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():
@@ -1359,16 +1534,18 @@ 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/pump_protocol.py

@@ -95,8 +95,29 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     return total_volume
 
 
-def is_integrated_pump(node_name):
-    return "pump" in node_name and "valve" in node_name
+def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
+    """
+    判断是否为泵阀一体设备
+    """
+    class_lower = (node_class or "").lower()
+    name_lower = (node_name or "").lower()
+
+    if "pump" not in class_lower and "pump" not in name_lower:
+        return False
+
+    integrated_markers = [
+        "valve",
+        "pump_valve",
+        "pumpvalve",
+        "integrated",
+        "transfer_pump",
+    ]
+
+    for marker in integrated_markers:
+        if marker in class_lower or marker in name_lower:
+            return True
+
+    return False
 
 
 def find_connected_pump(G, valve_node):
@@ -186,7 +207,9 @@ def build_pump_valve_maps(G, pump_backbone):
     debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
 
     for node in filtered_backbone:
-        if is_integrated_pump(G.nodes[node]["class"]):
+        node_data = G.nodes.get(node, {})
+        node_class = node_data.get("class", "") or ""
+        if is_integrated_pump(node_class, node):
             pumps_from_node[node] = node
             valve_from_node[node] = node
             debug_print(f"  - 集成泵-阀: {node}")

unilabos/config/config.py

@@ -16,12 +16,17 @@ class BasicConfig:
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
+    no_update_feedback = False
     enable_resource_load = True
     communication_protocol = "websocket"
     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
-    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
+    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"
 
     @classmethod
     def auth_secret(cls):
@@ -36,7 +41,7 @@ class BasicConfig:
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
     max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+    ping_interval = 20  # ping间隔（秒）
 
 
 # HTTP配置
@@ -65,13 +70,14 @@ def _update_config_from_module(module):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
 
+
 def _update_config_from_env():
     prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
-            key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
+            key_path = env_key[len(prefix) :]  # Remove UNILAB_ prefix
             class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
@@ -141,5 +147,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
         load_config(config_path)

unilabos/device_comms/coin_cell_assembly_workstation.py

@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
 """
 from typing import Dict, Any, List, Optional, Union
 
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
 from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
 from unilabos.device_comms.workstation_communication import (
     WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         
         # 创建资源跟踪器（如果没有提供）
         if resource_tracker is None:
-            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+            from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
             resource_tracker = DeviceNodeResourceTracker()
         
         # 初始化基类

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

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

unilabos/devices/liquid_handling/biomek.py

@@ -13,7 +13,7 @@ from pylabrobot.resources import (
 import copy
 from unilabos_msgs.msg import Resource
 
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker  # type: ignore
 
 
 class LiquidHandlerBiomek:

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,9 +30,32 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
+from pylabrobot.resources import (
+    ResourceHolder,
+    ResourceStack,
+    Tip,
+    Deck,
+    Plate,
+    Well,
+    TipRack,
+    Resource,
+    Container,
+    Coordinate,
+    TipSpot,
+    Trash,
+    PlateAdapter,
+    TubeRack,
+)
 
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
+from unilabos.devices.liquid_handling.liquid_handler_abstract import (
+    LiquidHandlerAbstract,
+    SimpleReturn,
+    SetLiquidReturn,
+    SetLiquidFromPlateReturn,
+    TransferLiquidReturn,
+)
+from unilabos.registry.placeholder_type import ResourceSlot
+from unilabos.resources.resource_tracker import ResourceTreeSet
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -68,19 +91,103 @@ class PRCXI9300Deck(Deck):
     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, **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 = [Coordinate(0, 0, 0)] * 16
+    # 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,
+                 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)
 
     def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
-        if self.slots[slot - 1] is not None and not reassign:
-            raise ValueError(f"Spot {slot} is already occupied")
+        self.assign_child_resource(resource, spot=slot - 1, reassign=reassign)
 
-        self.slots[slot - 1] = resource
-        super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
+    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
 
-class PRCXI9300Container(Plate):
+
+class PRCXI9300Container(Container):
     """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。
@@ -93,11 +200,10 @@ class PRCXI9300Container(Plate):
         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, ordering=ordering, model=model)
+        super().__init__(name, size_x, size_y, size_z, category=category, model=model)
         self._unilabos_state = {}
 
     def load_state(self, state: Dict[str, Any]) -> None:
@@ -108,74 +214,81 @@ class PRCXI9300Container(Plate):
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         data = super().serialize_state()
         data.update(self._unilabos_state)
-        return data   
+        return data
+
+
 class PRCXI9300Plate(Plate):
-    """ 
+    """
     专用孔板类：
     1. 继承自 PLR 原生 Plate，保留所有物理特性。
     2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None, 
-                 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",
+        ordered_items: collections.OrderedDict = None,
+        ordering: Optional[collections.OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
         # 如果 ordered_items 不为 None，直接使用
+        items = None
+        ordering_param = None
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
             # 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 Plate 自己创建 Well 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 Plate 自己创建 Well 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())
+            if ordering:
+                values = list(ordering.values())
+                value = values[0]
+                if isinstance(value, 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 Plate 自己创建 Well 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())
+                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
-        else:
-            items = None
-            ordering_param = None
-        
+
         # 根据情况传递不同的参数
         if items is not None:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items,
-                             category=category,
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 Plate 自己创建 Well 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             category=category,
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             category=category,
-                             model=model, **kwargs)
-        
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
-        
 
     def load_state(self, state: Dict[str, Any]) -> None:
         super().load_state(state)
         self._unilabos_state = state
 
-
     def serialize_state(self) -> Dict[str, Dict[str, Any]]:
         try:
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -188,35 +301,45 @@ class PRCXI9300Plate(Plate):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
-        return data            # 其他顶层属性也进行类型检查
+        return data  # 其他顶层属性也进行类型检查
+
+
 class PRCXI9300TipRack(TipRack):
-    """ 专用吸头盒类 """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tip_rack", 
-                 ordered_items: collections.OrderedDict = None, 
-                 ordering: Optional[collections.OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None,
-                 **kwargs):
+    """专用吸头盒类"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "tip_rack",
+        ordered_items: collections.OrderedDict = None,
+        ordering: Optional[collections.OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
         # 如果 ordered_items 不为 None，直接使用
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 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
+            # 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 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
@@ -225,27 +348,23 @@ class PRCXI9300TipRack(TipRack):
         else:
             items = None
             ordering_param = None
-        
+
         # 根据情况传递不同的参数
         if items is not None:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items,
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordered_items=items, category=category, model=model, **kwargs
+            )
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(
+                name, size_x, size_y, size_z, ordering=ordering_param, category=category, model=model, **kwargs
+            )
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             category=category, 
-                             model=model, **kwargs)
+            super().__init__(name, size_x, size_y, size_z, category=category, model=model, **kwargs)
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
-            
+
     def load_state(self, state: Dict[str, Any]) -> None:
         super().load_state(state)
         self._unilabos_state = state
@@ -255,7 +374,7 @@ class PRCXI9300TipRack(TipRack):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -268,26 +387,33 @@ class PRCXI9300TipRack(TipRack):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
-    
+
+
 class PRCXI9300Trash(Trash):
     """PRCXI 9300 的专用 Trash 类，继承自 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 = "trash",
+        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)
@@ -306,7 +432,7 @@ class PRCXI9300Trash(Trash):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -319,42 +445,51 @@ class PRCXI9300Trash(Trash):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300TubeRack(TubeRack):
     """
     专用管架类：用于 EP 管架、试管架等。
     继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "tube_rack", 
-                 items: Optional[Dict[str, Any]] = None,
-                 ordered_items: Optional[OrderedDict] = None,
-                 ordering: Optional[OrderedDict] = None,
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 **kwargs):
-        
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "tube_rack",
+        items: Optional[Dict[str, Any]] = None,
+        ordered_items: Optional[OrderedDict] = None,
+        ordering: Optional[OrderedDict] = None,
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs,
+    ):
+
         # 如果 ordered_items 不为 None，直接使用
         if ordered_items is not None:
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 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 TubeRack 自己创建 Tube 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
+            # 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
                 items_to_pass = 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
@@ -367,24 +502,16 @@ class PRCXI9300TubeRack(TubeRack):
         else:
             items_to_pass = None
             ordering_param = None
-        
+
         # 根据情况传递不同的参数
         if items_to_pass is not None:
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordered_items=items_to_pass, 
-                             model=model, 
-                             **kwargs)
+            super().__init__(name, size_x, size_y, size_z, ordered_items=items_to_pass, model=model, **kwargs)
         elif ordering_param is not None:
             # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象
-            super().__init__(name, size_x, size_y, size_z, 
-                             ordering=ordering_param,
-                             model=model, 
-                             **kwargs)
+            super().__init__(name, size_x, size_y, size_z, ordering=ordering_param, model=model, **kwargs)
         else:
-            super().__init__(name, size_x, size_y, size_z, 
-                             model=model, 
-                             **kwargs)
-        
+            super().__init__(name, size_x, size_y, size_z, model=model, **kwargs)
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -394,7 +521,7 @@ class PRCXI9300TubeRack(TubeRack):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -407,33 +534,41 @@ class PRCXI9300TubeRack(TubeRack):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300PlateAdapter(PlateAdapter):
     """
     专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。
     支持注入 material_info (UUID)。
     """
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate_adapter", 
-                 model: Optional[str] = None,
-                 material_info: Optional[Dict[str, Any]] = None, 
-                 # 参数给予默认值 (标准96孔板尺寸)
-                 adapter_hole_size_x: float = 127.76, 
-                 adapter_hole_size_y: float = 85.48, 
-                 adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度
-                 dx: Optional[float] = None,
-                 dy: Optional[float] = None,
-                 dz: float = 0.0, # 默认Z轴偏移
-                 **kwargs):
-        
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "plate_adapter",
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        # 参数给予默认值 (标准96孔板尺寸)
+        adapter_hole_size_x: float = 127.76,
+        adapter_hole_size_y: float = 85.48,
+        adapter_hole_size_z: float = 10.0,  # 假设凹槽深度或板子放置高度
+        dx: Optional[float] = None,
+        dy: Optional[float] = None,
+        dz: float = 0.0,  # 默认Z轴偏移
+        **kwargs,
+    ):
+
         # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置
         if dx is None:
             dx = (size_x - adapter_hole_size_x) / 2
@@ -441,20 +576,20 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             dy = (size_y - adapter_hole_size_y) / 2
 
         super().__init__(
-            name=name, 
-            size_x=size_x, 
-            size_y=size_y, 
-            size_z=size_z, 
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
             dx=dx,
             dy=dy,
             dz=dz,
             adapter_hole_size_x=adapter_hole_size_x,
             adapter_hole_size_y=adapter_hole_size_y,
             adapter_hole_size_z=adapter_hole_size_z,
-            model=model, 
-            **kwargs
+            model=model,
+            **kwargs,
         )
-        
+
         self._unilabos_state = {}
         if material_info:
             self._unilabos_state["Material"] = material_info
@@ -464,7 +599,7 @@ class PRCXI9300PlateAdapter(PlateAdapter):
             data = super().serialize_state()
         except AttributeError:
             data = {}
-        if hasattr(self, '_unilabos_state') and self._unilabos_state:
+        if hasattr(self, "_unilabos_state") and self._unilabos_state:
             safe_state = {}
             for k, v in self._unilabos_state.items():
                 # 如果是 Material 字典，深入检查
@@ -477,15 +612,16 @@ class PRCXI9300PlateAdapter(PlateAdapter):
                         else:
                             # 打印日志提醒（可选）
                             # print(f"Warning: Removing non-serializable key {mk} from {self.name}")
-                            pass 
+                            pass
                     safe_state[k] = safe_material
                 # 其他顶层属性也进行类型检查
                 elif isinstance(v, (str, int, float, bool, list, dict, type(None))):
                     safe_state[k] = v
-            
+
             data.update(safe_state)
         return data
 
+
 class PRCXI9300Handler(LiquidHandlerAbstract):
     support_touch_tip = False
 
@@ -498,7 +634,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
 
     def __init__(
         self,
-        deck: Deck,
+        deck: PRCXI9300Deck,
         host: str,
         port: int,
         timeout: float,
@@ -512,14 +648,16 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         is_9320=False,
     ):
         tablets_info = []
-        count = 0
-        for child in deck.children:
-            if child.children:
-                if "Material" in child.children[0]._unilabos_state:
-                    number = int(child.name.replace("T", ""))
-                    tablets_info.append(
-                        WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"])
+        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"]
                     )
+                )
         if is_9320:
             print("当前设备是9320")
         # 始终初始化 step_mode 属性
@@ -538,9 +676,14 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         super().post_init(ros_node)
         self._unilabos_backend.post_init(ros_node)
 
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn:
+    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SetLiquidReturn:
         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]
+    ) -> SetLiquidFromPlateReturn:
+        return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
+
     def set_group(self, group_name: str, wells: List[Well], volumes: List[float]):
         return super().set_group(group_name, wells, volumes)
 
@@ -660,7 +803,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         return await super().transfer_liquid(
             sources,
             targets,
@@ -799,7 +942,8 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait)
 
     async def heater_action(self, temperature: float, time: int):
-        return await self._unilabos_backend.heater_action(temperature, time)  
+        return await self._unilabos_backend.heater_action(temperature, time)
+
     async def move_plate(
         self,
         plate: Plate,
@@ -822,10 +966,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             drop_direction,
             pickup_direction,
             pickup_distance_from_top,
-            target_plate_number = to,
+            target_plate_number=to,
             **backend_kwargs,
         )
 
+
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
 
@@ -878,31 +1023,28 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
-
     async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
-        
-        resource=pickup.resource
-        offset=pickup.offset
-        pickup_distance_from_top=pickup.pickup_distance_from_top
-        direction=pickup.direction
+
+        resource = pickup.resource
+        offset = pickup.offset
+        pickup_distance_from_top = pickup.pickup_distance_from_top
+        direction = pickup.direction
 
         plate_number = int(resource.parent.name.replace("T", ""))
         is_whole_plate = True
         balance_height = 0
         step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
-        
+
         self.steps_todo_list.append(step)
         return step
 
     async def drop_resource(self, drop: ResourceDrop, **backend_kwargs):
 
-
         plate_number = None
         target_plate_number = backend_kwargs.get("target_plate_number", None)
         if target_plate_number is not None:
             plate_number = int(target_plate_number.name.replace("T", ""))
 
-
         is_whole_plate = True
         balance_height = 0
         if plate_number is None:
@@ -911,7 +1053,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         self.steps_todo_list.append(step)
         return step
 
-
     async def heater_action(self, temperature: float, time: int):
         print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n")
         # return await self.api_client.heater_action(temperature, time)
@@ -968,7 +1109,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 error_code = self.api_client.get_error_code()
                 if error_code:
                     print(f"PRCXI9300 error code detected: {error_code}")
-                
+
                 # 清除错误代码
                 self.api_client.clear_error_code()
                 print("PRCXI9300 error code cleared.")
@@ -976,11 +1117,11 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 # 执行重置
                 print("Starting PRCXI9300 reset...")
                 self.api_client.call("IAutomation", "Reset")
-                
+
                 # 检查重置状态并等待完成
                 while not self.is_reset_ok:
                     print("Waiting for PRCXI9300 to reset...")
-                    if hasattr(self, '_ros_node') and self._ros_node is not None:
+                    if hasattr(self, "_ros_node") and self._ros_node is not None:
                         await self._ros_node.sleep(1)
                     else:
                         await asyncio.sleep(1)
@@ -998,7 +1139,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         """Pick up tips from the specified resource."""
         # INSERT_YOUR_CODE
         # Ensure use_channels is converted to a list of ints if it's an array
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1052,7 +1193,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1135,7 +1276,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         none_keys: List[str] = [],
     ):
         """Mix liquid in the specified resources."""
-        
+
         plate_indexes = []
         for op in targets:
             deck = op.parent.parent.parent
@@ -1178,7 +1319,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None):
         """Aspirate liquid from the specified resources."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1235,7 +1376,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
     async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None):
         """Dispense liquid into the specified resources."""
-        if hasattr(use_channels, 'tolist'):
+        if hasattr(use_channels, "tolist"):
             _use_channels = use_channels.tolist()
         else:
             _use_channels = list(use_channels) if use_channels is not None else None
@@ -1416,7 +1557,6 @@ class PRCXI9300Api:
                 time.sleep(1)
         return success
 
-
     def call(self, service: str, method: str, params: Optional[list] = None) -> Any:
         payload = json.dumps(
             {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":")
@@ -1543,7 +1683,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-        ) -> Dict[str, Any]:
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Imbibing",
@@ -1621,7 +1761,7 @@ class PRCXI9300Api:
         assist_fun5: str = "",
         liquid_method: str = "NormalDispense",
         axis: str = "Left",
-        ) -> Dict[str, Any]:
+    ) -> Dict[str, Any]:
         return {
             "StepAxis": axis,
             "Function": "Blending",
@@ -1681,11 +1821,11 @@ class PRCXI9300Api:
             "LiquidDispensingMethod": liquid_method,
         }
 
-    def clamp_jaw_pick_up(self,
+    def clamp_jaw_pick_up(
+        self,
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
-
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1695,7 +1835,7 @@ class PRCXI9300Api:
             "HoleRow": 1,
             "HoleCol": 1,
             "BalanceHeight": balance_height,
-            "PlateOrHoleNum": f"T{plate_no}"
+            "PlateOrHoleNum": f"T{plate_no}",
         }
 
     def clamp_jaw_drop(
@@ -1703,7 +1843,6 @@ class PRCXI9300Api:
         plate_no: int,
         is_whole_plate: bool,
         balance_height: int,
-
     ) -> Dict[str, Any]:
         return {
             "StepAxis": "ClampingJaw",
@@ -1713,7 +1852,7 @@ class PRCXI9300Api:
             "HoleRow": 1,
             "HoleCol": 1,
             "BalanceHeight": balance_height,
-            "PlateOrHoleNum": f"T{plate_no}"
+            "PlateOrHoleNum": f"T{plate_no}",
         }
 
     def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool):
@@ -1726,6 +1865,7 @@ class PRCXI9300Api:
             "AssistFun4": is_wait,
         }
 
+
 class DefaultLayout:
 
     def __init__(self, product_name: str = "PRCXI9300"):
@@ -2104,7 +2244,9 @@ if __name__ == "__main__":
             size_y=50,
             size_z=10,
             category="tip_rack",
-            ordered_items=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
+            ordered_items=collections.OrderedDict(
+                {k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}
+            ),
         )
         tip_rack_serialized = tip_rack.serialize()
         tip_rack_serialized["parent_name"] = deck.name
@@ -2299,43 +2441,37 @@ if __name__ == "__main__":
 
     A = tree_to_list([resource_plr_to_ulab(deck)])
     with open("deck.json", "w", encoding="utf-8") as f:
-        A.insert(0, {
-            "id": "PRCXI",
-            "name": "PRCXI",
-            "parent": None,
-            "type": "device",
-            "class": "liquid_handler.prcxi",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "deck": {
-                    "_resource_child_name": "PRCXI_Deck",
-                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck"
+        A.insert(
+            0,
+            {
+                "id": "PRCXI",
+                "name": "PRCXI",
+                "parent": None,
+                "type": "device",
+                "class": "liquid_handler.prcxi",
+                "position": {"x": 0, "y": 0, "z": 0},
+                "config": {
+                    "deck": {
+                        "_resource_child_name": "PRCXI_Deck",
+                        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    },
+                    "host": "192.168.0.121",
+                    "port": 9999,
+                    "timeout": 10.0,
+                    "axis": "Right",
+                    "channel_num": 1,
+                    "setup": False,
+                    "debug": True,
+                    "simulator": True,
+                    "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                    "is_9320": True,
                 },
-                "host": "192.168.0.121",
-                "port": 9999,
-                "timeout": 10.0,
-                "axis": "Right",
-                "channel_num": 1,
-                "setup": False,
-                "debug": True,
-                "simulator": True,
-                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-                "is_9320": True
+                "data": {},
+                "children": ["PRCXI_Deck"],
             },
-            "data": {},
-            "children": [
-                "PRCXI_Deck"
-            ]
-        })
+        )
         A[1]["parent"] = "PRCXI"
-        json.dump({
-            "nodes": A,
-            "links": []
-        }, f, indent=4, ensure_ascii=False)
+        json.dump({"nodes": A, "links": []}, f, indent=4, ensure_ascii=False)
 
     handler = PRCXI9300Handler(
         deck=deck,
@@ -2377,7 +2513,6 @@ if __name__ == "__main__":
     time.sleep(5)
     os._exit(0)
 
-
     prcxi_api = PRCXI9300Api(host="192.168.0.121", port=9999)
     prcxi_api.list_matrices()
     prcxi_api.get_all_materials()

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,10 +19,11 @@ 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", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: 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/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
@@ -52,14 +52,16 @@ 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} ✨")
@@ -68,33 +70,33 @@ 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
@@ -103,17 +105,17 @@ 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 ⏰
@@ -121,10 +123,10 @@ 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
@@ -132,13 +134,13 @@ 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） 📊
@@ -147,16 +149,16 @@ 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
         """
@@ -164,19 +166,19 @@ 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"
@@ -187,28 +189,34 @@ 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"
@@ -216,10 +224,10 @@ 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}%")
@@ -227,7 +235,7 @@ 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)
@@ -236,25 +244,27 @@ 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)
@@ -262,134 +272,136 @@ 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__()
 
@@ -398,20 +410,20 @@ 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

@@ -0,0 +1,874 @@
+"""
+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

@@ -1,9 +1,5 @@
 # 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

@@ -0,0 +1,113 @@
+# 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

@@ -0,0 +1,204 @@
+# 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

@@ -0,0 +1,312 @@
+# 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

@@ -0,0 +1,157 @@
+# 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:
@@ -49,6 +49,14 @@ 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()
@@ -176,7 +184,40 @@ class BioyondV1RPC(BaseRequest):
             return {}
 
         print(f"add material data: {response['data']}")
-        return response.get("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
 
     def query_matial_type_id(self, data) -> list:
         """查找物料typeid"""
@@ -203,7 +244,7 @@ class BioyondV1RPC(BaseRequest):
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
-                "data": {},
+                "data": 0,
             })
         if not response or response['code'] != 1:
             return []
@@ -273,11 +314,19 @@ 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 = LOCATION_MAPPING.get(location_name, location_name)
+        location_id = self.location_mapping.get(location_name, location_name)
 
         params = {
             "materialId": material_id,
@@ -1103,6 +1152,10 @@ 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}")
@@ -1123,6 +1176,14 @@ 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

@@ -1,142 +0,0 @@
-# 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

@@ -0,0 +1,329 @@
+# 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/dispensing_station.py

@@ -4,7 +4,8 @@ import time
 from typing import Optional, Dict, Any, List
 from typing_extensions import TypedDict
 import requests
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
+import pint
+
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
@@ -25,13 +26,89 @@ class ComputeExperimentDesignReturn(TypedDict):
 class BioyondDispensingStation(BioyondWorkstation):
     def __init__(
         self,
-        config,
-            # 桌子
-        deck,
-        *args,
+        config: dict = None,
+        deck=None,
+        protocol_type=None,
         **kwargs,
-        ):
-        super().__init__(config, 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)
+
         # self.config = config
         # self.api_key = config["api_key"]
         # self.host = config["api_host"]
@@ -43,6 +120,41 @@ 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
 
@@ -54,7 +166,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -85,7 +197,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             dict: 服务端响应，失败时返回 {code:0,message,...}
         """
         request_data = {
-            "apiKey": API_CONFIG["api_key"],
+            "apiKey": self.bioyond_config["api_key"],
             "requestTime": self.hardware_interface.get_current_time_iso8601(),
             "data": data
         }
@@ -118,20 +230,22 @@ 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}")
-            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
+
+            # 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
             out = {
                 "solutions": res.get("solutions", []),
                 "titration": res.get("titration", {}),
@@ -140,11 +254,248 @@ 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,
@@ -961,6 +1312,108 @@ 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,
@@ -1002,7 +1455,12 @@ 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，请确保从batch_create节点正确连接handle")
+                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"
+                )
 
             # 解析batch_create_result JSON对象
             try:
@@ -1031,7 +1489,17 @@ class BioyondDispensingStation(BioyondWorkstation):
 
             # 验证提取的数据
             if not order_codes:
-                raise BioyondException("batch_create_result中未找到order_codes字段或为空")
+                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"
+                )
             if not order_ids:
                 raise BioyondException("batch_create_result中未找到order_ids字段或为空")
 
@@ -1114,6 +1582,8 @@ 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,
@@ -1288,7 +1758,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                 f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
             )
 
-            from .config import WAREHOUSE_MAPPING
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
             results = []
             successful_count = 0
             failed_count = 0

unilabos/devices/workstation/bioyond_studio/station.py

@@ -6,6 +6,7 @@ Bioyond Workstation Implementation
 """
 import time
 import traceback
+import threading
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union
 import json
@@ -23,12 +24,94 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
 from pylabrobot.resources.resource import Resource as ResourcePLR
 
-from unilabos.devices.workstation.bioyond_studio.config import (
-    API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
-)
+
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
 
 
+class ConnectionMonitor:
+    """Bioyond连接监控器"""
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+        self._last_status = "unknown"
+
+    def start(self):
+        if self._running:
+            return
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
+        self._thread.start()
+        logger.info("Bioyond连接监控器已启动")
+
+    def stop(self):
+        self._running = False
+        if self._thread:
+            self._thread.join(timeout=2)
+            logger.info("Bioyond连接监控器已停止")
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 使用 lightweight API 检查连接
+                # query_matial_type_list 是比较快的查询
+                start_time = time.time()
+                result = self.workstation.hardware_interface.material_type_list()
+
+                status = "online" if result else "offline"
+                msg = "Connection established" if status == "online" else "Failed to get material type list"
+
+                if status != self._last_status:
+                    logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
+                    self._publish_event(status, msg)
+                    self._last_status = status
+
+                # 发布心跳 (可选，或者只在状态变更时发布)
+                # self._publish_event(status, msg)
+
+            except Exception as e:
+                logger.error(f"Bioyond连接检查异常: {e}")
+                if self._last_status != "error":
+                    self._publish_event("error", str(e))
+                    self._last_status = "error"
+
+            time.sleep(self.check_interval)
+
+    def _publish_event(self, status, message):
+        try:
+            if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
+                event_data = {
+                    "status": status,
+                    "message": message,
+                    "timestamp": datetime.now().isoformat()
+                }
+
+                # 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
+                # 这里假设通用事件发布机制，使用 String 类型的 topic
+                # 话题: /<namespace>/events/device_status
+                ns = self.workstation._ros_node.namespace
+                topic = f"{ns}/events/device_status"
+
+                # 使用 ROS2DeviceNode 的发布功能
+                # 如果没有预定义的 publisher，需要动态创建
+                # 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
+                # 这里我们先尝试用 String json 发布
+
+                # 在 ROS2DeviceNode 中通常需要先 create_publisher
+                # 为了简单起见，我们检查是否已有 publisher，没有则创建
+                if not hasattr(self.workstation, "_device_status_pub"):
+                    self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
+                        String, topic, 10
+                    )
+
+                self.workstation._device_status_pub.publish(
+                    convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+                )
+        except Exception as e:
+            logger.error(f"发布设备状态事件失败: {e}")
+
+
 class BioyondResourceSynchronizer(ResourceSynchronizer):
     """Bioyond资源同步器
 
@@ -174,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             else:
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
-            # 第1步：获取仓库配置
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            # 第1步：从配置中获取仓库配置
+            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None
@@ -238,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             # 第2步：转换为 Bioyond 格式
             logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
 
-            # 导入物料默认参数配置
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
             )[0]
 
             logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -468,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 return material_bioyond_id
 
             # 转换为 Bioyond 格式
-            from .config import MATERIAL_DEFAULT_PARAMETERS
+            # 从配置中获取物料默认参数
+            material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
+            material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
+
+            # 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
+            merged_params = material_default_params.copy()
+            for type_id, params in material_type_params.items():
+                merged_params[f"type:{type_id}"] = params
 
             bioyond_material = resource_plr_to_bioyond(
                 [resource],
                 type_mapping=self.workstation.bioyond_config["material_type_mappings"],
                 warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
-                material_params=MATERIAL_DEFAULT_PARAMETERS
+                material_params=merged_params
             )[0]
 
             # ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -528,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
             logger.info(f"[物料入库] 目标库位: {update_site}")
 
             # 获取仓库配置和目标库位 UUID
-            from .config import WAREHOUSE_MAPPING
-            warehouse_mapping = WAREHOUSE_MAPPING
+            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
 
             parent_name = None
             target_location_uuid = None
@@ -584,6 +678,44 @@ class BioyondWorkstation(WorkstationBase):
     集成Bioyond物料管理的工作站实现
     """
 
+    def _publish_task_status(
+        self,
+        task_id: str,
+        task_type: str,
+        status: str,
+        result: dict = None,
+        progress: float = 0.0,
+        task_code: str = None
+    ):
+        """发布任务状态事件"""
+        try:
+            if not getattr(self, "_ros_node", None):
+                return
+
+            event_data = {
+                "task_id": task_id,
+                "task_code": task_code,
+                "task_type": task_type,
+                "status": status,
+                "progress": progress,
+                "timestamp": datetime.now().isoformat()
+            }
+            if result:
+                event_data["result"] = result
+
+            topic = f"{self._ros_node.namespace}/events/task_status"
+
+            if not hasattr(self, "_task_status_pub"):
+                self._task_status_pub = self._ros_node.create_publisher(
+                    String, topic, 10
+                )
+
+            self._task_status_pub.publish(
+                convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
+            )
+        except Exception as e:
+            logger.error(f"发布任务状态事件失败: {e}")
+
     def __init__(
         self,
         bioyond_config: Optional[Dict[str, Any]] = None,
@@ -605,10 +737,28 @@ class BioyondWorkstation(WorkstationBase):
             raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
 
         # 初始化 warehouses 属性
-        self.deck.warehouses = {}
-        for resource in self.deck.children:
-            if isinstance(resource, WareHouse):
-                self.deck.warehouses[resource.name] = resource
+        if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
+            self.deck.warehouses = {}
+
+        # 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
+        if not self.deck.warehouses:
+            for resource in self.deck.children:
+                # 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
+                is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
+
+                # 如果配置中有定义，也可以认定为 warehouse
+                if not is_warehouse and "warehouse_mapping" in bioyond_config:
+                    if resource.name in bioyond_config["warehouse_mapping"]:
+                        is_warehouse = True
+
+                if is_warehouse:
+                    self.deck.warehouses[resource.name] = resource
+                    # 确保 category 被正确设置，方便后续使用
+                    if getattr(resource, "category", "") != "warehouse":
+                        try:
+                            resource.category = "warehouse"
+                        except:
+                            pass
 
         # 创建通信模块
         self._create_communication_module(bioyond_config)
@@ -627,18 +777,22 @@ class BioyondWorkstation(WorkstationBase):
             self._set_workflow_mappings(bioyond_config["workflow_mappings"])
 
         # 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
-        # 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
+        # 从 bioyond_config 中的 http_service_config 获取
+        http_service_cfg = bioyond_config.get("http_service_config", {})
         self._http_service_config = {
-            "host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
-            "port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
+            "host": http_service_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_service_cfg.get("http_service_port", 8080)
         }
-        self.http_service = None  # 将在 post_init 中启动
+        self.http_service = None  # 将在 post_init 启动
+        self.connection_monitor = None # 将在 post_init 启动
 
         logger.info(f"Bioyond工作站初始化完成")
 
     def __del__(self):
         """析构函数：清理资源，停止 HTTP 服务"""
         try:
+            if hasattr(self, 'connection_monitor') and self.connection_monitor:
+                self.connection_monitor.stop()
             if hasattr(self, 'http_service') and self.http_service is not None:
                 logger.info("正在停止 HTTP 报送服务...")
                 self.http_service.stop()
@@ -648,8 +802,19 @@ class BioyondWorkstation(WorkstationBase):
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
 
+        # 启动连接监控
+        try:
+            self.connection_monitor = ConnectionMonitor(self)
+            self.connection_monitor.start()
+        except Exception as e:
+            logger.error(f"启动连接监控失败: {e}")
+
         # 启动 HTTP 报送接收服务（现在 device_id 已可用）
-        if hasattr(self, '_http_service_config'):
+        # ⚠️ 检查子类是否已经自己管理 HTTP 服务
+        if self.bioyond_config.get("_disable_auto_http_service"):
+            logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
+            logger.info("   子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
+        elif hasattr(self, '_http_service_config'):
             try:
                 self.http_service = WorkstationHTTPService(
                     workstation_instance=self,
@@ -688,19 +853,14 @@ class BioyondWorkstation(WorkstationBase):
 
     def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
         """创建Bioyond通信模块"""
-        # 创建默认配置
-        default_config = {
-            **API_CONFIG,
-            "workflow_mappings": WORKFLOW_MAPPINGS,
-            "material_type_mappings": MATERIAL_TYPE_MAPPINGS,
-            "warehouse_mapping": WAREHOUSE_MAPPING
-        }
-
-        # 如果传入了 config，合并配置（config 中的值会覆盖默认值）
+        # 直接使用传入的配置，不再使用默认值
+        # 所有配置必须从 JSON 文件中提供
         if config:
-            self.bioyond_config = {**default_config, **config}
+            self.bioyond_config = config
         else:
-            self.bioyond_config = default_config
+            # 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
+            self.bioyond_config = {}
+            print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
 
         self.hardware_interface = BioyondV1RPC(self.bioyond_config)
 
@@ -1014,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase):
 
         workflow_id = self._get_workflow(actual_workflow_name)
         if workflow_id:
-            self.workflow_sequence.append(workflow_id)
+            # 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
+            if isinstance(self.workflow_sequence, list):
+                self.workflow_sequence.append(workflow_id)
+            elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
+                self._cached_workflow_sequence.append(workflow_id)
+            else:
+                print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
+                return False
+
             print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
             return True
         return False
@@ -1215,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理步骤完成逻辑
             # 例如：更新数据库、触发后续流程等
 
+            # 发布任务状态事件 (running/progress update)
+            self._publish_task_status(
+                task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
+                task_code=data.get('orderCode'),
+                task_type="bioyond_step",
+                status="running",
+                progress=0.5, # 步骤完成视为任务进行中
+                result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
+            )
+
+            # 更新物料信息
+            # 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
+            logger.info(f"[步骤完成报送] 触发物料同步...")
+            self.resource_synchronizer.sync_from_external()
+
+
             return {
                 "processed": True,
                 "step_id": data.get('stepId'),
@@ -1249,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase):
 
             # TODO: 根据实际业务需求处理通量完成逻辑
 
+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_sample",
+                status="running",
+                progress=0.7,
+                result={"sample_id": data.get('sampleId'), "status": status_desc}
+            )
+
+
             return {
                 "processed": True,
                 "sample_id": data.get('sampleId'),
@@ -1288,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase):
             # TODO: 根据实际业务需求处理任务完成逻辑
             # 例如：更新物料库存、生成报表等
 
+            # 映射状态到事件状态
+            event_status = "completed"
+            if str(data.get('status')) in ["-11", "-12"]:
+                event_status = "error"
+            elif str(data.get('status')) == "30":
+                event_status = "completed"
+            else:
+                event_status = "running" # 其他状态视为运行中（或根据实际定义）
+
+            # 发布任务状态事件
+            self._publish_task_status(
+                task_id=data.get('orderCode'),
+                task_code=data.get('orderCode'),
+                task_type="bioyond_order",
+                status=event_status,
+                progress=1.0 if event_status in ["completed", "error"] else 0.9,
+                result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
+            )
+
+            # 更新物料信息
+            # 任务完成后，且状态为完成时，触发同步以更新最终物料状态
+            if event_status == "completed":
+                logger.info(f"[任务完成报送] 触发物料同步...")
+                self.resource_synchronizer.sync_from_external()
+
+
             return {
                 "processed": True,
                 "order_code": data.get('orderCode'),

unilabos/devices/workstation/coin_cell_assembly/20251230_Modbus_CSV_Mapping_Guide.md

@@ -0,0 +1,84 @@
+# Modbus CSV 地址映射说明
+
+本文档说明 `coin_cell_assembly_a.csv` 文件如何将命名节点映射到实际的 Modbus 地址，以及如何在代码中使用它们。
+
+## 1. CSV 文件结构
+
+地址表文件位于同级目录下：`coin_cell_assembly_a.csv`
+
+每一行定义了一个 Modbus 节点，包含以下关键列：
+
+| 列名 | 说明 | 示例 |
+|------|------|------|
+| **Name** | **节点名称** (代码中引用的 Key) | `COIL_ALUMINUM_FOIL` |
+| **DataType** | 数据类型 (BOOL, INT16, FLOAT32, STRING) | `BOOL` |
+| **Comment** | 注释说明 | `使用铝箔垫` |
+| **Attribute** | 属性 (通常留空或用于额外标记) | |
+| **DeviceType** | Modbus 寄存器类型 (`coil`, `hold_register`) | `coil` |
+| **Address** | **Modbus 地址** (十进制) | `8340` |
+
+### 示例行 (铝箔垫片)
+
+```csv
+COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340,
+```
+
+- **名称**: `COIL_ALUMINUM_FOIL`
+- **类型**: `coil` (线圈，读写单个位)
+- **地址**: `8340`
+
+---
+
+## 2. 加载与注册流程
+
+在 `coin_cell_assembly.py` 的初始化代码中：
+
+1. **加载 CSV**: `BaseClient.load_csv()` 读取 CSV 并解析每行定义。
+2. **注册节点**: `modbus_client.register_node_list()` 将解析后的节点注册到 Modbus 客户端实例中。
+
+```python
+# 代码位置: coin_cell_assembly.py (L174-175)
+self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))                            
+self.client = modbus_client.register_node_list(self.nodes)
+```
+
+---
+
+## 3. 代码中的使用方式
+
+注册后，通过 `self.client.use_node('节点名称')` 即可获取该节点对象并进行读写操作，无需关心具体地址。
+
+### 控制铝箔垫片 (COIL_ALUMINUM_FOIL)
+
+```python
+# 代码位置: qiming_coin_cell_code 函数 (L1048)
+self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian)
+```
+
+- **写入 True**: 对应 Modbus 功能码 05 (Write Single Coil)，向地址 `8340` 写入 `1` (ON)。
+- **写入 False**: 向地址 `8340` 写入 `0` (OFF)。
+
+> **注意**: 代码中使用了 `not lvbodian`，这意味着逻辑是反转的。如果 `lvbodian` 参数为 `True` (默认)，写入的是 `False` (不使用铝箔垫)。
+
+---
+
+## 4. 地址转换注意事项 (Modbus vs PLC)
+
+CSV 中的 `Address` 列（如 `8340`）是 **Modbus 协议地址**。
+
+如果使用 InoProShop (汇川 PLC 编程软件)，看到的可能是 **PLC 内部地址** (如 `%QX...` 或 `%MW...`)。这两者之间通常需要转换。
+
+### 常见的转换规则 (示例)
+
+- **Coil (线圈) %QX**: 
+  - `Modbus地址 = 字节地址 * 8 + 位偏移`
+  - *例子*: `%QX834.0` -> `834 * 8 + 0` = `6672`
+  - *注意*: 如果 CSV 中配置的是 `8340`，这可能是一个自定义映射，或者是基于不同规则（如直接对应 Word 地址的某种映射，或者可能就是地址写错了/使用了非标准映射）。
+
+- **Register (寄存器) %MW**:
+  - 通常直接对应，或者有偏移量 (如 Modbus 40001 = PLC MW0)。
+
+### 验证方法
+由于 `test_unilab_interact.py` 中发现 `8450` (CSV风格) 不工作，而 `6760` (%QX845.0 计算值) 工作正常，**建议对 CSV 中的其他地址也进行核实**，特别是像 `8340` 这样以 0 结尾看起来像是 "字节地址+0" 的数值，可能实际上应该是 `%QX834.0` 对应的 `6672`。
+
+如果发现设备控制无反应，请尝试按照标准的 Modbus 计算方式转换 PLC 地址。

unilabos/devices/workstation/coin_cell_assembly/20260113_物料搜寻确认弹窗自动处理功能.md

@@ -0,0 +1,352 @@
+# 2026-01-13 物料搜寻确认弹窗自动处理功能
+
+## 概述
+
+本次更新为设备初始化流程添加了**物料搜寻确认弹窗自动检测与处理功能**。在设备初始化过程中，PLC 会弹出物料搜寻确认对话框，现在系统可以根据用户参数自动点击"是"或"否"按钮，无需手动干预。
+
+## 背景问题
+
+### 原有流程
+1. 调用 `func_pack_device_init_auto_start_combined()` 初始化设备
+2. PLC 在初始化过程中弹出物料搜寻确认对话框
+3. **需要人工手动点击**"是"或"否"按钮
+4. PLC 继续完成初始化并启动
+
+### 存在的问题
+- 需要人工干预，无法实现全自动化
+- 影响批量生产效率
+- 容易遗忘点击导致流程卡住
+
+## 解决方案
+
+### 新增 Modbus 地址配置
+
+在 `coin_cell_assembly_b.csv` 第 69-71 行添加三个 coil：
+
+| Name | DeviceType | Address | 说明 |
+|------|-----------|---------|------|
+| COIL_MATERIAL_SEARCH_DIALOG_APPEAR | coil | 6470 | 物料搜寻确认弹窗画面是否出现 |
+| COIL_MATERIAL_SEARCH_CONFIRM_YES | coil | 6480 | 初始化物料搜寻确认按钮"是" |
+| COIL_MATERIAL_SEARCH_CONFIRM_NO | coil | 6490 | 初始化物料搜寻确认按钮"否" |
+
+**Modbus 地址转换：**
+- CSV 6470 → Modbus 5176 (弹窗出现)
+- CSV 6480 → Modbus 5184 (按钮"是")
+- CSV 6490 → Modbus 5192 (按钮"否")
+
+## 代码修改详情
+
+### 1. coin_cell_assembly.py
+
+#### 1.1 新增辅助方法 `_handle_material_search_dialog()`
+
+**位置：** 第 799-901 行
+
+**功能：**
+- 监测物料搜寻确认弹窗是否出现（Coil 5176）
+- 根据 `enable_search` 参数自动点击对应按钮
+- 使用**脉冲模式**模拟真实按钮操作：`True` → 保持 0.5 秒 → `False`
+
+**参数：**
+- `enable_search: bool` - True=点击"是"(启用物料搜寻), False=点击"否"(不启用)
+- `timeout: int = 30` - 等待弹窗出现的最大时间（秒）
+
+**逻辑流程：**
+```python
+1. 监测 COIL_MATERIAL_SEARCH_DIALOG_APPEAR (每 0.5 秒检查一次)
+2. 检测到弹窗出现 (Coil = True)
+3. 选择按钮：
+   - enable_search=True  → COIL_MATERIAL_SEARCH_CONFIRM_YES
+   - enable_search=False → COIL_MATERIAL_SEARCH_CONFIRM_NO
+4. 执行脉冲操作：
+   - 写入 True (按下按钮)
+   - 等待 0.5 秒
+   - 写入 False (释放按钮)
+   - 验证状态
+```
+
+#### 1.2 修改 `func_pack_device_init_auto_start_combined()`
+
+**位置：** 第 904-1115 行
+
+**主要改动：**
+
+1. **添加新参数**
+   ```python
+   def func_pack_device_init_auto_start_combined(
+       self, 
+       material_search_enable: bool = False  # 新增参数
+   ) -> bool:
+   ```
+
+2. **内联初始化逻辑并集成弹窗检测**
+   - 不再调用 `self.func_pack_device_init()`
+   - 将初始化逻辑直接实现在函数内
+   - **在等待初始化完成的循环中实时检测弹窗**
+   - 避免死锁：PLC 等待弹窗确认 ↔ 代码等待初始化完成
+
+3. **关键代码片段**
+   ```python
+   # 等待初始化完成，同时检测物料搜寻弹窗
+   while (self._sys_init_status()) == False:
+       # 检查超时
+       if time.time() - start_wait > max_wait_time:
+           raise RuntimeError(f"初始化超时")
+       
+       # 如果还没处理弹窗，检测弹窗是否出现
+       if not dialog_handled:
+           dialog_state = self.client.use_node('COIL_MATERIAL_SEARCH_DIALOG_APPEAR').read(1)
+           if dialog_actual:  # 弹窗出现
+               # 执行脉冲按钮点击
+               button_node.write(True)   # 按下
+               time.sleep(0.5)            # 保持
+               button_node.write(False)   # 释放
+               dialog_handled = True
+       
+       time.sleep(1)
+   ```
+
+4. **步骤调整**
+   - 步骤 0: 前置条件检查
+   - 步骤 1: 设备初始化（**包含弹窗检测**）
+   - 步骤 1.5: 已在步骤 1 中完成
+   - 步骤 2: 切换自动模式
+   - 步骤 3: 启动设备
+
+### 2. coin_cell_workstation.yaml
+
+**位置：** 第 292-312 行
+
+**修改内容：**
+
+```yaml
+auto-func_pack_device_init_auto_start_combined:
+  goal_default:
+    material_search_enable: false  # 新增默认值
+  
+  schema:
+    description: 组合函数:设备初始化 + 物料搜寻确认 + 切换自动模式 + 启动。初始化过程中会自动检测物料搜寻确认弹窗，并根据参数自动点击"是"或"否"按钮
+    
+    goal:
+      properties:
+        material_search_enable:  # 新增参数配置
+          default: false
+          description: 是否启用物料搜寻功能。设备初始化后会弹出物料搜寻确认弹窗，此参数控制自动点击"是"(启用)或"否"(不启用)。默认为false(不启用物料搜寻)
+          type: boolean
+```
+
+### 3. 测试脚本（已创建，用户已删除）
+
+#### 3.1 test_material_search_dialog.py
+- 从 CSV 动态加载 Modbus 地址
+- 支持 4 种测试模式：
+  - `query` - 查询所有状态
+  - `dialog <0|1>` - 设置弹窗出现/消失
+  - `yes` - 脉冲点击"是"按钮
+  - `no` - 脉冲点击"否"按钮
+- 兼容 pymodbus 3.x API
+
+#### 3.2 更新其他测试脚本
+- `test_coin_cell_reset.py` - 更新为 pymodbus 3.x API
+- `test_unilab_interact.py` - 更新为 pymodbus 3.x API
+
+## 使用方法
+
+### 参数说明
+
+| 参数 | 类型 | 默认值 | 说明 |
+|------|------|--------|------|
+| `material_search_enable` | boolean | `false` | 是否启用物料搜寻功能 |
+
+### 调用示例
+
+#### 1. 不启用物料搜寻（默认）
+```python
+# 默认参数，点击"否"按钮
+await device.func_pack_device_init_auto_start_combined()
+```
+
+或在 YAML workflow 中：
+```yaml
+# 使用默认值 false，不启用物料搜寻
+- BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
+```
+
+#### 2. 启用物料搜寻
+```python
+# 显式设置为 True，点击"是"按钮
+await device.func_pack_device_init_auto_start_combined(
+    material_search_enable=True
+)
+```
+
+或在 YAML workflow 中：
+```yaml
+- BatteryStation/auto-func_pack_device_init_auto_start_combined:
+    goal:
+      material_search_enable: true  # 启用物料搜寻
+```
+
+## 执行日志示例
+
+```
+26-01-13 [21:32:44] [INFO] 开始组合操作：设备初始化 → 物料搜寻确认 → 自动模式 → 启动
+26-01-13 [21:32:44] [INFO] 【步骤 0/4】前置条件检查...
+26-01-13 [21:32:44] [INFO]   ✓ REG_UNILAB_INTERACT 检查通过
+26-01-13 [21:32:44] [INFO]   ✓ COIL_GB_L_IGNORE_CMD 检查通过
+26-01-13 [21:32:44] [INFO] 【步骤 1/4】设备初始化...
+26-01-13 [21:32:44] [INFO] 切换手动模式...
+26-01-13 [21:32:46] [INFO] 发送初始化命令...
+26-01-13 [21:32:47] [INFO] 等待初始化完成（同时监测物料搜寻弹窗）...
+26-01-13 [21:33:05] [INFO] ✓ 在初始化过程中检测到物料搜寻确认弹窗！
+26-01-13 [21:33:05] [INFO] 用户选择: 不启用物料搜寻（点击否）
+26-01-13 [21:33:05] [INFO]   → 按下按钮 '否'
+26-01-13 [21:33:06] [INFO]   → 释放按钮 '否'
+26-01-13 [21:33:07] [INFO] ✓ 成功处理物料搜寻确认弹窗（选择: 否）
+26-01-13 [21:33:08] [INFO] ✓ 初始化状态完成
+26-01-13 [21:33:12] [INFO] ✓ 设备初始化完成
+26-01-13 [21:33:12] [INFO] 【步骤 1.5/4】物料搜寻确认已在初始化过程中完成
+26-01-13 [21:33:12] [INFO] 【步骤 2/4】切换自动模式...
+26-01-13 [21:33:15] [INFO] ✓ 切换自动模式完成
+26-01-13 [21:33:15] [INFO] 【步骤 3/4】启动设备...
+26-01-13 [21:33:18] [INFO] ✓ 启动设备完成
+26-01-13 [21:33:18] [INFO] 组合操作完成：设备已成功初始化、确认物料搜寻、切换自动模式并启动
+```
+
+## 技术要点
+
+### 1. 脉冲模式按钮操作
+模拟真实按钮按压过程：
+1. 写入 `True` (按下)
+2. 保持 0.5 秒
+3. 写入 `False` (释放)
+4. 验证状态
+
+### 2. 避免死锁
+**问题：** PLC 在初始化过程中等待弹窗确认，而代码等待初始化完成  
+**解决：** 在初始化等待循环中实时检测弹窗，一旦出现立即处理
+
+### 3. 超时保护
+- 弹窗检测超时：30 秒（在 `_handle_material_search_dialog` 中）
+- 初始化超时：120 秒（在 `func_pack_device_init_auto_start_combined` 中）
+
+### 4. PyModbus 3.x API 兼容
+所有 Modbus 操作使用 keyword arguments：
+```python
+# 读取
+client.read_coils(address=5176, count=1)
+
+# 写入
+client.write_coil(address=5184, value=True)
+```
+
+## 向后兼容性
+
+### 保留的原有函数
+- `func_pack_device_init()` - 单独的初始化函数，不包含弹窗处理
+- 仍可在 YAML 中通过 `auto-func_pack_device_init` 调用
+- 用于不需要自动处理弹窗的场景
+
+### 新增的功能
+- 在 `func_pack_device_init_auto_start_combined()` 中集成弹窗处理
+- 通过参数控制，默认行为与之前兼容（点击"否"）
+
+## 验证测试
+
+### 测试场景
+
+#### 场景 1：默认参数（不启用物料搜寻）
+```bash
+# 调用时不传参数
+BatteryStation/auto-func_pack_device_init_auto_start_combined: {}
+```
+**预期结果：**
+- ✅ 检测到弹窗
+- ✅ 自动点击"否"按钮
+- ✅ 初始化完成并启动成功
+
+#### 场景 2：启用物料搜寻
+```bash
+# 设置 material_search_enable=true
+BatteryStation/auto-func_pack_device_init_auto_start_combined:
+  goal:
+    material_search_enable: true
+```
+**预期结果：**
+- ✅ 检测到弹窗
+- ✅ 自动点击"是"按钮
+- ✅ 初始化完成并启动成功
+
+### 实际测试结果
+
+**测试时间：** 2026-01-13 21:32:43  
+**测试参数：** `material_search_enable: false`  
+**测试结果：** ✅ 成功
+
+**关键时间节点：**
+- 21:33:05 - 检测到弹窗
+- 21:33:05 - 按下"否"按钮
+- 21:33:06 - 释放"否"按钮  
+- 21:33:07 - 弹窗处理完成
+- 21:33:08 - 初始化状态完成
+- 21:33:18 - 整个流程完成
+
+**总耗时：** 约 35 秒（包含初始化全过程）
+
+## 注意事项
+
+1. **CSV 配置依赖**
+   - 确保 `coin_cell_assembly_b.csv` 包含 69-71 行的 coil 配置
+   - 地址转换逻辑：`modbus_addr = (csv_addr // 10) * 8 + (csv_addr % 10)`
+
+2. **默认行为**
+   - 默认 `material_search_enable=false`，即不启用物料搜寻
+   - 如需启用，必须显式设置为 `true`
+
+3. **日志级别**
+   - 弹窗检测过程中的 `waiting for init_cmd` 使用 DEBUG 级别
+   - 关键操作（检测到弹窗、按钮操作）使用 INFO 级别
+
+4. **原有函数保留**
+   - `func_pack_device_init()` 仍然可用，但不包含弹窗处理
+   - 如果单独调用此函数，仍需手动处理弹窗
+
+## 文件清单
+
+### 修改的文件
+1. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`
+   - 新增 `_handle_material_search_dialog()` 方法
+   - 修改 `func_pack_device_init_auto_start_combined()` 函数
+
+2. `d:\UniLabdev\Uni-Lab-OS\unilabos\registry\devices\coin_cell_workstation.yaml`
+   - 更新 `auto-func_pack_device_init_auto_start_combined` 配置
+   - 添加 `material_search_enable` 参数说明
+
+3. `d:\UniLabdev\Uni-Lab-OS\unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly_b.csv`
+   - 第 69-71 行添加三个 coil 配置
+
+### 创建的测试文件（已删除）
+1. `test_material_search_dialog.py` - 物料搜寻弹窗测试脚本
+2. `test_coin_cell_reset.py` - 复位功能测试（更新为 pymodbus 3.x）
+3. `test_unilab_interact.py` - Unilab 交互测试（更新为 pymodbus 3.x）
+
+## 总结
+
+本次更新成功实现了设备初始化过程中物料搜寻确认弹窗的自动化处理，主要优势：
+
+✅ **全自动化** - 无需人工干预  
+✅ **参数可配** - 灵活控制是否启用物料搜寻  
+✅ **实时检测** - 在初始化等待循环中检测，避免死锁  
+✅ **脉冲模式** - 模拟真实按钮操作  
+✅ **向后兼容** - 保留原有函数，不影响现有流程  
+✅ **完整日志** - 详细记录每一步操作  
+✅ **超时保护** - 防止无限等待  
+
+该功能已通过实际测试验证，可投入生产使用。
+
+---
+
+**文档版本：** 1.0  
+**创建日期：** 2026-01-13  
+**作者：** Antigravity AI Assistant  
+**最后更新：** 2026-01-13 21:36

unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py

@@ -0,0 +1,645 @@
+"""
+纽扣电池组装工作站物料类定义
+Button Battery Assembly Station Resource Classes
+"""
+
+from __future__ import annotations
+
+from collections import OrderedDict
+from typing import Any, Dict, List, Optional, TypedDict, Union, cast
+
+from pylabrobot.resources.coordinate import Coordinate
+from pylabrobot.resources.container import Container
+from pylabrobot.resources.deck import Deck
+from pylabrobot.resources.itemized_resource import ItemizedResource
+from pylabrobot.resources.resource import Resource
+from pylabrobot.resources.resource_stack import ResourceStack
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.trash import Trash
+from pylabrobot.resources.utils import create_ordered_items_2d
+
+from unilabos.resources.battery.magazine import MagazineHolder_4_Cathode, MagazineHolder_6_Cathode, MagazineHolder_6_Anode, MagazineHolder_6_Battery
+from unilabos.resources.battery.bottle_carriers import YIHUA_Electrolyte_12VialCarrier
+from unilabos.resources.battery.electrode_sheet import ElectrodeSheet
+
+
+
+# TODO: 这个应该只能放一个极片
+class MaterialHoleState(TypedDict):
+    diameter: int
+    depth: int
+    max_sheets: int
+    info: Optional[str]  # 附加信息
+
+class MaterialHole(Resource):
+    """料板洞位类"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        category: str = "material_hole",
+        **kwargs
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+        )
+        self._unilabos_state: MaterialHoleState = MaterialHoleState(
+            diameter=20,
+            depth=10,
+            max_sheets=1,
+            info=None
+        )
+
+    def get_all_sheet_info(self):
+        info_list = []
+        for sheet in self.children:
+            info_list.append(sheet._unilabos_state["info"])
+        return info_list
+    
+    #这个函数函数好像没用，一般不会集中赋值质量
+    def set_all_sheet_mass(self):
+        for sheet in self.children:
+            sheet._unilabos_state["mass"] = 0.5  # 示例：设置质量为0.5g
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    #移动极片前先取出对象
+    def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]:
+        for sheet in self.children:
+            if sheet.name == name:
+                return sheet
+        return None
+
+    def has_electrode_sheet(self) -> bool:
+        """检查洞位是否有极片"""
+        return len(self.children) > 0
+
+    def assign_child_resource(
+        self,
+        resource: ElectrodeSheet,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题
+        #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]:
+        #    raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}")
+        #if len(self.children) >= self._unilabos_state["max_sheets"]:
+        #    raise ValueError(f"洞位已满，无法放置更多极片")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet:
+        return self.children[index]
+
+
+class MaterialPlateState(TypedDict):
+    hole_spacing_x: float
+    hole_spacing_y: float
+    hole_diameter: float
+    info: Optional[str]  # 附加信息
+
+class MaterialPlate(ItemizedResource[MaterialHole]):
+    """料板类 - 4x4个洞位，每个洞位放1个极片"""
+    
+    children: List[MaterialHole]
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        ordered_items: Optional[Dict[str, MaterialHole]] = None,
+        ordering: Optional[OrderedDict[str, str]] = None,
+        category: str = "material_plate",
+        model: Optional[str] = None,
+        fill: bool = False
+    ):
+        """初始化料板
+
+        Args:
+            name: 料板名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            hole_diameter: 洞直径 (mm)
+            hole_depth: 洞深度 (mm)
+            hole_spacing_x: X方向洞位间距 (mm)
+            hole_spacing_y: Y方向洞位间距 (mm)
+            number: 编号
+            category: 类别
+            model: 型号
+        """
+        self._unilabos_state: MaterialPlateState = MaterialPlateState(
+            hole_spacing_x=24.0,
+            hole_spacing_y=24.0,
+            hole_diameter=20.0,
+            info="",
+        )
+        # 创建4x4的洞位
+        # TODO: 这里要改，对应不同形状
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 16,
+            size_y = 16,
+            size_z = 16,
+        )
+        if fill:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=holes,
+                category=category,
+                model=model,
+            )
+        else:
+            super().__init__(
+                name=name,
+                size_x=size_x,
+                size_y=size_y,
+                size_z=size_z,
+                ordered_items=ordered_items,
+                ordering=ordering,
+                category=category,
+                model=model,
+            )
+
+    def update_locations(self):
+        # TODO:调多次相加
+        holes = create_ordered_items_2d(
+            klass=MaterialHole,
+            num_items_x=4,
+            num_items_y=4,
+            dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2,  # 居中
+            dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2,  # 居中
+            dz=self._size_z,
+            item_dx=self._unilabos_state["hole_spacing_x"],
+            item_dy=self._unilabos_state["hole_spacing_y"],
+            size_x = 1,
+            size_y = 1,
+            size_z = 1,
+        )
+        for item, original_item in zip(holes.items(), self.children):
+            original_item.location = item[1].location
+
+
+class PlateSlot(ResourceStack):
+    """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        max_plates: int = 8,
+        category: str = "plate_slot",
+        model: Optional[str] = None
+    ):
+        """初始化板槽位
+
+        Args:
+            name: 槽位名称
+            max_plates: 最大板数量
+            category: 类别
+        """
+        super().__init__(
+            name=name,
+            direction="z",  # Z方向堆叠
+            resources=[],
+        )
+        self.max_plates = max_plates
+        self.category = category
+
+    def can_add_plate(self) -> bool:
+        """检查是否可以添加板"""
+        return len(self.children) < self.max_plates
+
+    def add_plate(self, plate: MaterialPlate) -> None:
+        """添加料板"""
+        if not self.can_add_plate():
+            raise ValueError(f"槽位 {self.name} 已满，无法添加更多板")
+        self.assign_child_resource(plate)
+
+    def get_top_plate(self) -> MaterialPlate:
+        """获取最上方的板"""
+        if len(self.children) == 0:
+            raise ValueError(f"槽位 {self.name} 为空")
+        return cast(MaterialPlate, self.get_top_item())
+
+    def take_top_plate(self) -> MaterialPlate:
+        """取出最上方的板"""
+        top_plate = self.get_top_plate()
+        self.unassign_child_resource(top_plate)
+        return top_plate
+
+    def can_access_for_picking(self) -> bool:
+        """检查是否可以进行取料操作（只有最上方的板能进行取料操作）"""
+        return len(self.children) > 0
+
+    def serialize(self) -> dict:
+        return {
+            **super().serialize(),
+            "max_plates": self.max_plates,
+        }
+
+
+#是一种类型注解，不用self
+class BatteryState(TypedDict):
+    """电池状态字典"""
+    diameter: float
+    height: float
+    assembly_pressure: float
+    electrolyte_volume: float
+    electrolyte_name: str
+
+class Battery(Resource):
+    """电池类 - 可容纳极片"""
+    children: List[ElectrodeSheet] = []
+
+    def __init__(
+        self,
+        name: str,
+        size_x=1,
+        size_y=1,
+        size_z=1,
+        category: str = "battery",
+    ):
+        """初始化电池
+
+        Args:
+            name: 电池名称
+            diameter: 直径 (mm)
+            height: 高度 (mm)
+            max_volume: 最大容量 (μL)
+            barcode: 二维码编号
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=1,
+            size_y=1,
+            size_z=1,
+            category=category,
+        )
+        self._unilabos_state: BatteryState = BatteryState(
+                                 diameter = 1.0,
+                                 height = 1.0,
+                                 assembly_pressure = 1.0,
+                                 electrolyte_volume = 1.0,
+                                 electrolyte_name = "DP001"
+                                 )
+
+    def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool:
+        to_add_name = bottle._unilabos_state["electrolyte_name"]
+        if bottle.aspirate_electrolyte(10):
+            if self.add_electrolyte(to_add_name, 10):
+                pass
+            else:
+                bottle._unilabos_state["electrolyte_volume"] += 10
+
+    def set_electrolyte(self, name: str, volume: float) -> None:
+        """设置电解液信息"""
+        self._unilabos_state["electrolyte_name"] = name
+        self._unilabos_state["electrolyte_volume"] = volume
+    #这个应该没用，不会有加了后再加的事情
+    def add_electrolyte(self, name: str, volume: float) -> bool:
+        """添加电解液信息"""
+        if name != self._unilabos_state["electrolyte_name"]:
+            return False
+        self._unilabos_state["electrolyte_volume"] += volume
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+# 电解液作为属性放进去
+
+class BatteryPressSlotState(TypedDict):
+    """电池状态字典"""
+    diameter: float =20.0
+    depth: float = 4.0
+
+class BatteryPressSlot(Resource):
+    """电池压制槽类 - 设备，可容纳一个电池"""
+    children: List[Battery] = []
+
+    def __init__(
+        self,
+        name: str = "BatteryPressSlot",
+        category: str = "battery_press_slot",
+    ):
+        """初始化电池压制槽
+
+        Args:
+            name: 压制槽名称
+            diameter: 直径 (mm)
+            depth: 深度 (mm)
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=10,
+            size_y=12,
+            size_z=13,
+            category=category,
+        )
+        self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState()
+
+    def has_battery(self) -> bool:
+        """检查是否有电池"""
+        return len(self.children) > 0
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+    
+    def assign_child_resource(
+        self,
+        resource: Battery,
+        location: Optional[Coordinate],
+        reassign: bool = True,
+    ):
+        """放置极片"""
+        # TODO: 让高京看下槽位只有一个电池时是否这么写。
+        if self.has_battery():
+            raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
+        super().assign_child_resource(resource, location, reassign)
+
+    # 根据children的编号取物料对象。
+    def get_battery_info(self, index: int) -> Battery:
+        return self.children[0]
+
+
+def TipBox64(
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        category: str = "tip_rack",
+        model: Optional[str] = None,
+):
+    """64孔枪头盒类"""
+    from pylabrobot.resources.tip import Tip
+
+    # 创建12x8=96个枪头位
+    def make_tip():
+        return Tip(
+            has_filter=False,
+            total_tip_length=20.0,
+            maximal_volume=1000,  # 1mL
+            fitting_depth=8.0,
+        )
+
+    tip_spots = create_ordered_items_2d(
+        klass=TipSpot,
+        num_items_x=12,
+        num_items_y=8,
+        dx=8.0,
+        dy=8.0,
+        dz=0.0,
+        item_dx=9.0,
+        item_dy=9.0,
+        size_x=10,
+        size_y=10,
+        size_z=0.0,
+        make_tip=make_tip,
+    )
+    idx_available = list(range(0, 32)) + list(range(64, 96))
+    tip_spots_available = {k: v for i, (k, v) in enumerate(tip_spots.items()) if i in idx_available}
+    tip_rack = TipRack(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        # ordered_items=tip_spots_available,
+        ordered_items=tip_spots,
+        category=category,
+        model=model,
+        with_tips=False,
+    )
+    tip_rack.set_tip_state([True]*32 + [False]*32 + [True]*32)  # 前32和后32个有枪头，中间32个无枪头
+    return tip_rack
+
+
+class WasteTipBoxstate(TypedDict):
+    """"废枪头盒状态字典"""
+    max_tips: int = 100
+    tip_count: int = 0
+
+#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断
+class WasteTipBox(Trash):
+    """废枪头盒类 - 100个枪头容量"""
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float = 127.8,
+        size_y: float = 85.5,
+        size_z: float = 60.0,
+        material_z_thickness=0,
+        max_volume=float("inf"),
+        category="trash",
+        model=None,
+        compute_volume_from_height=None,
+        compute_height_from_volume=None,
+    ):
+        """初始化废枪头盒
+
+        Args:
+            name: 废枪头盒名称
+            size_x: 长度 (mm)
+            size_y: 宽度 (mm)
+            size_z: 高度 (mm)
+            max_tips: 最大枪头容量
+            category: 类别
+            model: 型号
+        """
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            category=category,
+            model=model,
+        )
+        self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate()
+
+    def add_tip(self) -> None:
+        """添加废枪头"""
+        if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]:
+            raise ValueError(f"废枪头盒 {self.name} 已满")
+        self._unilabos_state["tip_count"] += 1
+
+    def get_tip_count(self) -> int:
+        """获取枪头数量"""
+        return self._unilabos_state["tip_count"]
+
+    def empty(self) -> None:
+        """清空废枪头盒"""
+        self._unilabos_state["tip_count"] = 0
+
+
+    def load_state(self, state: Dict[str, Any]) -> None:
+        """格式不变"""
+        super().load_state(state)
+        self._unilabos_state = state
+
+    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
+        """格式不变"""
+        data = super().serialize_state()
+        data.update(self._unilabos_state)  # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
+        return data
+
+
+class CoincellDeck(Deck):
+    """纽扣电池组装工作站台面类"""
+
+    def __init__(
+        self,
+        name: str = "coin_cell_deck",
+        size_x: float = 1450.0,  # 1m
+        size_y: float = 1450.0,  # 1m
+        size_z: float = 100.0,   # 0.9m
+        origin: Coordinate = Coordinate(-2200, 0, 0),
+        category: str = "coin_cell_deck",
+        setup: bool = False,  # 是否自动执行 setup
+    ):
+        """初始化纽扣电池组装工作站台面
+
+        Args:
+            name: 台面名称
+            size_x: 长度 (mm) - 1m
+            size_y: 宽度 (mm) - 1m
+            size_z: 高度 (mm) - 0.9m
+            origin: 原点坐标
+            category: 类别
+            setup: 是否自动执行 setup 配置标准布局
+        """
+        super().__init__(
+            name=name,
+            size_x=1450.0,
+            size_y=1450.0,
+            size_z=100.0,
+            origin=origin,
+        )
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        """设置工作站的标准布局 - 包含子弹夹、料盘、瓶架等完整配置"""
+        # ====================================== 子弹夹 ============================================
+        
+        # 正极片（4个洞位，2x2布局）
+        zhengji_zip = MagazineHolder_4_Cathode("正极&铝箔弹夹")
+        self.assign_child_resource(zhengji_zip, Coordinate(x=402.0, y=830.0, z=0))
+        
+        # 正极壳、平垫片（6个洞位，2x2+2布局）
+        zhengjike_zip = MagazineHolder_6_Cathode("正极壳&平垫片弹夹")
+        self.assign_child_resource(zhengjike_zip, Coordinate(x=566.0, y=272.0, z=0))
+        
+        # 负极壳、弹垫片（6个洞位，2x2+2布局）
+        fujike_zip = MagazineHolder_6_Anode("负极壳&弹垫片弹夹")
+        self.assign_child_resource(fujike_zip, Coordinate(x=474.0, y=276.0, z=0))
+        
+        # 成品弹夹（6个洞位，3x2布局）
+        chengpindanjia_zip = MagazineHolder_6_Battery("成品弹夹")
+        self.assign_child_resource(chengpindanjia_zip, Coordinate(x=260.0, y=156.0, z=0))
+        
+        # ====================================== 物料板 ============================================
+        # 创建物料板（料盘carrier）- 4x4布局
+        # 负极料盘
+        fujiliaopan = MaterialPlate(name="负极料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
+        self.assign_child_resource(fujiliaopan, Coordinate(x=708.0, y=794.0, z=0))
+        # for i in range(16):
+        #     fujipian = ElectrodeSheet(name=f"{fujiliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        #     fujiliaopan.children[i].assign_child_resource(fujipian, location=None)
+
+        # 隔膜料盘
+        gemoliaopan = MaterialPlate(name="隔膜料盘", size_x=120, size_y=100, size_z=10.0, fill=True)
+        self.assign_child_resource(gemoliaopan, Coordinate(x=718.0, y=918.0, z=0))
+        # for i in range(16):
+        #     gemopian = ElectrodeSheet(name=f"{gemoliaopan.name}_jipian_{i}", size_x=12, size_y=12, size_z=0.1)
+        #     gemoliaopan.children[i].assign_child_resource(gemopian, location=None)
+
+        # ====================================== 瓶架、移液枪 ============================================
+        # 在台面上放置 3x4 瓶架、6x2 瓶架 与 64孔移液枪头盒
+        # 奔耀上料5ml分液瓶小板 - 由奔曜跨站转运而来，不单独写，但是这里应该有一个堆栈用于摆放分液瓶小板
+        
+        # bottle_rack_3x4 = BottleRack(
+        #     name="bottle_rack_3x4",
+        #     size_x=210.0,
+        #     size_y=140.0,
+        #     size_z=100.0,
+        #     num_items_x=2,
+        #     num_items_y=4,
+        #     position_spacing=35.0,
+        #     orientation="vertical",
+        # )
+        # self.assign_child_resource(bottle_rack_3x4, Coordinate(x=1542.0, y=717.0, z=0))
+        
+        # 电解液缓存位 - 6x2布局
+        bottle_rack_6x2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2")
+        self.assign_child_resource(bottle_rack_6x2, Coordinate(x=1050.0, y=358.0, z=0))
+        # 电解液回收位6x2
+        bottle_rack_6x2_2 = YIHUA_Electrolyte_12VialCarrier(name="bottle_rack_6x2_2")
+        self.assign_child_resource(bottle_rack_6x2_2, Coordinate(x=914.0, y=358.0, z=0))
+
+        tip_box = TipBox64(name="tip_box_64")
+        self.assign_child_resource(tip_box, Coordinate(x=782.0, y=514.0, z=0))
+
+        waste_tip_box = WasteTipBox(name="waste_tip_box")
+        self.assign_child_resource(waste_tip_box, Coordinate(x=778.0, y=622.0, z=0))
+
+
+def YH_Deck(name=""):
+    cd = CoincellDeck(name=name)
+    cd.setup()
+    return cd
+
+
+if __name__ == "__main__":
+    deck = create_coin_cell_deck()
+    print(deck)

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_b.csv

@@ -0,0 +1,133 @@
+Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
+COIL_SYS_START_CMD,BOOL,,,,coil,8010,
+COIL_SYS_STOP_CMD,BOOL,,,,coil,8020,
+COIL_SYS_RESET_CMD,BOOL,,,,coil,8030,
+COIL_SYS_HAND_CMD,BOOL,,,,coil,8040,
+COIL_SYS_AUTO_CMD,BOOL,,,,coil,8050,
+COIL_SYS_INIT_CMD,BOOL,,,,coil,8060,
+COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,8700,
+COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,8710,unilab_rec_msg_succ_cmd
+COIL_SYS_START_STATUS,BOOL,,,,coil,8210,
+COIL_SYS_STOP_STATUS,BOOL,,,,coil,8220,
+COIL_SYS_RESET_STATUS,BOOL,,,,coil,8230,
+COIL_SYS_HAND_STATUS,BOOL,,,,coil,8240,
+COIL_SYS_AUTO_STATUS,BOOL,,,,coil,8250,
+COIL_SYS_INIT_STATUS,BOOL,,,,coil,8260,
+COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,8500,
+COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,8510,request_send_msg_status
+REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,11000,
+REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,11002,unilab_send_msg_electrolyte_num
+REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,11004,unilab_send_msg_electrolyte_vol
+REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,11006,unilab_send_msg_assembly_type
+REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,11008,unilab_send_msg_assembly_pressure
+REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,10000,data_assembly_coin_cell_num
+REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,10002,data_open_circuit_voltage
+REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,10004,
+REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,10006,
+REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,10008,
+REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,10010,data_pole_weight
+REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,10012,data_assembly_time
+REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,10014,data_assembly_pressure
+REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,10016,data_electrolyte_volume
+REG_DATA_COIN_NUM,INT16,,,,hold_register,10018,data_coin_num
+REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,10020,data_electrolyte_code()
+REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,10030,data_coin_cell_code()
+REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,12004,data_stack_vision_code()
+REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,10050,data_glove_box_pressure
+REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,10052,data_glove_box_water_content
+REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,10054,data_glove_box_o2_content
+UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8720,
+UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,8520,
+REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,496,
+REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
+UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
+UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
+REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
+REG_UNILAB_INTERACT,BOOL,,,,coil,8450,
+,,,,,coil,8320,
+COIL_ALUMINUM_FOIL,BOOL,,,,coil,8340,
+REG_MSG_NE_PLATE_MATRIX,INT16,,,,hold_register,440,
+REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,,,hold_register,450,
+REG_MSG_TIP_BOX_MATRIX,INT16,,,,hold_register,480,
+REG_MSG_NE_PLATE_NUM,INT16,,,,hold_register,443,
+REG_MSG_SEPARATOR_PLATE_NUM,INT16,,,,hold_register,453,
+REG_MSG_PRESS_MODE,BOOL,,,,coil,8360,
+,BOOL,,,,coil,8300,
+,BOOL,,,,coil,8310,
+COIL_GB_L_IGNORE_CMD,BOOL,,,,coil,8320,
+COIL_GB_R_IGNORE_CMD,BOOL,,,,coil,8420,
+,BOOL,,,,coil,8350,
+COIL_ELECTROLYTE_DUAL_DROP_MODE,BOOL,,,,coil,8370,
+,BOOL,,,,coil,8380,
+,BOOL,,,,coil,8390,
+,BOOL,,,,coil,8400,
+,BOOL,,,,coil,8410,
+REG_MSG_DUAL_DROP_FIRST_VOLUME,INT16,,,,hold_register,4001,
+COIL_DUAL_DROP_SUCTION_TIMING,BOOL,,,,coil,8430,
+COIL_DUAL_DROP_START_TIMING,BOOL,,,,coil,8470,
+REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,,,coil,8460,
+COIL_MATERIAL_SEARCH_DIALOG_APPEAR,BOOL,,,,coil,6470,
+COIL_MATERIAL_SEARCH_CONFIRM_YES,BOOL,,,,coil,6480,
+COIL_MATERIAL_SEARCH_CONFIRM_NO,BOOL,,,,coil,6490,
+COIL_ALARM_100_SYSTEM_ERROR,BOOL,,,,coil,1000,异常100-系统异常
+COIL_ALARM_101_EMERGENCY_STOP,BOOL,,,,coil,1010,异常101-急停
+COIL_ALARM_111_GLOVEBOX_EMERGENCY_STOP,BOOL,,,,coil,1110,异常111-手套箱急停
+COIL_ALARM_112_GLOVEBOX_GRATING_BLOCKED,BOOL,,,,coil,1120,异常112-手套箱内光栅遮挡
+COIL_ALARM_160_PIPETTE_TIP_SHORTAGE,BOOL,,,,coil,1600,异常160-移液枪头缺料
+COIL_ALARM_161_POSITIVE_SHELL_SHORTAGE,BOOL,,,,coil,1610,异常161-正极壳缺料
+COIL_ALARM_162_ALUMINUM_FOIL_SHORTAGE,BOOL,,,,coil,1620,异常162-铝箔垫缺料
+COIL_ALARM_163_POSITIVE_PLATE_SHORTAGE,BOOL,,,,coil,1630,异常163-正极片缺料
+COIL_ALARM_164_SEPARATOR_SHORTAGE,BOOL,,,,coil,1640,异常164-隔膜缺料
+COIL_ALARM_165_NEGATIVE_PLATE_SHORTAGE,BOOL,,,,coil,1650,异常165-负极片缺料
+COIL_ALARM_166_FLAT_WASHER_SHORTAGE,BOOL,,,,coil,1660,异常166-平垫缺料
+COIL_ALARM_167_SPRING_WASHER_SHORTAGE,BOOL,,,,coil,1670,异常167-弹垫缺料
+COIL_ALARM_168_NEGATIVE_SHELL_SHORTAGE,BOOL,,,,coil,1680,异常168-负极壳缺料
+COIL_ALARM_169_FINISHED_BATTERY_FULL,BOOL,,,,coil,1690,异常169-成品电池满料
+COIL_ALARM_201_SERVO_AXIS_01_ERROR,BOOL,,,,coil,2010,异常201-伺服轴01异常
+COIL_ALARM_202_SERVO_AXIS_02_ERROR,BOOL,,,,coil,2020,异常202-伺服轴02异常
+COIL_ALARM_203_SERVO_AXIS_03_ERROR,BOOL,,,,coil,2030,异常203-伺服轴03异常
+COIL_ALARM_204_SERVO_AXIS_04_ERROR,BOOL,,,,coil,2040,异常204-伺服轴04异常
+COIL_ALARM_205_SERVO_AXIS_05_ERROR,BOOL,,,,coil,2050,异常205-伺服轴05异常
+COIL_ALARM_206_SERVO_AXIS_06_ERROR,BOOL,,,,coil,2060,异常206-伺服轴06异常
+COIL_ALARM_207_SERVO_AXIS_07_ERROR,BOOL,,,,coil,2070,异常207-伺服轴07异常
+COIL_ALARM_208_SERVO_AXIS_08_ERROR,BOOL,,,,coil,2080,异常208-伺服轴08异常
+COIL_ALARM_209_SERVO_AXIS_09_ERROR,BOOL,,,,coil,2090,异常209-伺服轴09异常
+COIL_ALARM_210_SERVO_AXIS_10_ERROR,BOOL,,,,coil,2100,异常210-伺服轴10异常
+COIL_ALARM_211_SERVO_AXIS_11_ERROR,BOOL,,,,coil,2110,异常211-伺服轴11异常
+COIL_ALARM_212_SERVO_AXIS_12_ERROR,BOOL,,,,coil,2120,异常212-伺服轴12异常
+COIL_ALARM_213_SERVO_AXIS_13_ERROR,BOOL,,,,coil,2130,异常213-伺服轴13异常
+COIL_ALARM_214_SERVO_AXIS_14_ERROR,BOOL,,,,coil,2140,异常214-伺服轴14异常
+COIL_ALARM_250_OTHER_COMPONENT_ERROR,BOOL,,,,coil,2500,异常250-其他元件异常
+COIL_ALARM_251_PIPETTE_COMM_ERROR,BOOL,,,,coil,2510,异常251-移液枪通讯异常
+COIL_ALARM_252_PIPETTE_ALARM,BOOL,,,,coil,2520,异常252-移液枪报警
+COIL_ALARM_256_ELECTRIC_GRIPPER_ERROR,BOOL,,,,coil,2560,异常256-电爪异常
+COIL_ALARM_262_RB_UNKNOWN_POSITION_ERROR,BOOL,,,,coil,2620,异常262-RB报警：未知点位错误
+COIL_ALARM_263_RB_XYZ_PARAM_LIMIT_ERROR,BOOL,,,,coil,2630,异常263-RB报警：X、Y、Z参数超限制
+COIL_ALARM_264_RB_VISION_PARAM_ERROR,BOOL,,,,coil,2640,异常264-RB报警：视觉参数误差过大
+COIL_ALARM_265_RB_NOZZLE_1_PICK_FAIL,BOOL,,,,coil,2650,异常265-RB报警：1#吸嘴取料失败
+COIL_ALARM_266_RB_NOZZLE_2_PICK_FAIL,BOOL,,,,coil,2660,异常266-RB报警：2#吸嘴取料失败
+COIL_ALARM_267_RB_NOZZLE_3_PICK_FAIL,BOOL,,,,coil,2670,异常267-RB报警：3#吸嘴取料失败
+COIL_ALARM_268_RB_NOZZLE_4_PICK_FAIL,BOOL,,,,coil,2680,异常268-RB报警：4#吸嘴取料失败
+COIL_ALARM_269_RB_TRAY_PICK_FAIL,BOOL,,,,coil,2690,异常269-RB报警：取物料盘失败
+COIL_ALARM_280_RB_COLLISION_ERROR,BOOL,,,,coil,2800,异常280-RB碰撞异常
+COIL_ALARM_290_VISION_SYSTEM_COMM_ERROR,BOOL,,,,coil,2900,异常290-视觉系统通讯异常
+COIL_ALARM_291_VISION_ALIGNMENT_NG,BOOL,,,,coil,2910,异常291-视觉对位NG异常
+COIL_ALARM_292_BARCODE_SCANNER_COMM_ERROR,BOOL,,,,coil,2920,异常292-扫码枪通讯异常
+COIL_ALARM_310_OCV_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3100,异常310-开电移载吸嘴吸真空异常
+COIL_ALARM_311_OCV_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3110,异常311-开电移载吸嘴破真空异常
+COIL_ALARM_312_WEIGHT_TRANSFER_NOZZLE_SUCTION_ERROR,BOOL,,,,coil,3120,异常312-称重移载吸嘴吸真空异常
+COIL_ALARM_313_WEIGHT_TRANSFER_NOZZLE_BREAK_ERROR,BOOL,,,,coil,3130,异常313-称重移载吸嘴破真空异常
+COIL_ALARM_340_OCV_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3400,异常340-开路电压吸嘴移载气缸异常
+COIL_ALARM_342_OCV_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3420,异常342-开路电压吸嘴升降气缸异常
+COIL_ALARM_344_OCV_CRIMPING_CYLINDER_ERROR,BOOL,,,,coil,3440,异常344-开路电压旋压气缸异常
+COIL_ALARM_350_WEIGHT_NOZZLE_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3500,异常350-称重吸嘴移载气缸异常
+COIL_ALARM_352_WEIGHT_NOZZLE_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3520,异常352-称重吸嘴升降气缸异常
+COIL_ALARM_354_CLEANING_CLOTH_TRANSFER_CYLINDER_ERROR,BOOL,,,,coil,3540,异常354-清洗无尘布移载气缸异常
+COIL_ALARM_356_CLEANING_CLOTH_PRESS_CYLINDER_ERROR,BOOL,,,,coil,3560,异常356-清洗无尘布压紧气缸异常
+COIL_ALARM_360_ELECTROLYTE_BOTTLE_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3600,异常360-电解液瓶定位气缸异常
+COIL_ALARM_362_PIPETTE_TIP_BOX_POSITION_CYLINDER_ERROR,BOOL,,,,coil,3620,异常362-移液枪头盒定位气缸异常
+COIL_ALARM_364_REAGENT_BOTTLE_GRIPPER_LIFT_CYLINDER_ERROR,BOOL,,,,coil,3640,异常364-试剂瓶夹爪升降气缸异常
+COIL_ALARM_366_REAGENT_BOTTLE_GRIPPER_CYLINDER_ERROR,BOOL,,,,coil,3660,异常366-试剂瓶夹爪气缸异常
+COIL_ALARM_370_PRESS_MODULE_BLOW_CYLINDER_ERROR,BOOL,,,,coil,3700,异常370-压制模块吹气气缸异常
+COIL_ALARM_151_ELECTROLYTE_BOTTLE_POSITION_ERROR,BOOL,,,,coil,1510,异常151-电解液瓶定位在籍异常
+COIL_ALARM_152_ELECTROLYTE_BOTTLE_CAP_ERROR,BOOL,,,,coil,1520,异常152-电解液瓶盖在籍异常

unilabos/devices/workstation/workstation_http_service.py

@@ -459,12 +459,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
             # 验证必需字段
             if 'brand' in request_data:
                 if request_data['brand'] == "bioyond":  # 奔曜
-                    error_msg = request_data["text"]
-                    logger.info(f"收到奔曜错误处理报送: {error_msg}")
+                    material_data = request_data["text"]
+                    logger.info(f"收到奔曜物料变更报送: {material_data}")
                     return HttpResponse(
                         success=True,
-                        message=f"错误处理报送已收到: {error_msg}",
-                        acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{error_msg.get('action_id', 'unknown')}",
+                        message=f"物料变更报送已收到: {material_data}",
+                        acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{material_data.get('id', 'unknown')}",
                         data=None
                     )
             else:

unilabos/registry/decorators.py

@@ -0,0 +1,614 @@
+"""
+装饰器注册表系统
+
+通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
+
+Usage:
+    from unilabos.registry.decorators import (
+        device, action, resource,
+        InputHandle, OutputHandle,
+        ActionInputHandle, ActionOutputHandle,
+        HardwareInterface, Side, DataSource,
+    )
+
+    @device(
+        id="solenoid_valve.mock",
+        category=["pump_and_valve"],
+        description="模拟电磁阀设备",
+        handles=[
+            InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
+            OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
+        ],
+        hardware_interface=HardwareInterface(
+            name="hardware_interface",
+            read="send_command",
+            write="send_command",
+        ),
+    )
+    class SolenoidValveMock:
+        @action(action_type=EmptyIn)
+        def close(self):
+            ...
+
+        @action(
+            handles=[
+                ActionInputHandle(key="in", data_type="fluid", label="in"),
+                ActionOutputHandle(key="out", data_type="fluid", label="out"),
+            ],
+        )
+        def set_valve_position(self, position):
+            ...
+
+        # 无 @action 装饰器 => auto- 前缀动作
+        def is_open(self):
+            ...
+"""
+
+from enum import Enum
+from functools import wraps
+from typing import Any, Callable, Dict, List, Optional, TypeVar
+
+from pydantic import BaseModel, ConfigDict, Field
+
+F = TypeVar("F", bound=Callable[..., Any])
+
+# ---------------------------------------------------------------------------
+# 枚举
+# ---------------------------------------------------------------------------
+
+
+class Side(str, Enum):
+    """UI 上 Handle 的显示位置"""
+
+    NORTH = "NORTH"
+    SOUTH = "SOUTH"
+    EAST = "EAST"
+    WEST = "WEST"
+
+
+class DataSource(str, Enum):
+    """Handle 的数据来源"""
+
+    HANDLE = "handle"  # 从上游 handle 获取数据 (用于 InputHandle)
+    EXECUTOR = "executor"  # 从执行器输出数据 (用于 OutputHandle)
+
+
+# ---------------------------------------------------------------------------
+# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
+# ---------------------------------------------------------------------------
+
+
+class _DeviceHandleBase(BaseModel):
+    """设备/资源端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+
+    # 子类覆盖
+    io_type: str = ""
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class InputHandle(_DeviceHandleBase):
+    """
+    输入端口 (io_type="target"), 用于 @device / @resource handles
+
+    Example:
+        InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
+    """
+
+    io_type: str = "target"
+
+
+class OutputHandle(_DeviceHandleBase):
+    """
+    输出端口 (io_type="source"), 用于 @device / @resource handles
+
+    Example:
+        OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
+    """
+
+    io_type: str = "source"
+
+
+# ---------------------------------------------------------------------------
+# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
+# ---------------------------------------------------------------------------
+
+
+class _ActionHandleBase(BaseModel):
+    """动作端口基类 (内部使用)"""
+
+    model_config = ConfigDict(populate_by_name=True)
+
+    key: str = Field(serialization_alias="handler_key")
+    data_type: str
+    label: str
+    side: Optional[Side] = None
+    data_key: Optional[str] = None
+    data_source: Optional[str] = None
+    description: Optional[str] = None
+    io_type: Optional[str] = None  # source/sink (dataflow) or target/source (device-style)
+
+    def to_registry_dict(self) -> Dict[str, Any]:
+        return self.model_dump(by_alias=True, exclude_none=True)
+
+
+class ActionInputHandle(_ActionHandleBase):
+    """
+    动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
+
+    Example:
+        ActionInputHandle(
+            key="material_input", data_type="workbench_material",
+            label="物料编号", data_key="material_number", data_source="handle",
+        )
+    """
+
+    pass
+
+
+class ActionOutputHandle(_ActionHandleBase):
+    """
+    动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
+
+    Example:
+        ActionOutputHandle(
+            key="station_output", data_type="workbench_station",
+            label="加热台ID", data_key="station_id", data_source="executor",
+        )
+    """
+
+    pass
+
+
+# ---------------------------------------------------------------------------
+# HardwareInterface
+# ---------------------------------------------------------------------------
+
+
+class HardwareInterface(BaseModel):
+    """
+    硬件通信接口定义
+
+    描述设备与底层硬件通信的方式 (串口、Modbus 等)。
+
+    Example:
+        HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
+    """
+
+    name: str
+    read: Optional[str] = None
+    write: Optional[str] = None
+    extra_info: Optional[List[str]] = None
+
+
+# ---------------------------------------------------------------------------
+# 全局注册表 -- 记录所有被装饰器标记的类/函数
+# ---------------------------------------------------------------------------
+_registered_devices: Dict[str, type] = {}  # device_id -> class
+_registered_resources: Dict[str, Any] = {}  # resource_id -> class or function
+
+
+def _device_handles_to_list(
+    handles: Optional[List[_DeviceHandleBase]],
+) -> List[Dict[str, Any]]:
+    """将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
+    if handles is None:
+        return []
+    return [h.to_registry_dict() for h in handles]
+
+
+def _action_handles_to_dict(
+    handles: Optional[List[_ActionHandleBase]],
+) -> Dict[str, Any]:
+    """
+    将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
+
+    ActionInputHandle => "input", ActionOutputHandle => "output"
+    """
+    if handles is None:
+        return {}
+    input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
+    output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
+    result: Dict[str, Any] = {}
+    if input_list:
+        result["input"] = input_list
+    if output_list:
+        result["output"] = output_list
+    return result
+
+
+# ---------------------------------------------------------------------------
+# @device 类装饰器
+# ---------------------------------------------------------------------------
+
+
+# noinspection PyShadowingBuiltins
+def device(
+    id: Optional[str] = None,
+    ids: Optional[List[str]] = None,
+    id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
+    category: Optional[List[str]] = None,
+    description: str = "",
+    display_name: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    device_type: str = "python",
+    hardware_interface: Optional[HardwareInterface] = None,
+):
+    """
+    设备类装饰器
+
+    将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
+
+    支持两种模式:
+      1. 单设备: id="xxx", category=[...]
+      2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
+
+    Args:
+        id: 单设备时的注册表唯一标识
+        ids: 多设备时的 id 列表，与 id_meta 配合使用
+        id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
+        category: 设备分类标签列表 (必填)
+        description: 设备描述
+        display_name: 人类可读的设备显示名称，缺失时默认使用 id
+        icon: 图标路径
+        version: 版本号
+        handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
+        model: 可选的 3D 模型配置
+        device_type: 设备实现类型 ("python" / "ros2")
+        hardware_interface: 硬件通信接口 (HardwareInterface)
+    """
+    # Resolve device ids
+    if ids is not None:
+        device_ids = list(ids)
+        if not device_ids:
+            raise ValueError("@device ids 不能为空")
+        id_meta = id_meta or {}
+    elif id is not None:
+        device_ids = [id]
+        id_meta = {}
+    else:
+        raise ValueError("@device 必须提供 id 或 ids")
+
+    if category is None:
+        raise ValueError("@device category 必填")
+
+    base_meta = {
+        "category": category,
+        "description": description,
+        "display_name": display_name,
+        "icon": icon,
+        "version": version,
+        "handles": _device_handles_to_list(handles),
+        "model": model,
+        "device_type": device_type,
+        "hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
+    }
+
+    def decorator(cls):
+        cls._device_registry_meta = base_meta
+        cls._device_registry_id_meta = id_meta
+        cls._device_registry_ids = device_ids
+
+        for did in device_ids:
+            if did in _registered_devices:
+                raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
+            _registered_devices[did] = cls
+
+        return cls
+
+    return decorator
+
+
+# ---------------------------------------------------------------------------
+# @action 方法装饰器
+# ---------------------------------------------------------------------------
+
+# 区分 "用户没传 action_type" 和 "用户传了 None"
+_ACTION_TYPE_UNSET = object()
+
+
+# noinspection PyShadowingNames
+def action(
+    action_type: Any = _ACTION_TYPE_UNSET,
+    goal: Optional[Dict[str, str]] = None,
+    feedback: Optional[Dict[str, str]] = None,
+    result: Optional[Dict[str, str]] = None,
+    handles: Optional[List[_ActionHandleBase]] = None,
+    goal_default: Optional[Dict[str, Any]] = None,
+    placeholder_keys: Optional[Dict[str, str]] = None,
+    always_free: bool = False,
+    is_protocol: bool = False,
+    description: str = "",
+    auto_prefix: bool = False,
+    parent: bool = False,
+):
+    """
+    动作方法装饰器
+
+    标记方法为注册表动作。有三种用法:
+      1. @action(action_type=EmptyIn, ...)  -- 非 auto, 使用指定 ROS Action 类型
+      2. @action()                          -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
+      3. 不加 @action                       -- auto- 前缀, UniLabJsonCommand
+
+    Protocol 用法:
+      @action(action_type=Add, is_protocol=True)
+      def AddProtocol(self): ...
+      标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
+      protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
+
+    Args:
+        action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
+                     不传/默认 = UniLabJsonCommand (非 auto).
+        goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
+              protocol 模式下可留空，系统自动生成 identity 映射.
+        feedback: Feedback 字段映射
+        result: Result 字段映射
+        handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
+        goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
+        placeholder_keys: 参数占位符配置
+        always_free: 是否为永久闲置动作 (不受排队限制)
+        is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
+        description: 动作描述
+        auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
+        parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
+        resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
+
+        meta = {
+            "action_type": resolved_type,
+            "goal": goal or {},
+            "feedback": feedback or {},
+            "result": result or {},
+            "handles": _action_handles_to_dict(handles),
+            "goal_default": goal_default or {},
+            "placeholder_keys": placeholder_keys or {},
+            "always_free": always_free,
+            "is_protocol": is_protocol,
+            "description": description,
+            "auto_prefix": auto_prefix,
+            "parent": parent,
+        }
+        wrapper._action_registry_meta = meta  # type: ignore[attr-defined]
+
+        # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
+        if always_free:
+            wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_action_meta(func) -> Optional[Dict[str, Any]]:
+    """获取方法上的 @action 装饰器元数据"""
+    return getattr(func, "_action_registry_meta", None)
+
+
+def has_action_decorator(func) -> bool:
+    """检查函数是否带有 @action 装饰器"""
+    return hasattr(func, "_action_registry_meta")
+
+
+# ---------------------------------------------------------------------------
+# @resource 类/函数装饰器
+# ---------------------------------------------------------------------------
+
+
+def resource(
+    id: str,
+    category: List[str],
+    description: str = "",
+    icon: str = "",
+    version: str = "1.0.0",
+    handles: Optional[List[_DeviceHandleBase]] = None,
+    model: Optional[Dict[str, Any]] = None,
+    class_type: str = "pylabrobot",
+):
+    """
+    资源类/函数装饰器
+
+    将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
+
+    Args:
+        id: 注册表唯一标识 (必填, 不可重复)
+        category: 资源分类标签列表 (必填)
+        description: 资源描述
+        icon: 图标路径
+        version: 版本号
+        handles: 端口列表 (InputHandle / OutputHandle)
+        model: 可选的 3D 模型配置
+        class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
+    """
+
+    def decorator(obj):
+        meta = {
+            "resource_id": id,
+            "category": category,
+            "description": description,
+            "icon": icon,
+            "version": version,
+            "handles": _device_handles_to_list(handles),
+            "model": model,
+            "class_type": class_type,
+        }
+        obj._resource_registry_meta = meta
+
+        if id in _registered_resources:
+            raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
+        _registered_resources[id] = obj
+
+        return obj
+
+    return decorator
+
+
+def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
+    """
+    获取类上的 @device 装饰器元数据。
+
+    当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
+    (base_meta 与 id_meta[device_id] 深度合并)。
+    """
+    base = getattr(cls, "_device_registry_meta", None)
+    if base is None:
+        return None
+    id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
+    if device_id is None or device_id not in id_meta:
+        result = dict(base)
+        ids = getattr(cls, "_device_registry_ids", None)
+        result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
+        return result
+
+    overrides = id_meta[device_id]
+    result = dict(base)
+    result["device_id"] = device_id
+    for key in ["handles", "description", "icon", "model"]:
+        if key in overrides:
+            val = overrides[key]
+            if key == "handles" and isinstance(val, list):
+                # handles 必须是 Handle 对象列表
+                result[key] = [h.to_registry_dict() for h in val]
+            else:
+                result[key] = val
+    return result
+
+
+def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
+    """获取对象上的 @resource 装饰器元数据"""
+    return getattr(obj, "_resource_registry_meta", None)
+
+
+def get_all_registered_devices() -> Dict[str, type]:
+    """获取所有已注册的设备类"""
+    return _registered_devices.copy()
+
+
+def get_all_registered_resources() -> Dict[str, Any]:
+    """获取所有已注册的资源"""
+    return _registered_resources.copy()
+
+
+def clear_registry():
+    """清空全局注册表 (用于测试)"""
+    _registered_devices.clear()
+    _registered_resources.clear()
+
+
+# ---------------------------------------------------------------------------
+# topic_config / not_action / always_free 装饰器
+# ---------------------------------------------------------------------------
+
+
+def topic_config(
+    period: Optional[float] = None,
+    print_publish: Optional[bool] = None,
+    qos: Optional[int] = None,
+    name: Optional[str] = None,
+) -> Callable[[F], F]:
+    """
+    Topic发布配置装饰器
+
+    用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
+
+    Args:
+        period: 发布周期（秒）。None 表示使用默认值 5.0
+        print_publish: 是否打印发布日志。None 表示使用节点默认配置
+        qos: QoS深度配置。None 表示使用默认值 10
+        name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
+
+    Note:
+        与 @property 连用时，@topic_config 必须放在 @property 下面，
+        这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
+    """
+
+    def decorator(func: F) -> F:
+        @wraps(func)
+        def wrapper(*args, **kwargs):
+            return func(*args, **kwargs)
+
+        wrapper._topic_period = period  # type: ignore[attr-defined]
+        wrapper._topic_print_publish = print_publish  # type: ignore[attr-defined]
+        wrapper._topic_qos = qos  # type: ignore[attr-defined]
+        wrapper._topic_name = name  # type: ignore[attr-defined]
+        wrapper._has_topic_config = True  # type: ignore[attr-defined]
+
+        return wrapper  # type: ignore[return-value]
+
+    return decorator
+
+
+def get_topic_config(func) -> dict:
+    """获取函数上的 topic 配置 (period, print_publish, qos, name)"""
+    if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
+        return {
+            "period": getattr(func, "_topic_period", None),
+            "print_publish": getattr(func, "_topic_print_publish", None),
+            "qos": getattr(func, "_topic_qos", None),
+            "name": getattr(func, "_topic_name", None),
+        }
+    return {}
+
+
+def always_free(func: F) -> F:
+    """
+    标记动作为永久闲置(不受busy队列限制)的装饰器
+
+    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_always_free(func) -> bool:
+    """检查函数是否被标记为永久闲置"""
+    return getattr(func, "_is_always_free", False)
+
+
+def not_action(func: F) -> F:
+    """
+    标记方法为非动作的装饰器
+
+    用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
+    适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_not_action = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_not_action(func) -> bool:
+    """检查函数是否被标记为非动作"""
+    return getattr(func, "_is_not_action", False)

unilabos/registry/device_comms/communication_devices.yaml

@@ -96,10 +96,13 @@ serial:
           type: string
         port:
           type: string
+        registry_name:
+          type: string
         resource_tracker:
           type: object
       required:
       - device_id
+      - registry_name
       - port
       type: object
     data:

unilabos/registry/devices/Qone_nmr.yaml

@@ -13,21 +13,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -71,31 +68,6 @@ Qone_nmr:
           title: monitor_folder_for_new_content参数
           type: object
         type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
       auto-strings_to_txt:
         feedback: {}
         goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Feedback
               type: object
             goal:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: EmptyIn_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
-              required:
-              - return_info
               title: EmptyIn_Result
               type: object
           required:
@@ -167,32 +136,31 @@ Qone_nmr:
         goal_default:
           string: ''
         handles: {}
-        result: {}
+        placeholder_keys: {}
+        result:
+          return_info: return_info
+          success: success
         schema:
           description: ''
           properties:
             feedback:
-              properties: {}
-              required: []
+              additionalProperties: true
               title: StrSingleInput_Feedback
               type: object
             goal:
+              additionalProperties: false
               properties:
                 string:
                   type: string
-              required:
-              - string
               title: StrSingleInput_Goal
               type: object
             result:
+              additionalProperties: false
               properties:
                 return_info:
                   type: string
                 success:
                   type: boolean
-              required:
-              - return_info
-              - success
               title: StrSingleInput_Result
               type: object
           required:

unilabos/registry/devices/bioyond.yaml

@@ -1,589 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      auto-batch_create_90_10_vial_feeding_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          hold_m_name: null
-          liquid_material_name: NMP
-          speed: null
-          temperature: null
-          titration: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-                titration:
-                  type: string
-              required:
-              - titration
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_90_10_vial_feeding_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-batch_create_diamine_solution_tasks:
-        feedback: {}
-        goal: {}
-        goal_default:
-          delay_time: null
-          liquid_material_name: NMP
-          solutions: null
-          speed: null
-          temperature: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                liquid_material_name:
-                  default: NMP
-                  type: string
-                solutions:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - solutions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: batch_create_diamine_solution_tasks参数
-          type: object
-        type: UniLabJsonCommand
-      auto-brief_step_parameters:
-        feedback: {}
-        goal: {}
-        goal_default:
-          data: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                data:
-                  type: object
-              required:
-              - data
-              type: object
-            result: {}
-          required:
-          - goal
-          title: brief_step_parameters参数
-          type: object
-        type: UniLabJsonCommand
-      auto-compute_experiment_design:
-        feedback: {}
-        goal: {}
-        goal_default:
-          m_tot: '70'
-          ratio: null
-          titration_percent: '0.03'
-          wt_percent: '0.25'
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                m_tot:
-                  default: '70'
-                  type: string
-                ratio:
-                  type: object
-                titration_percent:
-                  default: '0.03'
-                  type: string
-                wt_percent:
-                  default: '0.25'
-                  type: string
-              required:
-              - ratio
-              type: object
-            result:
-              properties:
-                feeding_order:
-                  items: {}
-                  title: Feeding Order
-                  type: array
-                return_info:
-                  title: Return Info
-                  type: string
-                solutions:
-                  items: {}
-                  title: Solutions
-                  type: array
-                solvents:
-                  additionalProperties: true
-                  title: Solvents
-                  type: object
-                titration:
-                  additionalProperties: true
-                  title: Titration
-                  type: object
-              required:
-              - solutions
-              - titration
-              - solvents
-              - feeding_order
-              - return_info
-              title: ComputeExperimentDesignReturn
-              type: object
-          required:
-          - goal
-          title: compute_experiment_design参数
-          type: object
-        type: UniLabJsonCommand
-      auto-process_order_finish_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          report_request: null
-          used_materials: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                report_request:
-                  type: string
-                used_materials:
-                  type: string
-              required:
-              - report_request
-              - used_materials
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_order_finish_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-project_order_report:
-        feedback: {}
-        goal: {}
-        goal_default:
-          order_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  type: string
-              required:
-              - order_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: project_order_report参数
-          type: object
-        type: UniLabJsonCommand
-      auto-query_resource_by_name:
-        feedback: {}
-        goal: {}
-        goal_default:
-          material_name: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_name:
-                  type: string
-              required:
-              - material_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: query_resource_by_name参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_multiple_orders_and_get_reports:
-        feedback: {}
-        goal: {}
-        goal_default:
-          batch_create_result: null
-          check_interval: 10
-          timeout: 7200
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                batch_create_result:
-                  type: string
-                check_interval:
-                  default: 10
-                  type: integer
-                timeout:
-                  default: 7200
-                  type: integer
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_multiple_orders_and_get_reports参数
-          type: object
-        type: UniLabJsonCommand
-      auto-workflow_sample_locations:
-        feedback: {}
-        goal: {}
-        goal_default:
-          workflow_id: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                workflow_id:
-                  type: string
-              required:
-              - workflow_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: workflow_sample_locations参数
-          type: object
-        type: UniLabJsonCommand
-      create_90_10_vial_feeding_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          order_name: order_name
-          percent_10_1_assign_material_name: percent_10_1_assign_material_name
-          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
-          percent_10_1_target_weigh: percent_10_1_target_weigh
-          percent_10_1_volume: percent_10_1_volume
-          percent_10_2_assign_material_name: percent_10_2_assign_material_name
-          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
-          percent_10_2_target_weigh: percent_10_2_target_weigh
-          percent_10_2_volume: percent_10_2_volume
-          percent_10_3_assign_material_name: percent_10_3_assign_material_name
-          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
-          percent_10_3_target_weigh: percent_10_3_target_weigh
-          percent_10_3_volume: percent_10_3_volume
-          percent_90_1_assign_material_name: percent_90_1_assign_material_name
-          percent_90_1_target_weigh: percent_90_1_target_weigh
-          percent_90_2_assign_material_name: percent_90_2_assign_material_name
-          percent_90_2_target_weigh: percent_90_2_target_weigh
-          percent_90_3_assign_material_name: percent_90_3_assign_material_name
-          percent_90_3_target_weigh: percent_90_3_target_weigh
-          speed: speed
-          temperature: temperature
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          order_name: ''
-          percent_10_1_assign_material_name: ''
-          percent_10_1_liquid_material_name: ''
-          percent_10_1_target_weigh: ''
-          percent_10_1_volume: ''
-          percent_10_2_assign_material_name: ''
-          percent_10_2_liquid_material_name: ''
-          percent_10_2_target_weigh: ''
-          percent_10_2_volume: ''
-          percent_10_3_assign_material_name: ''
-          percent_10_3_liquid_material_name: ''
-          percent_10_3_target_weigh: ''
-          percent_10_3_volume: ''
-          percent_90_1_assign_material_name: ''
-          percent_90_1_target_weigh: ''
-          percent_90_2_assign_material_name: ''
-          percent_90_2_target_weigh: ''
-          percent_90_3_assign_material_name: ''
-          percent_90_3_target_weigh: ''
-          speed: ''
-          temperature: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationVialFeed_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                order_name:
-                  type: string
-                percent_10_1_assign_material_name:
-                  type: string
-                percent_10_1_liquid_material_name:
-                  type: string
-                percent_10_1_target_weigh:
-                  type: string
-                percent_10_1_volume:
-                  type: string
-                percent_10_2_assign_material_name:
-                  type: string
-                percent_10_2_liquid_material_name:
-                  type: string
-                percent_10_2_target_weigh:
-                  type: string
-                percent_10_2_volume:
-                  type: string
-                percent_10_3_assign_material_name:
-                  type: string
-                percent_10_3_liquid_material_name:
-                  type: string
-                percent_10_3_target_weigh:
-                  type: string
-                percent_10_3_volume:
-                  type: string
-                percent_90_1_assign_material_name:
-                  type: string
-                percent_90_1_target_weigh:
-                  type: string
-                percent_90_2_assign_material_name:
-                  type: string
-                percent_90_2_target_weigh:
-                  type: string
-                percent_90_3_assign_material_name:
-                  type: string
-                percent_90_3_target_weigh:
-                  type: string
-                speed:
-                  type: string
-                temperature:
-                  type: string
-              required:
-              - order_name
-              - percent_90_1_assign_material_name
-              - percent_90_1_target_weigh
-              - percent_90_2_assign_material_name
-              - percent_90_2_target_weigh
-              - percent_90_3_assign_material_name
-              - percent_90_3_target_weigh
-              - percent_10_1_assign_material_name
-              - percent_10_1_target_weigh
-              - percent_10_1_volume
-              - percent_10_1_liquid_material_name
-              - percent_10_2_assign_material_name
-              - percent_10_2_target_weigh
-              - percent_10_2_volume
-              - percent_10_2_liquid_material_name
-              - percent_10_3_assign_material_name
-              - percent_10_3_target_weigh
-              - percent_10_3_volume
-              - percent_10_3_liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationVialFeed_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationVialFeed_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationVialFeed
-          type: object
-        type: DispenStationVialFeed
-      create_diamine_solution_task:
-        feedback: {}
-        goal:
-          delay_time: delay_time
-          hold_m_name: hold_m_name
-          liquid_material_name: liquid_material_name
-          material_name: material_name
-          order_name: order_name
-          speed: speed
-          target_weigh: target_weigh
-          temperature: temperature
-          volume: volume
-        goal_default:
-          delay_time: ''
-          hold_m_name: ''
-          liquid_material_name: ''
-          material_name: ''
-          order_name: ''
-          speed: ''
-          target_weigh: ''
-          temperature: ''
-          volume: ''
-        handles: {}
-        result:
-          return_info: return_info
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: DispenStationSolnPrep_Feedback
-              type: object
-            goal:
-              properties:
-                delay_time:
-                  type: string
-                hold_m_name:
-                  type: string
-                liquid_material_name:
-                  type: string
-                material_name:
-                  type: string
-                order_name:
-                  type: string
-                speed:
-                  type: string
-                target_weigh:
-                  type: string
-                temperature:
-                  type: string
-                volume:
-                  type: string
-              required:
-              - order_name
-              - material_name
-              - target_weigh
-              - volume
-              - liquid_material_name
-              - speed
-              - temperature
-              - delay_time
-              - hold_m_name
-              title: DispenStationSolnPrep_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: DispenStationSolnPrep_Result
-              type: object
-          required:
-          - goal
-          title: DispenStationSolnPrep
-          type: object
-        type: DispenStationSolnPrep
-    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
-    status_types: {}
-    type: python
-  config_info: []
-  description: ''
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-        deck:
-          type: string
-      required:
-      - config
-      - deck
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0