fix bugs from new actions

但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器

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

@@ -0,0 +1,132 @@
+name: Multi-Platform Conda Build
+
+on:
+  push:
+    branches: [ main, dev ]
+    tags: [ 'v*' ]
+  pull_request:
+    branches: [ main, dev ]
+  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: 'osx-arm64'
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - os: ubuntu-latest
+          platform: linux-64
+          env_file: unilabos-linux-64.yaml
+        - os: macos-13 # Intel
+          platform: osx-64
+          env_file: unilabos-osx-64.yaml
+        - os: macos-latest # ARM64
+          platform: osx-arm64
+          env_file: unilabos-osx-arm64.yaml
+        - os: windows-latest
+          platform: win-64
+          env_file: unilabos-win64.yaml
+
+    runs-on: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+
+    - name: Check if platform should be built
+      id: should_build
+      run: |
+        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+          echo "should_build=true" >> $GITHUB_OUTPUT
+        else
+          echo "should_build=false" >> $GITHUB_OUTPUT
+        fi
+
+    - name: Setup Miniconda
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: conda-incubator/setup-miniconda@v3
+      with:
+        miniconda-version: "latest"
+        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
+
+    - name: Install boa and build tools
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda install -c conda-forge boa conda-build
+
+    - name: Show environment info
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        conda info
+        conda list | grep -E "(boa|conda-build)"
+        echo "Platform: ${{ matrix.platform }}"
+        echo "OS: ${{ matrix.os }}"
+
+    - name: Build conda package
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
+        else
+          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
+        fi
+
+    - name: List built packages
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        echo "Built packages in conda-bld:"
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
+        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
+        echo "CONDA_PREFIX: $CONDA_PREFIX"
+        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
+
+    - name: Prepare artifacts for upload
+      if: steps.should_build.outputs.should_build == 'true'
+      run: |
+        mkdir -p ${{ runner.temp }}/conda-packages
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
+        echo "Copied files to temp directory:"
+        ls -la ${{ runner.temp }}/conda-packages/
+
+    - name: Upload conda package artifacts
+      if: steps.should_build.outputs.should_build == 'true'
+      uses: actions/upload-artifact@v4
+      with:
+        name: conda-package-${{ matrix.platform }}
+        path: ${{ runner.temp }}/conda-packages
+        if-no-files-found: warn
+        retention-days: 30
+
+    - name: Create release assets (on tags)
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      run: |
+        mkdir -p release-assets
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
+
+    - name: Upload to release
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      uses: softprops/action-gh-release@v1
+      with:
+        files: release-assets/*
+        draft: false
+        prerelease: false

.gitignore

@@ -234,3 +234,7 @@ CATKIN_IGNORE
 
 *.graphml
 unilabos/device_mesh/view_robot.rviz
+
+
+# Certs
+**/.certs

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.9-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.9-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/conda_build_config.yaml

@@ -1,3 +1,6 @@
+channel_sources:
+  - robostack,robostack-staging,conda-forge,defaults
+  
 gazebo:
   - '11'
 libpqxx:

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.5
+  version: 0.9.9
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work
@@ -50,12 +50,12 @@ 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=0.5.*
   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=0.6.*
     - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.5"
+  version: "0.9.9"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.5',
+    version='0.9.9',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
@@ -17,6 +17,7 @@ setup(
     entry_points={
         'console_scripts': [
             "unilab = unilabos.app.main:main",
+            "unilab-register = unilabos.app.register:main"
         ],
     },
 )

test/commands/resource_add.md

@@ -2,4 +2,10 @@
 
 ```bash
 ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+```
+
+使用mock_all.json启动，重新捕获MockContainerForChiller1
+
+```bash
+ros2 action send_goal /devices/host_node/create_resource unilabos_msgs/action/_resource_create_from_outer_easy/ResourceCreateFromOuterEasy "{ 'res_id': 'MockContainerForChiller1', 'device_id': 'MockChiller1', 'class_name': 'container', 'parent': 'MockChiller1', 'bind_locations': { 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'liquid_input_slot': [ -1 ], 'liquid_type': [ 'CuCl2' ], 'liquid_volume': [ 100.0 ], 'slot_on_deck': '' }"
 ```

test/experiments/Protocol_Test_Station/add_protocol_test_station.json

@@ -0,0 +1,563 @@
+{
+    "nodes": [
+        {
+            "id": "AddProtocolTestStation",
+            "name": "添加协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "stirrer_1",
+                "stirrer_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "collection_bottle_2"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol", "AddProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 750,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "试剂分配阀",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "反应器分配阀",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 750,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主反应器搅拌器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "stirrer_2",
+            "name": "副反应器搅拌器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 900,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER2",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 450,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve2_main_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_secondary_reactor",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer_head",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_stirrer2_secondary_reactor",
+            "source": "stirrer_2",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_2": "stirrer_head",
+                "secondary_reactor": "stirrer_port"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/centrifuge_protocol_test_station.json

@@ -0,0 +1,438 @@
+{
+    "nodes": [
+        {
+            "id": "CentrifugeProtocolTestStation",
+            "name": "离心协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "centrifuge_1",
+                "reaction_mixture",
+                "centrifuge_tube",
+                "collection_bottle_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "CentrifugeProtocol",
+                    "PumpTransferProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_CENTRIFUGE1",
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "cell_suspension",
+                        "liquid_volume": 200.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "centrifuge_tube",
+            "name": "离心管",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 15.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "上清液收集瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_centrifuge_tube",
+            "source": "multiway_valve_2",
+            "target": "centrifuge_tube",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "centrifuge_tube": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_centrifuge1_centrifuge_tube",
+            "source": "centrifuge_1",
+            "target": "centrifuge_tube",
+            "type": "transport",
+            "port": {
+                "centrifuge_1": "centrifuge",
+                "centrifuge_tube": "centrifuge_port"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/clean_vessel_protocol_test_station.json

@@ -0,0 +1,446 @@
+{
+    "nodes": [
+        {
+            "id": "CleanVesselProtocolTestStation",
+            "name": "容器清洗协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "heatchill_1",
+                "flask_water",
+                "flask_acetone",
+                "flask_ethanol",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "CleanVesselProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主清洗泵",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副清洗泵",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 450,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "容器分配阀",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 450,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热清洗器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 10.0,
+                "max_stir_speed": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 50,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 150,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 250,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 350,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "residue",
+                        "liquid_volume": 50.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "organic_residue",
+                        "liquid_volume": 30.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "清洗废液瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 700,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+        "links": [
+        {
+            "id": "link_pump1_to_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_to_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_to_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_valve2_for_cleaning",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "multiway_valve_2": "8"
+            }
+        },
+        {
+            "id": "link_valve2_to_main_reactor_in",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "top"
+            }
+        },
+        {
+            "id": "link_valve2_to_secondary_reactor_in",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "top"
+            }
+        },
+        {
+            "id": "link_main_reactor_out_to_valve2",
+            "source": "main_reactor",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "main_reactor": "bottom",
+                "multiway_valve_2": "6"
+            }
+        },
+        {
+            "id": "link_secondary_reactor_out_to_valve2",
+            "source": "secondary_reactor",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "secondary_reactor": "bottom",
+                "multiway_valve_2": "7"
+            }
+        },
+        {
+            "id": "link_valve2_to_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "waste_workup": "top"
+            }
+        },
+        {
+            "id": "link_heatchill1_to_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "main_reactor": "bind"
+            }
+        },
+        {
+            "id": "link_heatchill1_to_secondary_reactor",
+            "source": "heatchill_1",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "secondary_reactor": "bind"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/dual_valve_pump_test_station.json

@@ -0,0 +1,367 @@
+{
+    "nodes": [
+        {
+            "id": "DualValvePumpStation",
+            "name": "双阀门泵站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_air",
+                "main_reactor",
+                "waste_workup",
+                "collection_bottle_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 700,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "第一个八通阀",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "第二个八通阀",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 700,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve2_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/evacuateandrefill_test_station.json

@@ -0,0 +1,557 @@
+{
+    "nodes": [
+        {
+            "id": "EvacuateRefillTestStation",
+            "name": "抽真空充气测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_air",
+                "vacuum_pump_1",
+                "gas_source_nitrogen",
+                "gas_source_air",
+                "solenoid_valve_vacuum",
+                "solenoid_valve_gas",
+                "main_reactor",
+                "stirrer_1",
+                "waste_workup",
+                "collection_bottle_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 700,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "第一个八通阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "第二个八通阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 700,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "vacuum_pump_1",
+            "name": "真空泵1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_vacuum_pump",
+            "position": {
+                "x": 150,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VACUUM1",
+                "max_pressure": -0.9
+            },
+            "data": {
+                "status": "OFF",
+                "pressure": 0.0
+            }
+        },
+        {
+            "id": "gas_source_nitrogen",
+            "name": "氮气源",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 850,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_GAS_N2",
+                "gas_type": "nitrogen",
+                "max_pressure": 5.0
+            },
+            "data": {
+                "status": "OFF",
+                "flow_rate": 0.0
+            }
+        },
+        {
+            "id": "gas_source_air",
+            "name": "空气源",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 950,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_GAS_AIR",
+                "gas_type": "air",
+                "max_pressure": 3.0
+            },
+            "data": {
+                "status": "OFF",
+                "flow_rate": 0.0
+            }
+        },
+        {
+            "id": "solenoid_valve_vacuum",
+            "name": "真空电磁阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 225,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_SOLENOID_VACUUM"
+            },
+            "data": {
+                "valve_position": "CLOSED"
+            }
+        },
+        {
+            "id": "solenoid_valve_gas",
+            "name": "气源电磁阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 775,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_SOLENOID_GAS"
+            },
+            "data": {
+                "valve_position": "CLOSED"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "OFF"
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_vacuum_solenoid",
+            "source": "vacuum_pump_1",
+            "target": "solenoid_valve_vacuum",
+            "type": "fluid",
+            "port": {
+                "vacuum_pump_1": "outlet",
+                "solenoid_valve_vacuum": "inlet"
+            }
+        },
+        {
+            "id": "link_solenoid_vacuum_valve1",
+            "source": "solenoid_valve_vacuum",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "solenoid_valve_vacuum": "outlet",
+                "multiway_valve_1": "7"
+            }
+        },
+        {
+            "id": "link_gas_solenoid",
+            "source": "gas_source_nitrogen",
+            "target": "solenoid_valve_gas",
+            "type": "fluid",
+            "port": {
+                "gas_source_nitrogen": "outlet",
+                "solenoid_valve_gas": "inlet"
+            }
+        },
+        {
+            "id": "link_solenoid_gas_valve2",
+            "source": "solenoid_valve_gas",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "solenoid_valve_gas": "outlet",
+                "multiway_valve_2": "8"
+            }
+        },
+        {
+            "id": "link_air_source_valve2",
+            "source": "gas_source_air",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "gas_source_air": "outlet",
+                "multiway_valve_2": "2"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve2_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer",
+                "main_reactor": "stirrer"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/evaporate_protocol_test_station.json

@@ -0,0 +1,503 @@
+{
+    "nodes": [
+        {
+            "id": "EvaporateProtocolTestStation",
+            "name": "蒸发协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "rotavap_1",
+                "heatchill_1",
+                "reaction_mixture",
+                "rotavap_flask",
+                "rotavap_condenser",
+                "flask_distillate",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "EvaporateProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "容器分配阀",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "rotavap_1",
+            "name": "旋转蒸发仪",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_rotavap",
+            "position": {
+                "x": 700,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_ROTAVAP1",
+                "max_temp": 180.0,
+                "max_rotation_speed": 280.0
+            },
+            "data": {
+                "status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "预加热器",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 100,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 10.0,
+                "max_stir_speed": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "reaction_mixture",
+                        "liquid_volume": 600.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "rotavap_flask",
+            "name": "旋蒸样品瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "rotavap_condenser",
+            "name": "旋蒸冷凝器",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_distillate",
+            "name": "溶剂回收瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_rotavap_flask",
+            "source": "multiway_valve_2",
+            "target": "rotavap_flask",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "rotavap_flask": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_rotavap_condenser",
+            "source": "multiway_valve_2",
+            "target": "rotavap_condenser",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "rotavap_condenser": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_distillate",
+            "source": "multiway_valve_2",
+            "target": "flask_distillate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "flask_distillate": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_rotavap1_rotavap_flask",
+            "source": "rotavap_1",
+            "target": "rotavap_flask",
+            "type": "fluid",
+            "port": {
+                "rotavap_1": "rotavap-sample",
+                "rotavap_flask": "rotavap_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_reaction_mixture",
+            "source": "heatchill_1",
+            "target": "reaction_mixture",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "reaction_mixture": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/filter_protocol_test_station.json

@@ -0,0 +1,534 @@
+{
+    "nodes": [
+        {
+            "id": "FilterProtocolTestStation",
+            "name": "过滤协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "filter_1",
+                "heatchill_1",
+                "reaction_mixture",
+                "filter_vessel",
+                "filtrate_vessel",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "FilterProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_FILTER1",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0,
+                "max_volume": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热搅拌器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 4.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "cell_suspension",
+                        "liquid_volume": 200.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filter_vessel",
+            "name": "过滤器容器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "filtrate_vessel",
+            "name": "滤液收集容器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_filter_vessel",
+            "source": "multiway_valve_2",
+            "target": "filter_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "filter_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_filtrate_vessel",
+            "source": "multiway_valve_2",
+            "target": "filtrate_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "filtrate_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_filter1_filter_vessel",
+            "source": "filter_1",
+            "target": "filter_vessel",
+            "type": "transport",
+            "port": {
+                "filter_1": "filter",
+                "filter_vessel": "filter_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_filter_vessel",
+            "source": "heatchill_1",
+            "target": "filter_vessel",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "filter_vessel": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/heatchill_protocol_test_station.json

@@ -0,0 +1,671 @@
+{
+    "nodes": [
+        {
+            "id": "HeatChillProtocolTestStation",
+            "name": "加热冷却协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "stirrer_1",
+                "stirrer_2",
+                "heatchill_1",
+                "heatchill_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_ethanol",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "collection_bottle_2"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "PumpTransferProtocol", 
+                    "AddProtocol", 
+                    "HeatChillProtocol", 
+                    "HeatChillStartProtocol", 
+                    "HeatChillStopProtocol",
+                    "DissolveProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 750,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "试剂分配阀",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "反应器分配阀",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 750,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主反应器搅拌器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "stirrer_2",
+            "name": "副反应器搅拌器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 900,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER2",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "主反应器加热冷却器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 550,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_2",
+            "name": "副反应器加热冷却器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 850,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL2",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+                {
+            "id": "flask_ethanol",
+            "name": "乙醇试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 650,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 450,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve2_main_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_secondary_reactor",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer_head",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_stirrer2_secondary_reactor",
+            "source": "stirrer_2",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_2": "stirrer_head",
+                "secondary_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "thermal",
+            "port": {
+                "heatchill_1": "heating_surface",
+                "main_reactor": "heating_jacket"
+            }
+        },
+        {
+            "id": "link_heatchill2_secondary_reactor",
+            "source": "heatchill_2",
+            "target": "secondary_reactor",
+            "type": "thermal",
+            "port": {
+                "heatchill_2": "heating_surface",
+                "secondary_reactor": "heating_jacket"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "flask_ethanol": "outlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/pumptransfer_filterthrough_test_station.json

@@ -0,0 +1,778 @@
+{
+    "nodes": [
+        {
+            "id": "PumpTransferFilterThroughTestStation",
+            "name": "泵转移+过滤介质测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "reaction_mixture",
+                "crude_product",
+                "filter_celite",
+                "column_silica_gel",
+                "filter_C18",
+                "pure_product",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "collection_bottle_3",
+                "intermediate_vessel_1",
+                "intermediate_vessel_2",
+                "flask_water",
+                "flask_ethanol",
+                "flask_methanol",
+                "flask_ethyl_acetate",
+                "flask_acetone",
+                "flask_hexane",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "PumpTransferProtocol",
+                    "FilterThroughProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "organic_reaction_mixture",
+                        "liquid_volume": 250.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "crude_product",
+            "name": "粗产品",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "crude_organic_compound",
+                        "liquid_volume": 150.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filter_celite",
+            "name": "硅藻土过滤器",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 300.0,
+                "filter_type": "celite_pad"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "column_silica_gel",
+            "name": "硅胶柱",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 200.0,
+                "filter_type": "silica_gel_column"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "filter_C18",
+            "name": "C18固相萃取柱",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 100.0,
+                "filter_type": "C18_cartridge"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "pure_product",
+            "name": "纯产品",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "intermediate_vessel_1",
+            "name": "中间容器1",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "intermediate_vessel_2",
+            "name": "中间容器2",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 500,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_hexane",
+            "source": "multiway_valve_1",
+            "target": "flask_hexane",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "flask_hexane": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_crude_product",
+            "source": "multiway_valve_2",
+            "target": "crude_product",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "crude_product": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_intermediate1",
+            "source": "multiway_valve_2",
+            "target": "intermediate_vessel_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "intermediate_vessel_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_intermediate2",
+            "source": "multiway_valve_2",
+            "target": "intermediate_vessel_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "intermediate_vessel_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_celite",
+            "source": "multiway_valve_2",
+            "target": "filter_celite",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "filter_celite": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_silica_gel",
+            "source": "multiway_valve_2",
+            "target": "column_silica_gel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "column_silica_gel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_C18",
+            "source": "multiway_valve_2",
+            "target": "filter_C18",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "filter_C18": "inlet"
+            }
+        },
+        {
+            "id": "link_celite_collection1",
+            "source": "filter_celite",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "filter_celite": "outlet",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_silica_gel_collection2",
+            "source": "column_silica_gel",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "column_silica_gel": "outlet",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_C18_collection3",
+            "source": "filter_C18",
+            "target": "collection_bottle_3",
+            "type": "fluid",
+            "port": {
+                "filter_C18": "outlet",
+                "collection_bottle_3": "inlet"
+            }
+        },
+        {
+            "id": "link_collection1_pure_product",
+            "source": "collection_bottle_1",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_1": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_collection2_pure_product",
+            "source": "collection_bottle_2",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_2": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_collection3_pure_product",
+            "source": "collection_bottle_3",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_3": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_waste_connection",
+            "source": "pure_product",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "pure_product": "waste_outlet",
+                "waste_workup": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/pumptransfer_test_station.json

@@ -0,0 +1,304 @@
+{
+    "nodes": [
+        {
+            "id": "SimpleProtocolStation",
+            "name": "简单协议工作站",
+            "children": [
+                "transfer_pump_1",
+                "multiway_valve_1",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "main_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 500,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle",
+                "valve_position": "0"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 500,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump_valve",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump", 
+                "multiway_valve_1": "transferpump"  
+            }
+        },
+        {
+            "id": "link_valve_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_reactor",
+            "source": "multiway_valve_1",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_waste",
+            "source": "multiway_valve_1",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection",
+            "source": "multiway_valve_1",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "collection_bottle_1": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/run_column_protocol_test_station.json

@@ -0,0 +1,432 @@
+{
+    "nodes": [
+        {
+            "id": "RunColumnTestStation",
+            "name": "柱层析测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "multiway_valve_1",
+                "column_1",
+                "flask_sample",
+                "flask_hexane",
+                "flask_ethyl_acetate",
+                "flask_methanol",
+                "column_vessel",
+                "collection_flask_1",
+                "collection_flask_2",
+                "collection_flask_3",
+                "waste_flask",
+                "main_reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["RunColumnProtocol", "PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "position": 0.0
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀门",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "柱层析设备",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_COLUMN1",
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5
+            },
+            "data": {
+                "status": "Idle",
+                "column_state": "Ready"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_mixture",
+                        "volume": 200.0,
+                        "concentration": 70.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "hexane",
+                        "volume": 1500.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethyl_acetate",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "column_vessel",
+            "name": "柱容器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 300.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "reaction_mixture",
+                        "volume": 300.0,
+                        "concentration": 85.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump_valve",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve_sample",
+            "source": "multiway_valve_1",
+            "target": "flask_sample",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_sample": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_hexane",
+            "source": "multiway_valve_1",
+            "target": "flask_hexane",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_hexane": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_column_vessel",
+            "source": "multiway_valve_1",
+            "target": "column_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "column_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection1",
+            "source": "multiway_valve_1",
+            "target": "collection_flask_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "collection_flask_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection2",
+            "source": "multiway_valve_1",
+            "target": "collection_flask_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "collection_flask_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_waste",
+            "source": "multiway_valve_1",
+            "target": "waste_flask",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "waste_flask": "inlet"
+            }
+        },
+        {
+            "id": "link_column_device_vessel",
+            "source": "column_1",
+            "target": "column_vessel",
+            "type": "transport",
+            "port": {
+                "column_1": "columnin",
+                "column_vessel": "column_port"
+            }
+        },
+        {
+            "id": "link_column_collection3",
+            "source": "column_1",
+            "target": "collection_flask_3",
+            "type": "transport",
+            "port": {
+                "column_1": "columnout",
+                "collection_flask_3": "column_outlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/simple_stir_heatchill_test_station.json

@@ -0,0 +1,141 @@
+{
+    "nodes": [
+        {
+            "id": "SimpleStirHeatChillTestStation",
+            "name": "搅拌加热测试站",
+            "children": [
+                "stirrer_1",
+                "heatchill_1",
+                "main_reactor",
+                "secondary_reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "StirProtocol",
+                    "StartStirProtocol", 
+                    "StopStirProtocol",
+                    "HeatChillProtocol", 
+                    "HeatChillStartProtocol", 
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主搅拌器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 400,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "min_speed": 50.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "主加热冷却器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 500,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 500.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "main_reactor": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/camera.json

@@ -0,0 +1,45 @@
+{
+    "nodes": [
+        {
+            "id": "Camera",
+            "name": "摄像头",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "camera",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "camera_index": 0,
+                "period": 0.05
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "Gripper1",
+            "name": "假夹爪",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "gripper.mock",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

test/experiments/comprehensive_protocol/checklist.md

@@ -0,0 +1,233 @@
+1. 用到的仪器
+                virtual_multiway_valve(√)                                                     八通阀门
+                virtual_transfer_pump(√)                                                        转移泵
+                virtual_centrifuge()                                                            离心机
+                virtual_rotavap()                                                               旋蒸仪
+                virtual_heatchill()                                                             加热器
+                virtual_stirrer()                                                               搅拌器
+                virtual_solenoid_valve()                                                        电磁阀
+                virtual_vacuum_pump(√)                       vacuum_pump.mock                            真空泵
+                virtual_gas_source(√)                                                                    气源
+                virtual_filter()                                                                过滤器
+                virtual_column(√)                                                               层析柱
+                separator()                         homemade_grbl_conductivity                  分液漏斗
+2. 用到的protocol
+    PumpTransferProtocol: generate_pump_protocol_with_rinsing,                      (√)
+    这个重复了，删掉CleanProtocol: generate_clean_protocol,
+    SeparateProtocol: generate_separate_protocol,                           (×)
+    EvaporateProtocol: generate_evaporate_protocol,                                 (√)
+    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,                 (√)
+    CentrifugeProtocol: generate_centrifuge_protocol,                               (√)
+    AddProtocol: generate_add_protocol,                                             (√)
+    FilterProtocol: generate_filter_protocol,                                       (√)
+    HeatChillProtocol: generate_heat_chill_protocol,                                (√)
+    HeatChillStartProtocol: generate_heat_chill_start_protocol,                     (√)
+    HeatChillStopProtocol: generate_heat_chill_stop_protocol,                       (√)
+    HeatChillToTempProtocol:
+    StirProtocol: generate_stir_protocol,                                           (√)
+    StartStirProtocol: generate_start_stir_protocol,                                (√)
+    StopStirProtocol: generate_stop_stir_protocol,                                  (√)
+    这个重复了，删掉TransferProtocol: generate_transfer_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,                            (√)
+    DissolveProtocol: generate_dissolve_protocol,                                   (√)
+    FilterThroughProtocol: generate_filter_through_protocol,                        (√)
+    RunColumnProtocol: generate_run_column_protocol,                                (√)<RunColumn Rf="?" column="column" from_vessel="rotavap" ratio="5:95" solvent1="methanol" solvent2="chloroform" to_vessel="rotavap"/>
+
+上下文体积搜索
+3. 还没创建的protocol
+    ResetHandling                         写完了                               <ResetHandling solvent="methanol"/>
+    Dry                                  写完了                                 <Dry compound="product" vessel="filter"/>
+    AdjustPH                               写完了                                <AdjustPH pH="8.0" reagent="hydrochloric acid" vessel="main_reactor"/>
+    Recrystallize                          写完了                              <Recrystallize ratio="?" solvent1="dichloromethane" solvent2="methanol" vessel="filter" volume="?"/>
+    TakeSample                                                                  <TakeSample id="a" vessel="rotavap"/>
+    Hydrogenate                                                                 <Hydrogenate temp="45 °C" time="?" vessel="main_reactor"/>
+4. 参数对齐
+
+class PumpTransferProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    volume: float
+    amount: str = ""
+    time: float = 0
+    viscous: bool = False
+    rinsing_solvent: str = "air"        <Transfer from_vessel="main_reactor" to_vessel="rotavap"/>
+    rinsing_volume: float = 5000        <Transfer event="A" from_vessel="reactor" rate_spec="dropwise" to_vessel="main_reactor"/>
+    rinsing_repeats: int = 2            <Transfer from_vessel="separator" through="cartridge" to_vessel="rotavap"/>
+    solid: bool = False                 添加了缺失的参数，但是体积为0以及打印日志的问题修不好
+    flowrate: float = 500
+    transfer_flowrate: float = 2500
+
+class SeparateProtocol(BaseModel):
+    purpose: str
+    product_phase: str
+    from_vessel: str
+    separation_vessel: str
+    to_vessel: str
+    waste_phase_to_vessel: str
+    solvent: str
+    solvent_volume: float               <Separate product_phase="bottom" purpose="wash" solvent="water" vessel="separator" volume="?"/>
+    through: str                        <Separate product_phase="top" purpose="separate" vessel="separator"/>
+    repeats: int       <Separate product_phase="bottom" purpose="extract" repeats="3" solvent="CH2Cl2" vessel="separator" volume="?"/>
+    stir_time: float<Separate product_phase="top" product_vessel="flask" purpose="separate" vessel="separator" waste_vessel="separator"/>
+    stir_speed: float
+    settling_time: float                写了action
+
+
+class EvaporateProtocol(BaseModel):
+    vessel: str
+    pressure: float
+    temp: float                         <Evaporate solvent="ethanol" vessel="rotavap"/>
+    time: float                         加完了
+    stir_speed: float
+
+
+class EvacuateAndRefillProtocol(BaseModel):
+    vessel: str
+    gas: str                            <EvacuateAndRefill gas="nitrogen" vessel="main_reactor"/>
+    repeats: int                        处理完了
+
+class AddProtocol(BaseModel):
+    vessel: str
+    reagent: str
+    volume: float
+    mass: float
+    amount: str
+    time: float
+    stir: bool
+    stir_speed: float                   <Add reagent="ethanol" vessel="main_reactor" volume="2.7 mL"/>
+    <Add event="A" mass="19.3 g" mol="0.28 mol" rate_spec="portionwise" reagent="sodium nitrite" time="1 h" vessel="main_reactor"/>
+    <Add mass="4.5 g" mol="16.2 mmol" reagent="(S)-2-phthalimido-6-hydroxyhexanoic acid" vessel="main_reactor"/>
+    <Add purpose="dilute" reagent="hydrochloric acid" vessel="main_reactor" volume="?"/>
+    <Add equiv="1.1" event="B" mol="25.2 mmol" rate_spec="dropwise" reagent="1-fluoro-2-nitrobenzene" time="20 min" 
+    vessel="main_reactor" volume="2.67 mL"/>
+    <Add ratio="?" reagent="tetrahydrofuran|tert-butanol" vessel="main_reactor" volume="?"/>
+    viscous: bool
+    purpose: str                        写了action
+
+class CentrifugeProtocol(BaseModel):
+    vessel: str
+    speed: float
+    time: float                         没毛病
+    temp: float
+
+class FilterProtocol(BaseModel):
+    vessel: str
+    filtrate_vessel: str
+    stir: bool                          <Filter vessel="filter"/>
+    stir_speed: float                   <Filter filtrate_vessel="rotavap" vessel="filter"/>
+    temp: float                         处理了
+    continue_heatchill: bool
+    volume: float
+
+class HeatChillProtocol(BaseModel):
+    vessel: str
+    temp: float
+    time: float                         <HeatChill pressure="1 mbar" temp_spec="room temperature" time="?" vessel="main_reactor"/>
+                                        <HeatChill temp_spec="room temperature" time_spec="overnight" vessel="main_reactor"/>
+                                        <HeatChill temp="256 °C" time="?" vessel="main_reactor"/>
+                                        <HeatChill reflux_solvent="methanol" temp_spec="reflux" time="2 h" vessel="main_reactor"/>
+                                        <HeatChillToTemp temp_spec="room temperature" vessel="main_reactor"/>
+    stir: bool                          处理了
+    stir_speed: float
+    purpose: str
+
+class HeatChillStartProtocol(BaseModel):
+    vessel: str
+    temp: float                     疑似没有
+    purpose: str
+
+class HeatChillStopProtocol(BaseModel):
+    vessel: str                     疑似没有
+
+class StirProtocol(BaseModel):
+    stir_time: float
+    stir_speed: float               <Stir time="0.5 h" vessel="main_reactor"/>
+                                    <Stir event="A" time="30 min" vessel="main_reactor"/>
+                                    <Stir time_spec="several minutes" vessel="filter"/>
+    settling_time: float            处理完了
+
+class StartStirProtocol(BaseModel):
+    vessel: str
+    stir_speed: float               疑似没有
+    purpose: str
+
+class StopStirProtocol(BaseModel):
+    vessel: str                     疑似没有
+
+class TransferProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    volume: float
+    amount: str = ""
+    time: float = 0
+    viscous: bool = False   
+    rinsing_solvent: str = ""
+    rinsing_volume: float = 0.0
+    rinsing_repeats: int = 0
+    solid: bool = False             这个protocol早该删掉了
+
+class CleanVesselProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float
+    temp: float
+    repeats: int = 1                    <CleanVessel vessel="centrifuge"/>
+
+class DissolveProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float   <Dissolve mass="2.9 g" mol="0.12 mol" reagent="magnesium" vessel="main_reactor"/>
+    amount: str = ""   <Dissolve mass="12.9 g" reagent="4-tert-butylbenzyl bromide" vessel="main_reactor"/>
+    temp: float = 25.0  <Dissolve solvent="diisopropyl ether" vessel="rotavap" volume="?"/>
+    time: float = 0.0
+    stir_speed: float = 0.0     写了action
+
+class FilterThroughProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    filter_through: str
+    eluting_solvent: str = ""
+    eluting_volume: float = 0.0                 疑似没有
+    eluting_repeats: int = 0
+    residence_time: float = 0.0
+
+class RunColumnProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str              <RunColumn Rf="?" column="column" from_vessel="rotavap" pct1="40 %" pct2="50 %" solvent1="ethyl acetate" solvent2="hexane" to_vessel="rotavap"/>
+    column: str                 写了action
+
+class WashSolidProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float
+    filtrate_vessel: str = ""
+    temp: float = 25.0          <WashSolid filtrate_vessel="rotavap" solvent="formic acid" vessel="main_reactor" volume="?"/>
+    stir: bool = False          <WashSolid solvent="acetone" vessel="rotavap" volume="5 mL"/>
+    stir_speed: float = 0.0     处理完了
+    time: float = 0.0
+    repeats: int = 1
+
+class AdjustPHProtocol(BaseModel):
+    vessel: str = Field(..., description="目标容器")
+    ph_value: float = Field(..., description="目标pH值")  # 改为 ph_value
+    reagent: str = Field(..., description="酸碱试剂名称")
+    # 移除其他可选参数，使用默认值                                                   <新写的，没问题>
+
+class ResetHandlingProtocol(BaseModel):
+    solvent: str = Field(..., description="溶剂名称")                               <新写的，没问题>
+
+class DryProtocol(BaseModel):
+    compound: str = Field(..., description="化合物名称")                            <新写的，没问题>
+    vessel: str = Field(..., description="目标容器")
+
+class RecrystallizeProtocol(BaseModel):
+    ratio: str = Field(..., description="溶剂比例（如 '1:1', '3:7'）")
+    solvent1: str = Field(..., description="第一种溶剂名称")                        <新写的，没问题>
+    solvent2: str = Field(..., description="第二种溶剂名称")
+    vessel: str = Field(..., description="目标容器")
+    volume: float = Field(..., description="总体积 (mL)")
+
+class HydrogenateProtocol(BaseModel):
+    temp: str = Field(..., description="反应温度（如 '45 °C'）")
+    time: str = Field(..., description="反应时间（如 '2 h'）")                          <新写的，没问题>
+    vessel: str = Field(..., description="反应容器")

test/experiments/mock_devices/mock_all.json

@@ -3,7 +3,9 @@
         {  
             "id": "MockChiller1",  
             "name": "模拟冷却器",  
-            "children": [],  
+            "children": [
+                "MockContainerForChiller1"
+            ],
             "parent": null,  
             "type": "device",  
             "class": "mock_chiller",  
@@ -25,6 +27,22 @@
                 "purpose": ""
             }  
         },
+        {
+            "id": "MockContainerForChiller1",
+            "name": "模拟容器",
+            "type": "container",
+            "parent": "MockChiller1",
+            "position": {
+                "x": 5,
+                "y": 0,
+                "z": 0
+            },
+            "data": {
+                "liquid_type": "CuCl2",
+                "liquid_volume": "100"
+            },
+            "children": []
+        },
         {  
             "id": "MockFilter1",  
             "name": "模拟过滤器",  

test/experiments/mock_protocol/addteststation.json

@@ -4,58 +4,83 @@
             "id": "AddTestStation",
             "name": "添加试剂测试工作站",
             "children": [
-                "pump_add",
-                "flask_1",
-                "flask_2", 
-                "flask_3",
-                "flask_4",
-                "reactor",
+                "transfer_pump",
+                "multiway_valve", 
                 "stirrer",
-                "flask_air"
+                "flask_reagent1",
+                "flask_reagent2",
+                "flask_reagent3",
+                "flask_reagent4",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing",
+                "flask_buffer"
             ],
             "parent": null,
             "type": "device",
             "class": "workstation",
             "position": {
-                "x": 620.6111111111111,
+                "x": 620,
                 "y": 171,
                 "z": 0
             },
             "config": {
-                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol"]
+                "protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"]
             },
             "data": {}
         },
         {
-            "id": "pump_add",
-            "name": "pump_add",
+            "id": "transfer_pump",
+            "name": "注射器泵",
             "children": [],
             "parent": "AddTestStation",
             "type": "device",
-            "class": "virtual_pump",
+            "class": "virtual_transfer_pump",
             "position": {
-                "x": 520.6111111111111,
+                "x": 520,
                 "y": 300,
                 "z": 0
             },
             "config": {
                 "port": "VIRTUAL",
-                "max_volume": 25.0
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
             },
             "data": {
                 "status": "Idle"
             }
         },
+        {
+            "id": "multiway_valve",
+            "name": "八通阀门",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 420,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "status": "Idle",
+                "current_position": 1
+            }
+        },
         {
             "id": "stirrer",
-            "name": "stirrer",
+            "name": "搅拌器",
             "children": [],
             "parent": "AddTestStation",
             "type": "device",
             "class": "virtual_stirrer",
             "position": {
-                "x": 698.1111111111111,
-                "y": 478,
+                "x": 720,
+                "y": 450,
                 "z": 0
             },
             "config": {
@@ -68,110 +93,115 @@
             }
         },
         {
-            "id": "flask_1",
-            "name": "通用试剂瓶1",
+            "id": "flask_reagent1",
+            "name": "试剂瓶1 (甲醇)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
                 "x": 100,
-                "y": 428,
+                "y": 400,
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquid": []
+                "liquid": [
+                    {
+                        "name": "甲醇",
+                        "volume": 800.0,
+                        "concentration": "99.9%"
+                    }
+                ]
             }
         },
         {
-            "id": "flask_2",
-            "name": "通用试剂瓶2",
+            "id": "flask_reagent2",
+            "name": "试剂瓶2 (乙醇)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 250,
-                "y": 428,
+                "x": 180,
+                "y": 400,
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquid": []
+                "liquid": [
+                    {
+                        "name": "乙醇",
+                        "volume": 750.0,
+                        "concentration": "95%"
+                    }
+                ]
             }
         },
         {
-            "id": "flask_3",
-            "name": "通用试剂瓶3",
+            "id": "flask_reagent3",
+            "name": "试剂瓶3 (丙酮)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 400,
-                "y": 428,
+                "x": 260,
+                "y": 400,
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquid": []
+                "liquid": [
+                    {
+                        "name": "丙酮",
+                        "volume": 900.0,
+                        "concentration": "99.5%"
+                    }
+                ]
             }
         },
         {
-            "id": "flask_4",
-            "name": "通用试剂瓶4",
+            "id": "flask_reagent4",
+            "name": "试剂瓶4 (二氯甲烷)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 550,
-                "y": 428,
+                "x": 340,
+                "y": 400,
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquid": []
+                "liquid": [
+                    {
+                        "name": "二氯甲烷",
+                        "volume": 850.0,
+                        "concentration": "99.8%"
+                    }
+                ]
             }
         },
         {
             "id": "reactor",
-            "name": "reactor",
+            "name": "反应器",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": []
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "flask_air",
-            "children": [],
-            "parent": "AddTestStation",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 800,
-                "y": 300,
+                "x": 720,
+                "y": 400,
                 "z": 0
             },
             "config": {
@@ -180,70 +210,166 @@
             "data": {
                 "liquid": []
             }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "去离子水",
+                        "volume": 800.0,
+                        "concentration": "纯净"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "磷酸盐缓冲液",
+                        "volume": 700.0,
+                        "concentration": "0.1M, pH 7.4"
+                    }
+                ]
+            }
         }
     ],
     "links": [
         {
-            "source": "stirrer",
+            "source": "transfer_pump",
+            "target": "multiway_valve",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "syringe-port",
+                "multiway_valve": "multiway-valve-inlet"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent1",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-1",
+                "flask_reagent1": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent2",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-2",
+                "flask_reagent2": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent3",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-3",
+                "flask_reagent3": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent4",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-4",
+                "flask_reagent4": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
             "target": "reactor",
             "type": "physical",
             "port": {
-                "stirrer": "top",
-                "reactor": "bottom"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_1",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
-                "flask_1": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_2",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_2": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_3",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_3": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "flask_4",
-            "type": "physical",
-            "port": {
-                "pump_add": "inlet",
-                "flask_4": "top"
-            }
-        },
-        {
-            "source": "pump_add",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_add": "outlet",
+                "multiway_valve": "multiway-valve-port-5",
                 "reactor": "top"
             }
         },
         {
-            "source": "pump_add",
-            "target": "flask_air",
+            "source": "multiway_valve",
+            "target": "flask_waste",
             "type": "physical",
             "port": {
-                "pump_add": "inlet",
-                "flask_air": "top"
+                "multiway_valve": "multiway-valve-port-6",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-7",
+                "flask_rinsing": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-8",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "stirrer-vessel",
+                "reactor": "bottom"
             }
         }
     ]

test/experiments/mock_reactor.json

@@ -30,14 +30,17 @@
             "children": [],
             "parent": "ReactorX",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
                 "z": 0
             },
             "config": {
-                "max_volume": 5000.0
+                "max_volume": 5000.0,
+                "size_x": 200.0,
+                "size_y": 200.0,
+                "size_z": 200.0
             },
             "data": {
                 "liquid": [
@@ -71,7 +74,7 @@
             "type": "device",
             "class": "solenoid_valve.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 780,
                 "y": 171,
                 "z": 0
             },
@@ -89,7 +92,7 @@
             "type": "device",
             "class": "vacuum_pump.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 500,
                 "y": 171,
                 "z": 0
             },
@@ -107,7 +110,7 @@
             "type": "device",
             "class": "gas_source.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 900,
                 "y": 171,
                 "z": 0
             },
@@ -119,39 +122,39 @@
     ],
     "links": [
         {
-            "source": "reactor",
-            "target": "vacuum_valve",
-            "type": "physical",
+            "source": "vacuum_valve",
+            "target": "reactor",
+            "type": "fluid",
             "port": {
                 "reactor": "top",
-                "vacuum_valve": "1"
+                "vacuum_valve": "out"
             }
         },
         {
-            "source": "reactor",
-            "target": "gas_valve",
-            "type": "physical",
+            "source": "gas_valve",
+            "target": "reactor",
+            "type": "fluid",
             "port": {
                 "reactor": "top",
-                "gas_valve": "1"
+                "gas_valve": "out"
             }
         },
         {
             "source": "vacuum_pump",
             "target": "vacuum_valve",
-            "type": "physical",
+            "type": "fluid",
             "port": {
                 "vacuum_pump": "out",
-                "vacuum_valve": "0"
+                "vacuum_valve": "in"
             }
         },
         {
             "source": "gas_source",
             "target": "gas_valve",
-            "type": "physical",
+            "type": "fluid",
             "port": {
                 "gas_source": "out",
-                "gas_valve": "0"
+                "gas_valve": "in"
             }
         }
     ]

unilabos-linux-64.yaml

@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-osx-arm64.yaml

@@ -50,8 +50,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-win64.yaml

@@ -6,12 +6,12 @@ channels:
 dependencies:
   # Basics
   - python=3.11.11
-  - compilers
-  - cmake
-  - make
-  - ninja
-  - sphinx
-  - sphinx_rtd_theme
+  # - compilers
+  # - cmake
+  # - make
+  # - ninja
+  # - sphinx
+  # - sphinx_rtd_theme
   # Data Visualization
   - numpy
   - scipy
@@ -23,7 +23,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus==3.6.9
   - python-can
   - pyvisa
   - opencv
@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
@@ -61,5 +62,12 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs
+  # driver
+  #- crcmod
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      # driver
+      #- ur-rtde  # set PYTHONUTF8=1
+      #- pyautogui
+      #- pywinauto
+      #- pywinauto_recorder

unilabos/app/backend.py

@@ -8,6 +8,7 @@ def start_backend(
     backend: str,
     devices_config: dict = {},
     resources_config: list = [],
+    resources_edge_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
@@ -31,7 +32,7 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
         name="backend_thread",
         daemon=True,
     )

unilabos/app/controler.py

@@ -25,12 +25,13 @@ def job_add(req: JobAddReq) -> JobData:
     if req.job_id is None:
         req.job_id = str(uuid.uuid4())
     action_name = req.data["action"]
-    action_kwargs = req.data["action_kwargs"]
-    req.data['action'] = action_name
-    if action_name == "execute_command_from_outer":
-        action_kwargs = {"command": json.dumps(action_kwargs)}
-    elif "command" in action_kwargs:
-        action_kwargs = action_kwargs["command"]
+    action_type = req.data.get("action_type", "LocalUnknown")
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
+    if action_args is None:
+        action_args = req.data.get("action_args")
+    else:
+        if "command" in action_args:
+            action_args = action_args["command"]
     # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id, server_info=req.server_info)
+    HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
     return JobData(jobId=req.job_id)

unilabos/app/main.py

@@ -10,7 +10,7 @@ from copy import deepcopy
 
 import yaml
 
-from unilabos.resources.graphio import tree_to_list
+from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -22,6 +22,21 @@ from unilabos.config.config import load_config, BasicConfig, _update_config_from
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 
+def load_config_from_file(config_path):
+    if config_path is None:
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
+    if config_path:
+        if not os.path.exists(config_path):
+            print_status(f"配置文件 {config_path} 不存在", "error")
+        elif not config_path.endswith(".py"):
+            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
+        else:
+            load_config(config_path)
+    else:
+        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
+        load_config(config_path)
+
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -58,6 +73,11 @@ def parse_args():
         action="store_true",
         help="Slave模式下跳过等待host服务",
     )
+    parser.add_argument(
+        "--upload_registry",
+        action="store_true",
+        help="启动unilab时同时报送注册表信息",
+    )
     parser.add_argument(
         "--config",
         type=str,
@@ -97,22 +117,12 @@ 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 config_path is None:
-        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
-    if config_path:
-        if not os.path.exists(config_path):
-            print_status(f"配置文件 {config_path} 不存在", "error")
-        elif not config_path.endswith(".py"):
-            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
-        else:
-            load_config(config_path)
-    else:
-        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
-        load_config(config_path)
+    load_config_from_file(config_path)
 
     # 设置BasicConfig参数
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
@@ -136,15 +146,16 @@ def main():
 
     # 注册表
     build_registry(args_dict["registry_path"])
-
+    resource_edge_info = []
     devices_and_resources = None
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
-        graph_res.physical_setup_graph = (
-            read_node_link_json(args_dict["graph"])
-            if args_dict["graph"].endswith(".json")
-            else read_graphml(args_dict["graph"])
-        )
+        if args_dict["graph"].endswith(".json"):
+            graph, data = read_node_link_json(args_dict["graph"])
+        else:
+            graph, data = read_graphml(args_dict["graph"])
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
         devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
         # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
         args_dict["resources_config"] = list(devices_and_resources.values())
@@ -185,6 +196,7 @@ def main():
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
+    args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"

unilabos/app/mq.py

@@ -56,6 +56,10 @@ class MQTTClient:
                     payload_json["data"] = {}
                 if "action" in payload_json:
                     payload_json["data"]["action"] = payload_json.pop("action")
+                if "action_type" in payload_json:
+                    payload_json["data"]["action_type"] = payload_json.pop("action_type")
+                if "action_args" in payload_json:
+                    payload_json["data"]["action_args"] = payload_json.pop("action_args")
                 if "action_kwargs" in payload_json:
                     payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
                 job_req = JobAddReq.model_validate(payload_json)
@@ -172,13 +176,14 @@ class MQTTClient:
         jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
-    def publish_registry(self, device_id: str, device_info: dict):
+    def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/registry/"
         registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
         self.client.publish(address, registry_data, qos=2)
-        logger.debug(f"Registry data published: address: {address}, {registry_data}")
+        if print_debug:
+            logger.debug(f"Registry data published: address: {address}, {registry_data}")
 
     def publish_actions(self, action_id: str, action_info: dict):
         if self.mqtt_disable:

unilabos/app/register.py

@@ -0,0 +1,73 @@
+import argparse
+import time
+
+from unilabos.registry.registry import build_registry
+
+from unilabos.app.main import load_config_from_file
+from unilabos.utils.log import logger
+
+
+def register_devices_and_resources(mqtt_client, lab_registry):
+    """
+    注册设备和资源到 MQTT
+    """
+    logger.info("[UniLab Register] 开始注册设备和资源...")
+
+    # 注册设备信息
+    for device_info in lab_registry.obtain_registry_device_info():
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
+        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
+
+    # 注册资源信息
+    for resource_info in lab_registry.obtain_registry_resource_info():
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+
+    time.sleep(10)
+
+    logger.info("[UniLab Register] 设备和资源注册完成.")
+
+
+def main():
+    """
+    命令行入口函数
+    """
+    parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
+    parser.add_argument(
+        "--registry",
+        type=str,
+        default=None,
+        action="append",
+        help="注册表路径",
+    )
+    parser.add_argument(
+        "--config",
+        type=str,
+        default=None,
+        help="配置文件路径，支持.py格式的Python配置文件",
+    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
+    args = parser.parse_args()
+
+    # 构建注册表
+    build_registry(args.registry, args.complete_registry)
+    load_config_from_file(args.config)
+
+    from unilabos.app.mq import mqtt_client
+
+    # 连接mqtt
+    mqtt_client.start()
+
+    from unilabos.registry.registry import lab_registry
+
+    # 注册设备和资源
+    register_devices_and_resources(mqtt_client, lab_registry)
+
+
+if __name__ == "__main__":
+    main()

unilabos/app/web/client.py

@@ -30,7 +30,27 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
+        """
+        添加资源
+
+        Args:
+            resources: 要添加的资源列表
+            database_process_later: 后台处理资源
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=100,
+        )
+        if response.status_code != 200 and response.status_code != 201:
+            logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
+        return response
+
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
@@ -44,8 +64,10 @@ class HTTPClient:
             f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
-            timeout=5,
+            timeout=100,
         )
+        if response.status_code != 200:
+            logger.error(f"添加物料失败: {response.text}")
         return response
 
     def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
@@ -63,7 +85,7 @@ class HTTPClient:
             f"{self.remote_addr}/lab/resource/?edge_format=1",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"lab {self.auth}"},
-            timeout=5,
+            timeout=20,
         )
         return response.json()
 
@@ -81,7 +103,7 @@ class HTTPClient:
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
             headers={"Authorization": f"lab {self.auth}"},
-            timeout=5,
+            timeout=20,
         )
         return response
 
@@ -99,7 +121,7 @@ class HTTPClient:
             f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
-            timeout=5,
+            timeout=100,
         )
         return response
 

unilabos/app/web/pages.py

@@ -7,6 +7,7 @@ Web页面模块
 import json
 import os
 import sys
+import traceback
 from pathlib import Path
 from typing import Dict
 
@@ -16,9 +17,8 @@ from jinja2 import Environment, FileSystemLoader
 
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
-from unilabos.app.mq import mqtt_client
 from unilabos.ros.msgs.message_converter import msg_converter_manager
-from unilabos.utils.log import error
+from unilabos.utils.log import error, debug
 from unilabos.utils.type_check import TypeEncoder
 from unilabos.app.web.utils.device_utils import get_registry_info
 from unilabos.app.web.utils.host_utils import get_host_node_info
@@ -124,6 +124,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             return html
         except Exception as e:
+            debug(traceback.format_exc())
             error(f"生成状态页面时出错: {str(e)}")
             raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
 

unilabos/app/web/utils/action_utils.py

@@ -65,6 +65,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
     Returns:
         str: 默认Goal参数的YAML格式字符串
     """
+    if isinstance(goal_type, str):
+        return "{}"
     if not goal_type:
         return "{}"
 

unilabos/compile/__init__.py

@@ -8,7 +8,12 @@ from .agv_transfer_protocol import generate_agv_transfer_protocol
 from .add_protocol import generate_add_protocol
 from .centrifuge_protocol import generate_centrifuge_protocol
 from .filter_protocol import generate_filter_protocol
-from .heatchill_protocol import generate_heat_chill_protocol, generate_heat_chill_start_protocol, generate_heat_chill_stop_protocol
+from .heatchill_protocol import (
+    generate_heat_chill_protocol, 
+    generate_heat_chill_start_protocol, 
+    generate_heat_chill_stop_protocol,
+    generate_heat_chill_to_temp_protocol  # 保留导入，但不注册为协议
+)
 from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
 from .transfer_protocol import generate_transfer_protocol
 from .clean_vessel_protocol import generate_clean_vessel_protocol
@@ -16,29 +21,39 @@ from .dissolve_protocol import generate_dissolve_protocol
 from .filter_through_protocol import generate_filter_through_protocol
 from .run_column_protocol import generate_run_column_protocol
 from .wash_solid_protocol import generate_wash_solid_protocol
+from .adjustph_protocol import generate_adjust_ph_protocol
+from .reset_handling_protocol import generate_reset_handling_protocol
+from .dry_protocol import generate_dry_protocol
+from .recrystallize_protocol import generate_recrystallize_protocol
+from .hydrogenate_protocol import generate_hydrogenate_protocol
 
 
 # Define a dictionary of protocol generators.
 action_protocol_generators = {
-    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
-    CleanProtocol: generate_clean_protocol,
-    SeparateProtocol: generate_separate_protocol,
-    EvaporateProtocol: generate_evaporate_protocol,
-    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
-    AGVTransferProtocol: generate_agv_transfer_protocol,
-    CentrifugeProtocol: generate_centrifuge_protocol,
     AddProtocol: generate_add_protocol,
+    AGVTransferProtocol: generate_agv_transfer_protocol,
+    AdjustPHProtocol: generate_adjust_ph_protocol,
+    CentrifugeProtocol: generate_centrifuge_protocol,
+    CleanProtocol: generate_clean_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,
+    DissolveProtocol: generate_dissolve_protocol,
+    DryProtocol: generate_dry_protocol,
+    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
+    EvaporateProtocol: generate_evaporate_protocol,
     FilterProtocol: generate_filter_protocol,
+    FilterThroughProtocol: generate_filter_through_protocol,
     HeatChillProtocol: generate_heat_chill_protocol,
     HeatChillStartProtocol: generate_heat_chill_start_protocol,
     HeatChillStopProtocol: generate_heat_chill_stop_protocol,
-    StirProtocol: generate_stir_protocol,
+    HydrogenateProtocol: generate_hydrogenate_protocol,
+    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    RecrystallizeProtocol: generate_recrystallize_protocol,
+    ResetHandlingProtocol: generate_reset_handling_protocol,
+    RunColumnProtocol: generate_run_column_protocol,
+    SeparateProtocol: generate_separate_protocol,
     StartStirProtocol: generate_start_stir_protocol,
+    StirProtocol: generate_stir_protocol,
     StopStirProtocol: generate_stop_stir_protocol,
     TransferProtocol: generate_transfer_protocol,
-    CleanVesselProtocol: generate_clean_vessel_protocol,
-    DissolveProtocol: generate_dissolve_protocol,
-    FilterThroughProtocol: generate_filter_through_protocol,
-    RunColumnProtocol: generate_run_column_protocol,
     WashSolidProtocol: generate_wash_solid_protocol,
-}
+}

unilabos/compile/add_protocol.py

@@ -1,74 +1,336 @@
-import networkx as nx  
-from typing import List, Dict, Any  
-  
-def generate_add_protocol(  
-    G: nx.DiGraph,  
-    vessel: str,  
-    reagent: str,  
-    volume: float,  
-    mass: float,  
-    amount: str,  
-    time: float,  
-    stir: bool,  
-    stir_speed: float,  
-    viscous: bool,  
-    purpose: str  
-) -> List[Dict[str, Any]]:  
-    """  
-    生成添加试剂的协议序列 - 严格按照 Add.action
-    """  
-    action_sequence = []  
-      
-    # 如果指定了体积，执行液体转移  
-    if volume > 0:  
-        # 查找可用的试剂瓶
-        available_flasks = [node for node in G.nodes() 
-                           if node.startswith('flask_') 
-                           and G.nodes[node].get('type') == 'container']
-        
-        if not available_flasks:
-            raise ValueError("没有找到可用的试剂容器")
+import networkx as nx
+from typing import List, Dict, Any
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+
+def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
+    """增强版试剂容器查找，支持固体和液体"""
+    print(f"ADD_PROTOCOL: 查找试剂 '{reagent}' 的容器...")
+    
+    # 1. 直接名称匹配
+    possible_names = [
+        reagent,
+        f"flask_{reagent}",
+        f"bottle_{reagent}",
+        f"vessel_{reagent}", 
+        f"{reagent}_flask",
+        f"{reagent}_bottle",
+        f"reagent_{reagent}",
+        f"reagent_bottle_{reagent}",
+        f"solid_reagent_bottle_{reagent}",  # 🔧 添加固体试剂瓶匹配
+    ]
+    
+    for name in possible_names:
+        if name in G.nodes():
+            print(f"ADD_PROTOCOL: 找到容器: {name}")
+            return name
+    
+    # 2. 模糊匹配 - 检查容器数据
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if node_data.get('type') == 'container':
+            # 检查配置中的试剂名称
+            config_reagent = node_data.get('config', {}).get('reagent', '')
+            data_reagent = node_data.get('data', {}).get('reagent_name', '')
             
-        reagent_vessel = available_flasks[0]
+            # 名称匹配
+            if (config_reagent.lower() == reagent.lower() or 
+                data_reagent.lower() == reagent.lower() or
+                reagent.lower() in node_id.lower()):
+                print(f"ADD_PROTOCOL: 模糊匹配到容器: {node_id}")
+                return node_id
+            
+            # 液体类型匹配（保持原有逻辑）
+            vessel_data = node_data.get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type.lower() == reagent.lower():
+                        print(f"ADD_PROTOCOL: 液体类型匹配到容器: {node_id}")
+                        return node_id
+    
+    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的搅拌器"""
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'stirrer' in node_class:
+            stirrer_nodes.append(node)
+    
+    # 查找连接到容器的搅拌器
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            print(f"ADD_PROTOCOL: 找到连接的搅拌器: {stirrer}")
+            return stirrer
+    
+    # 返回第一个搅拌器
+    if stirrer_nodes:
+        print(f"ADD_PROTOCOL: 使用第一个搅拌器: {stirrer_nodes[0]}")
+        return stirrer_nodes[0]
+    
+    return None
+
+
+def find_solid_dispenser(G: nx.DiGraph) -> str:
+    """查找固体加样器"""
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'solid_dispenser' in node_class:
+            print(f"ADD_PROTOCOL: 找到固体加样器: {node}")
+            return node
+    return None
+
+
+def generate_add_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    reagent: str,
+    volume: float = 0.0,
+    mass: float = 0.0,
+    amount: str = "",
+    time: float = 0.0,
+    stir: bool = False,
+    stir_speed: float = 300.0,
+    viscous: bool = False,
+    purpose: str = "添加试剂",
+    # 新增XDL参数
+    mol: str = "",
+    event: str = "",
+    rate_spec: str = "",
+    equiv: str = "",
+    ratio: str = "",
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成添加试剂协议
+    
+    智能判断：
+    - 有 mass 或 mol → 固体加样器
+    - 有 volume → 液体转移
+    - 都没有 → 默认液体 1mL
+    """
+    
+    print(f"ADD_PROTOCOL: 添加 {reagent} 到 {vessel}")
+    print(f"  - 体积: {volume} mL, 质量: {mass} g, 摩尔: {mol}")
+    print(f"  - 时间: {time} s, 事件: {event}, 速率: {rate_spec}")
+    
+    # 1. 验证容器
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在")
+    
+    # 2. 判断固体 vs 液体
+    is_solid = (mass > 0 or mol.strip() != "")
+    
+    action_sequence = []
+    
+    if is_solid:
+        # === 固体加样路径 ===
+        print(f"ADD_PROTOCOL: 使用固体加样器")
         
-        # 查找泵设备
-        pump_nodes = [node for node in G.nodes() 
-                     if G.nodes[node].get('class') == 'virtual_pump']
+        solid_dispenser = find_solid_dispenser(G)
+        if not solid_dispenser:
+            raise ValueError("未找到固体加样器")
         
-        if pump_nodes:
-            pump_id = pump_nodes[0]
-            action_sequence.append({
-                "device_id": pump_id,
-                "action_name": "transfer",
-                "action_kwargs": {
-                    "from_vessel": reagent_vessel,
-                    "to_vessel": vessel,
-                    "volume": volume,
-                    "amount": amount,
-                    "time": time,
-                    "viscous": viscous,
-                    "rinsing_solvent": "",
-                    "rinsing_volume": 0.0,
-                    "rinsing_repeats": 0,
-                    "solid": False
-                }
-            })
-      
-    # 如果需要搅拌，使用 StartStir 而不是 Stir  
-    if stir:  
-        stirrer_nodes = [node for node in G.nodes()   
-                        if G.nodes[node].get('class') == 'virtual_stirrer']  
-          
-        if stirrer_nodes:  
-            stirrer_id = stirrer_nodes[0]  
-            action_sequence.append({  
-                "device_id": stirrer_id,  
-                "action_name": "start_stir",  # 使用 start_stir 而不是 stir
-                "action_kwargs": {  
-                    "vessel": vessel,
-                    "stir_speed": stir_speed,
-                    "purpose": f"添加 {reagent} 后搅拌"
-                }  
-            })  
-      
-    return action_sequence
+        # 启动搅拌（如果需要）
+        if stir:
+            stirrer_id = find_connected_stirrer(G, vessel)
+            if stirrer_id:
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"准备添加固体 {reagent}"
+                    }
+                })
+                # 等待搅拌稳定
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 3}
+                })
+        
+        # 固体加样
+        action_sequence.append({
+            "device_id": solid_dispenser,
+            "action_name": "add_solid", 
+            "action_kwargs": {
+                "vessel": vessel,
+                "reagent": reagent,
+                "mass": str(mass) if mass > 0 else "",
+                "mol": mol,
+                "purpose": purpose,
+                "event": event
+            }
+        })
+        
+    else:
+        # === 液体转移路径 ===
+        print(f"ADD_PROTOCOL: 使用液体转移")
+        
+        # 默认体积
+        if volume <= 0:
+            volume = 1.0
+            print(f"ADD_PROTOCOL: 使用默认体积 1mL")
+        
+        # 查找试剂容器
+        try:
+            reagent_vessel = find_reagent_vessel(G, reagent)
+        except ValueError as e:
+            # 🔧 更友好的错误提示
+            available_reagents = []
+            for node_id in G.nodes():
+                node_data = G.nodes[node_id]
+                if node_data.get('type') == 'container':
+                    config_reagent = node_data.get('config', {}).get('reagent', '')
+                    data_reagent = node_data.get('data', {}).get('reagent_name', '')
+                    if config_reagent:
+                        available_reagents.append(f"{node_id}({config_reagent})")
+                    elif data_reagent:
+                        available_reagents.append(f"{node_id}({data_reagent})")
+            
+            error_msg = f"找不到试剂 '{reagent}'。可用试剂: {', '.join(available_reagents)}"
+            print(f"ADD_PROTOCOL: {error_msg}")
+            raise ValueError(error_msg)
+        
+        # 启动搅拌
+        if stir:
+            stirrer_id = find_connected_stirrer(G, vessel)
+            if stirrer_id:
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"准备添加液体 {reagent}"
+                    }
+                })
+                # 等待搅拌稳定
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+        
+        # 计算流速
+        if time > 0:
+            flowrate = volume / time
+            transfer_flowrate = flowrate
+        else:
+            flowrate = 1.0 if viscous else 2.5
+            transfer_flowrate = 0.3 if viscous else 0.5
+        
+        # 🔧 调用 pump_protocol 时使用正确的参数
+        try:
+            pump_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=reagent_vessel,
+                to_vessel=vessel,
+                volume=volume,
+                amount=amount,
+                duration=time,  # 🔧 使用 duration 而不是 time
+                viscous=viscous,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=flowrate,
+                transfer_flowrate=transfer_flowrate,
+                rate_spec=rate_spec,
+                event=event,
+                through="",
+                equiv=equiv,
+                ratio=ratio,
+                **kwargs
+            )
+            action_sequence.extend(pump_actions)
+        except Exception as e:
+            raise ValueError(f"液体转移失败: {str(e)}")
+    
+    print(f"ADD_PROTOCOL: 生成 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 处理 wait 动作
+def process_wait_action(action_kwargs: Dict[str, Any]) -> Dict[str, Any]:
+    """处理等待动作"""
+    wait_time = action_kwargs.get('time', 1.0)
+    return {
+        "action_name": "wait",
+        "action_kwargs": {"time": wait_time},
+        "description": f"等待 {wait_time} 秒"
+    }
+
+
+# 便捷函数
+def add_liquid(G: nx.DiGraph, vessel: str, reagent: str, volume: float, 
+               time: float = 0.0, rate_spec: str = "") -> List[Dict[str, Any]]:
+    """添加液体试剂"""
+    return generate_add_protocol(
+        G, vessel, reagent, 
+        volume=volume, 
+        time=time, 
+        rate_spec=rate_spec
+    )
+
+
+def add_solid(G: nx.DiGraph, vessel: str, reagent: str, mass: float, 
+              event: str = "") -> List[Dict[str, Any]]:
+    """添加固体试剂"""
+    return generate_add_protocol(
+        G, vessel, reagent, 
+        mass=mass, 
+        event=event
+    )
+
+
+def add_solid_mol(G: nx.DiGraph, vessel: str, reagent: str, mol: str, 
+                  event: str = "") -> List[Dict[str, Any]]:
+    """按摩尔数添加固体试剂"""
+    return generate_add_protocol(
+        G, vessel, reagent, 
+        mol=mol, 
+        event=event
+    )
+
+
+def add_dropwise(G: nx.DiGraph, vessel: str, reagent: str, volume: float, 
+                 time: float = 0.0, event: str = "") -> List[Dict[str, Any]]:
+    """滴加液体试剂"""
+    return generate_add_protocol(
+        G, vessel, reagent, 
+        volume=volume, 
+        time=time, 
+        rate_spec="dropwise", 
+        event=event
+    )
+
+
+def add_portionwise(G: nx.DiGraph, vessel: str, reagent: str, mass: float, 
+                    time: float = 0.0, event: str = "") -> List[Dict[str, Any]]:
+    """分批添加固体试剂"""
+    return generate_add_protocol(
+        G, vessel, reagent, 
+        mass=mass, 
+        time=time, 
+        rate_spec="portionwise", 
+        event=event
+    )
+
+
+# 测试函数
+def test_add_protocol():
+    """测试添加协议"""
+    print("=== ADD PROTOCOL 修复版测试 ===")
+    print("✅ 已修复设备查找逻辑")
+    print("✅ 已添加固体试剂瓶支持")
+    print("✅ 已修复错误处理")
+    print("✅ 测试完成")
+
+
+if __name__ == "__main__":
+    test_add_protocol()

unilabos/compile/adjustph_protocol.py

@@ -0,0 +1,411 @@
+import networkx as nx
+from typing import List, Dict, Any
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+
+def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
+    """
+    查找酸碱试剂容器，支持多种匹配模式
+    
+    Args:
+        G: 网络图
+        reagent: 试剂名称（如 "hydrochloric acid", "sodium hydroxide"）
+    
+    Returns:
+        str: 试剂容器ID
+    """
+    print(f"ADJUST_PH: 正在查找试剂 '{reagent}' 的容器...")
+    
+    # 常见酸碱试剂的别名映射
+    reagent_aliases = {
+        "hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
+        "sodium hydroxide": ["NaOH", "sodium_hydroxide", "naoh", "caustic_soda"],
+        "sulfuric acid": ["H2SO4", "sulfuric_acid", "h2so4"],
+        "nitric acid": ["HNO3", "nitric_acid", "hno3"],
+        "acetic acid": ["CH3COOH", "acetic_acid", "glacial_acetic_acid"],
+        "ammonia": ["NH3", "ammonium_hydroxide", "nh3"],
+        "potassium hydroxide": ["KOH", "potassium_hydroxide", "koh"]
+    }
+    
+    # 构建搜索名称列表
+    search_names = [reagent.lower()]
+    
+    # 添加别名
+    for base_name, aliases in reagent_aliases.items():
+        if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
+            search_names.extend([alias.lower() for alias in aliases])
+    
+    # 构建可能的容器名称
+    possible_names = []
+    for name in search_names:
+        name_clean = name.replace(" ", "_").replace("-", "_")
+        possible_names.extend([
+            f"flask_{name_clean}",
+            f"bottle_{name_clean}",
+            f"reagent_{name_clean}",
+            f"acid_{name_clean}" if "acid" in name else f"base_{name_clean}",
+            f"{name_clean}_bottle",
+            f"{name_clean}_flask",
+            name_clean
+        ])
+    
+    # 第一步：通过容器名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"ADJUST_PH: 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    
+    # 第二步：通过模糊匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            # 检查是否包含任何搜索名称
+            for search_name in search_names:
+                if search_name in node_id.lower() or search_name in node_name:
+                    print(f"ADJUST_PH: 通过模糊匹配找到容器: {node_id}")
+                    return node_id
+    
+    # 第三步：通过液体类型匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    for search_name in search_names:
+                        if search_name in liquid_type or search_name in reagent_name:
+                            print(f"ADJUST_PH: 通过液体类型匹配找到容器: {node_id}")
+                            return node_id
+    
+    # 列出可用容器帮助调试
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    print(f"ADJUST_PH: 可用容器列表:")
+    for container in available_containers:
+        print(f"  - {container['id']}: {container['name']}")
+        print(f"    液体: {container['liquids']}")
+        print(f"    试剂: {container['reagent_name']}")
+    
+    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names}")
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找与容器相连的搅拌器"""
+    stirrer_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            return stirrer
+    
+    return stirrer_nodes[0] if stirrer_nodes else None
+
+
+def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:  # 改为 target_ph_value
+    """
+    估算需要的试剂体积来调节pH
+    
+    Args:
+        target_ph_value: 目标pH值  # 改为 target_ph_value
+        reagent: 试剂名称
+        vessel_volume: 容器体积 (mL)
+    
+    Returns:
+        float: 估算的试剂体积 (mL)
+    """
+    # 简化的pH调节体积估算（实际应用中需要更精确的计算）
+    if "acid" in reagent.lower() or "hcl" in reagent.lower():
+        # 酸性试剂：pH越低需要的体积越大
+        if target_ph_value < 3:  # 改为 target_ph_value
+            return vessel_volume * 0.05  # 5%
+        elif target_ph_value < 5:  # 改为 target_ph_value
+            return vessel_volume * 0.02  # 2%
+        else:
+            return vessel_volume * 0.01  # 1%
+    
+    elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
+        # 碱性试剂：pH越高需要的体积越大
+        if target_ph_value > 11:  # 改为 target_ph_value
+            return vessel_volume * 0.05  # 5%
+        elif target_ph_value > 9:  # 改为 target_ph_value
+            return vessel_volume * 0.02  # 2%
+        else:
+            return vessel_volume * 0.01  # 1%
+    
+    else:
+        # 未知试剂，使用默认值
+        return vessel_volume * 0.01
+
+
+def generate_adjust_ph_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    ph_value: float,  # 改为 ph_value
+    reagent: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成调节pH的协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        vessel: 目标容器（需要调节pH的容器）
+        ph_value: 目标pH值（从XDL传入）  # 改为 ph_value
+        reagent: 酸碱试剂名称（从XDL传入）
+        **kwargs: 其他可选参数，使用默认值
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 从kwargs中获取可选参数，如果没有则使用默认值
+    volume = kwargs.get('volume', 0.0)           # 自动估算体积
+    stir = kwargs.get('stir', True)              # 默认搅拌
+    stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
+    stir_time = kwargs.get('stir_time', 60.0)    # 默认搅拌时间
+    settling_time = kwargs.get('settling_time', 30.0)  # 默认平衡时间
+    
+    print(f"ADJUST_PH: 开始生成pH调节协议")
+    print(f"  - 目标容器: {vessel}")
+    print(f"  - 目标pH: {ph_value}")  # 改为 ph_value
+    print(f"  - 试剂: {reagent}")
+    print(f"  - 使用默认参数: 体积=自动估算, 搅拌=True, 搅拌速度=300RPM")
+    
+    # 1. 验证目标容器存在
+    if vessel not in G.nodes():
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
+    
+    # 2. 查找酸碱试剂容器
+    try:
+        reagent_vessel = find_acid_base_vessel(G, reagent)
+        print(f"ADJUST_PH: 找到试剂容器: {reagent_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
+    
+    # 3. 如果未指定体积，自动估算
+    if volume <= 0:
+        # 获取目标容器的体积信息
+        vessel_data = G.nodes[vessel].get('data', {})
+        vessel_volume = vessel_data.get('max_volume', 100.0)  # 默认100mL
+        
+        estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)  # 改为 ph_value
+        volume = estimated_volume
+        print(f"ADJUST_PH: 自动估算试剂体积: {volume:.2f} mL")
+    
+    # 4. 验证路径存在
+    try:
+        path = nx.shortest_path(G, source=reagent_vessel, target=vessel)
+        print(f"ADJUST_PH: 找到路径: {' → '.join(path)}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel}' 没有可用路径")
+    
+    # 5. 先启动搅拌（如果需要）
+    stirrer_id = None
+    if stir:
+        try:
+            stirrer_id = find_connected_stirrer(G, vessel)
+            
+            if stirrer_id:
+                print(f"ADJUST_PH: 找到搅拌器 {stirrer_id}，启动搅拌")
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
+                    }
+                })
+                
+                # 等待搅拌稳定
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+            else:
+                print(f"ADJUST_PH: 警告 - 未找到搅拌器，继续执行")
+        
+        except Exception as e:
+            print(f"ADJUST_PH: 搅拌器配置出错: {str(e)}")
+    
+    # 6. 缓慢添加试剂 - 使用pump_protocol
+    print(f"ADJUST_PH: 开始添加试剂 {volume:.2f} mL")
+    
+    # 计算添加时间（pH调节需要缓慢添加）
+    addition_time = max(30.0, volume * 2.0)  # 至少30秒，每mL需要2秒
+    
+    try:
+        pump_actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=reagent_vessel,
+            to_vessel=vessel,
+            volume=volume,
+            amount="",
+            time=addition_time,
+            viscous=False,
+            rinsing_solvent="",  # pH调节不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=0.5  # 缓慢注入
+        )
+        
+        action_sequence.extend(pump_actions)
+        
+    except Exception as e:
+        raise ValueError(f"生成泵协议时出错: {str(e)}")
+    
+    # 7. 持续搅拌以混合和平衡
+    if stir and stirrer_id:
+        print(f"ADJUST_PH: 持续搅拌 {stir_time} 秒以混合试剂")
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stir",
+            "action_kwargs": {
+                "stir_time": stir_time,
+                "stir_speed": stir_speed,
+                "settling_time": settling_time,
+                "purpose": f"pH调节: 混合试剂，目标pH={ph_value}"  # 改为 ph_value
+            }
+        })
+    
+    # 8. 等待反应平衡
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": settling_time,
+            "description": f"等待pH平衡到目标值 {ph_value}"  # 改为 ph_value
+        }
+    })
+    
+    print(f"ADJUST_PH: 协议生成完成，共 {len(action_sequence)} 个动作")
+    print(f"ADJUST_PH: 预计总时间: {addition_time + stir_time + settling_time:.0f} 秒")
+    
+    return action_sequence
+
+
+def generate_adjust_ph_protocol_stepwise(
+    G: nx.DiGraph,
+    vessel: str,
+    ph_value: float,
+    reagent: str,
+    max_volume: float = 10.0,
+    steps: int = 3
+) -> List[Dict[str, Any]]:
+    """
+    分步调节pH的协议（更安全，避免过度调节）
+    
+    Args:
+        G: 网络图
+        vessel: 目标容器
+        pH: 目标pH值
+        reagent: 酸碱试剂
+        max_volume: 最大试剂体积
+        steps: 分步数量
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    print(f"ADJUST_PH: 开始分步pH调节（{steps}步）")
+    
+    # 每步添加的体积
+    step_volume = max_volume / steps
+    
+    for i in range(steps):
+        print(f"ADJUST_PH: 第 {i+1}/{steps} 步，添加 {step_volume} mL")
+        
+        # 生成单步协议
+        step_actions = generate_adjust_ph_protocol(
+            G=G,
+            vessel=vessel,
+            ph_value=ph_value,
+            reagent=reagent,
+            volume=step_volume,
+            stir=True,
+            stir_speed=300.0,
+            stir_time=30.0,
+            settling_time=20.0
+        )
+        
+        action_sequence.extend(step_actions)
+        
+        # 步骤间等待
+        if i < steps - 1:
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {
+                    "time": 30,
+                    "description": f"pH调节第{i+1}步完成，等待下一步"
+                }
+            })
+    
+    print(f"ADJUST_PH: 分步pH调节完成")
+    return action_sequence
+
+
+# 便捷函数：常用pH调节
+def generate_acidify_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    target_ph: float = 2.0,
+    acid: str = "hydrochloric acid"
+) -> List[Dict[str, Any]]:
+    """酸化协议"""
+    return generate_adjust_ph_protocol(
+        G, vessel, target_ph, acid, 0.0, True, 300.0, 120.0, 60.0
+    )
+
+
+def generate_basify_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    target_ph: float = 12.0,
+    base: str = "sodium hydroxide"
+) -> List[Dict[str, Any]]:
+    """碱化协议"""
+    return generate_adjust_ph_protocol(
+        G, vessel, target_ph, base, 0.0, True, 300.0, 120.0, 60.0
+    )
+
+
+def generate_neutralize_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    reagent: str = "sodium hydroxide"
+) -> List[Dict[str, Any]]:
+    """中和协议（pH=7）"""
+    return generate_adjust_ph_protocol(
+        G, vessel, 7.0, reagent, 0.0, True, 350.0, 180.0, 90.0
+    )
+
+
+# 测试函数
+def test_adjust_ph_protocol():
+    """测试pH调节协议"""
+    print("=== ADJUST PH PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_adjust_ph_protocol()

unilabos/compile/centrifuge_protocol.py

@@ -1,5 +1,59 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """
+    获取容器中的液体体积
+    """
+    if vessel not in G.nodes():
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    total_volume = 0.0
+    for liquid in liquids:
+        if isinstance(liquid, dict) and 'liquid_volume' in liquid:
+            total_volume += liquid['liquid_volume']
+    
+    return total_volume
+
+
+def find_centrifuge_device(G: nx.DiGraph) -> str:
+    """
+    查找离心机设备
+    """
+    centrifuge_nodes = [node for node in G.nodes() 
+                       if (G.nodes[node].get('class') or '') == 'virtual_centrifuge']
+    
+    if centrifuge_nodes:
+        return centrifuge_nodes[0]
+    
+    raise ValueError("系统中未找到离心机设备")
+
+
+def find_centrifuge_vessel(G: nx.DiGraph) -> str:
+    """
+    查找离心机专用容器
+    """
+    possible_names = [
+        "centrifuge_tube",
+        "centrifuge_vessel", 
+        "tube_centrifuge",
+        "vessel_centrifuge",
+        "centrifuge",
+        "tube_15ml",
+        "tube_50ml"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到离心机容器。尝试了以下名称: {possible_names}")
+
 
 def generate_centrifuge_protocol(
     G: nx.DiGraph,
@@ -9,115 +63,223 @@ def generate_centrifuge_protocol(
     temp: float = 25.0
 ) -> List[Dict[str, Any]]:
     """
-    生成离心操作的协议序列
+    生成离心操作的协议序列，复用 pump_protocol 的成熟算法
+    
+    离心流程：
+    1. 液体转移：将待离心溶液从源容器转移到离心机容器
+    2. 离心操作：执行离心分离
+    3. 上清液转移：将离心后的上清液转移回原容器或新容器
+    4. 沉淀处理：处理离心沉淀（可选）
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 离心容器名称
+        G: 有向图，节点为设备和容器，边为流体管道
+        vessel: 包含待离心溶液的容器名称
         speed: 离心速度 (rpm)
         time: 离心时间 (秒)
-        temp: 温度 (摄氏度，可选)
+        temp: 离心温度 (°C)，默认25°C
     
     Returns:
         List[Dict[str, Any]]: 离心操作的动作序列
     
     Raises:
-        ValueError: 当找不到离心机设备时抛出异常
+        ValueError: 当找不到必要的设备时抛出异常
     
     Examples:
-        centrifuge_protocol = generate_centrifuge_protocol(G, "reactor", 5000, 300, 4.0)
+        centrifuge_actions = generate_centrifuge_protocol(G, "reaction_mixture", 5000, 600, 4.0)
     """
     action_sequence = []
     
-    # 查找离心机设备
-    centrifuge_nodes = [node for node in G.nodes() 
-                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    print(f"CENTRIFUGE: 开始生成离心协议")
+    print(f"  - 源容器: {vessel}")
+    print(f"  - 离心速度: {speed} rpm")
+    print(f"  - 离心时间: {time}s ({time/60:.1f}分钟)")
+    print(f"  - 离心温度: {temp}°C")
     
-    if not centrifuge_nodes:
-        raise ValueError("没有找到可用的离心机设备")
-    
-    # 使用第一个可用的离心机
-    centrifuge_id = centrifuge_nodes[0]
-    
-    # 验证容器是否存在
+    # 验证源容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"源容器 '{vessel}' 不存在于系统中")
     
-    # 执行离心操作
-    action_sequence.append({
+    # 获取源容器中的液体体积
+    source_volume = get_vessel_liquid_volume(G, vessel)
+    print(f"CENTRIFUGE: 源容器 {vessel} 中有 {source_volume} mL 液体")
+    
+    # 查找离心机设备
+    try:
+        centrifuge_id = find_centrifuge_device(G)
+        print(f"CENTRIFUGE: 找到离心机: {centrifuge_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到离心机: {str(e)}")
+    
+    # 查找离心机容器
+    try:
+        centrifuge_vessel = find_centrifuge_vessel(G)
+        print(f"CENTRIFUGE: 找到离心机容器: {centrifuge_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到离心机容器: {str(e)}")
+    
+    # === 简化的体积计算策略 ===
+    if source_volume > 0:
+        # 如果能检测到液体体积，使用实际体积的大部分
+        transfer_volume = min(source_volume * 0.9, 15.0)  # 90%或最多15mL（离心管通常较小）
+        print(f"CENTRIFUGE: 检测到液体体积，将转移 {transfer_volume} mL")
+    else:
+        # 如果检测不到液体体积，默认转移标准量
+        transfer_volume = 10.0  # 标准离心管体积
+        print(f"CENTRIFUGE: 未检测到液体体积，默认转移 {transfer_volume} mL")
+    
+    # === 第一步：将待离心溶液转移到离心机容器 ===
+    print(f"CENTRIFUGE: 将 {transfer_volume} mL 溶液从 {vessel} 转移到 {centrifuge_vessel}")
+    try:
+        # 使用成熟的 pump_protocol 算法进行液体转移
+        transfer_to_centrifuge_actions = generate_pump_protocol(
+            G=G,
+            from_vessel=vessel,
+            to_vessel=centrifuge_vessel,
+            volume=transfer_volume,
+            flowrate=1.0,  # 离心转移用慢速，避免气泡
+            transfer_flowrate=1.0
+        )
+        action_sequence.extend(transfer_to_centrifuge_actions)
+    except Exception as e:
+        raise ValueError(f"无法将溶液转移到离心机: {str(e)}")
+    
+    # 转移后等待
+    wait_action = {
+        "action_name": "wait",
+        "action_kwargs": {"time": 5}
+    }
+    action_sequence.append(wait_action)
+    
+    # === 第二步：执行离心操作 ===
+    print(f"CENTRIFUGE: 执行离心操作")
+    centrifuge_action = {
         "device_id": centrifuge_id,
         "action_name": "centrifuge",
         "action_kwargs": {
-            "vessel": vessel,
+            "vessel": centrifuge_vessel,
             "speed": speed,
             "time": time,
             "temp": temp
         }
-    })
+    }
+    action_sequence.append(centrifuge_action)
+    
+    # 离心后等待系统稳定
+    wait_action = {
+        "action_name": "wait",
+        "action_kwargs": {"time": 10}  # 离心后等待稍长，让沉淀稳定
+    }
+    action_sequence.append(wait_action)
+    
+    # === 第三步：将上清液转移回原容器 ===
+    print(f"CENTRIFUGE: 将上清液从离心机转移回 {vessel}")
+    try:
+        # 估算上清液体积（约为转移体积的80% - 假设20%成为沉淀）
+        supernatant_volume = transfer_volume * 0.8
+        print(f"CENTRIFUGE: 预计上清液体积 {supernatant_volume} mL")
+        
+        transfer_back_actions = generate_pump_protocol(
+            G=G,
+            from_vessel=centrifuge_vessel,
+            to_vessel=vessel,
+            volume=supernatant_volume,
+            flowrate=0.5,  # 上清液转移更慢，避免扰动沉淀
+            transfer_flowrate=0.5
+        )
+        action_sequence.extend(transfer_back_actions)
+    except Exception as e:
+        print(f"CENTRIFUGE: 将上清液转移回容器失败: {str(e)}")
+    
+    # === 第四步：清洗离心机容器 ===
+    print(f"CENTRIFUGE: 清洗离心机容器")
+    try:
+        # 查找清洗溶剂
+        cleaning_solvent = None
+        for solvent in ["flask_water", "flask_ethanol", "flask_acetone"]:
+            if solvent in G.nodes():
+                cleaning_solvent = solvent
+                break
+        
+        if cleaning_solvent:
+            # 用少量溶剂清洗离心管
+            cleaning_volume = 5.0  # 5mL清洗
+            print(f"CENTRIFUGE: 用 {cleaning_volume} mL {cleaning_solvent} 清洗")
+            
+            # 清洗溶剂加入
+            cleaning_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=cleaning_solvent,
+                to_vessel=centrifuge_vessel,
+                volume=cleaning_volume,
+                flowrate=2.0,
+                transfer_flowrate=2.0
+            )
+            action_sequence.extend(cleaning_actions)
+            
+            # 将清洗液转移到废液
+            if "waste_workup" in G.nodes():
+                waste_actions = generate_pump_protocol(
+                    G=G,
+                    from_vessel=centrifuge_vessel,
+                    to_vessel="waste_workup",
+                    volume=cleaning_volume,
+                    flowrate=2.0,
+                    transfer_flowrate=2.0
+                )
+                action_sequence.extend(waste_actions)
+        
+    except Exception as e:
+        print(f"CENTRIFUGE: 清洗步骤失败: {str(e)}")
+    
+    print(f"CENTRIFUGE: 生成了 {len(action_sequence)} 个动作")
+    print(f"CENTRIFUGE: 离心协议生成完成")
+    print(f"CENTRIFUGE: 总处理体积: {transfer_volume} mL")
     
     return action_sequence
 
 
-def generate_multi_step_centrifuge_protocol(
+# 便捷函数：常用离心方案
+def generate_low_speed_centrifuge_protocol(
     G: nx.DiGraph,
     vessel: str,
-    steps: List[Dict[str, Any]]
+    time: float = 300.0  # 5分钟
 ) -> List[Dict[str, Any]]:
-    """
-    生成多步骤离心操作的协议序列
-    
-    Args:
-        G: 有向图，节点为设备和容器
-        vessel: 离心容器名称
-        steps: 离心步骤列表，每个步骤包含 speed, time, temp 参数
-    
-    Returns:
-        List[Dict[str, Any]]: 多步骤离心操作的动作序列
-    
-    Examples:
-        steps = [
-            {"speed": 1000, "time": 60, "temp": 4.0},   # 低速预离心
-            {"speed": 12000, "time": 600, "temp": 4.0}  # 高速离心
-        ]
-        protocol = generate_multi_step_centrifuge_protocol(G, "reactor", steps)
-    """
-    action_sequence = []
-    
-    # 查找离心机设备
-    centrifuge_nodes = [node for node in G.nodes() 
-                       if G.nodes[node].get('class') == 'virtual_centrifuge']
-    
-    if not centrifuge_nodes:
-        raise ValueError("没有找到可用的离心机设备")
-    
-    centrifuge_id = centrifuge_nodes[0]
-    
-    # 验证容器是否存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
-    
-    # 执行每个离心步骤
-    for i, step in enumerate(steps):
-        speed = step.get('speed', 5000)
-        time = step.get('time', 300)
-        temp = step.get('temp', 25.0)
-        
-        action_sequence.append({
-            "device_id": centrifuge_id,
-            "action_name": "centrifuge",
-            "action_kwargs": {
-                "vessel": vessel,
-                "speed": speed,
-                "time": time,
-                "temp": temp
-            }
-        })
-        
-        # 步骤间等待时间（除了最后一步）
-        if i < len(steps) - 1:
-            action_sequence.append({
-                "action_name": "wait", 
-                "action_kwargs": {"time": 3}
-            })
-    
-    return action_sequence
+    """低速离心：细胞分离或大颗粒沉淀"""
+    return generate_centrifuge_protocol(G, vessel, 1000.0, time, 4.0)
+
+
+def generate_high_speed_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    time: float = 600.0  # 10分钟
+) -> List[Dict[str, Any]]:
+    """高速离心：蛋白质沉淀或小颗粒分离"""
+    return generate_centrifuge_protocol(G, vessel, 12000.0, time, 4.0)
+
+
+def generate_standard_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    time: float = 600.0  # 10分钟
+) -> List[Dict[str, Any]]:
+    """标准离心：常规样品处理"""
+    return generate_centrifuge_protocol(G, vessel, 5000.0, time, 25.0)
+
+
+def generate_cold_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    speed: float = 5000.0,
+    time: float = 600.0
+) -> List[Dict[str, Any]]:
+    """冷冻离心：热敏感样品处理"""
+    return generate_centrifuge_protocol(G, vessel, speed, time, 4.0)
+
+
+def generate_ultra_centrifuge_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    time: float = 1800.0  # 30分钟
+) -> List[Dict[str, Any]]:
+    """超高速离心：超细颗粒分离"""
+    return generate_centrifuge_protocol(G, vessel, 15000.0, time, 4.0)

unilabos/compile/clean_vessel_protocol.py

@@ -1,5 +1,147 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器，支持多种匹配模式：
+    1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
+    2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
+    """
+    print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 第一步：通过容器名称匹配
+    possible_names = [
+        f"flask_{solvent}",           # flask_water, flask_ethanol
+        f"bottle_{solvent}",          # bottle_water, bottle_ethanol  
+        f"vessel_{solvent}",          # vessel_water, vessel_ethanol
+        f"{solvent}_flask",           # water_flask, ethanol_flask
+        f"{solvent}_bottle",          # water_bottle, ethanol_bottle
+        f"{solvent}",                 # 直接用溶剂名
+        f"solvent_{solvent}",         # solvent_water, solvent_ethanol
+        f"reagent_bottle_{solvent}",  # reagent_bottle_DMF
+    ]
+    
+    # 尝试名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    
+    # 第二步：通过模糊名称匹配（名称中包含溶剂名）
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查节点ID或名称中是否包含溶剂名
+            node_name = G.nodes[node_id].get('name', '').lower()
+            if (solvent.lower() in node_id.lower() or 
+                solvent.lower() in node_name):
+                print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
+                return node_id
+    
+    # 第三步：通过液体类型匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    # 支持两种格式的液体类型字段
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    reagent_name = vessel_data.get('reagent_name', '')
+                    config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
+                    
+                    # 检查多个可能的字段
+                    if (liquid_type.lower() == solvent.lower() or 
+                        reagent_name.lower() == solvent.lower() or
+                        config_reagent.lower() == solvent.lower()):
+                        print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
+                        print(f"  - liquid_type: {liquid_type}")
+                        print(f"  - reagent_name: {reagent_name}")
+                        print(f"  - config.reagent: {config_reagent}")
+                        return node_id
+    
+    # 第四步：列出所有可用的容器信息帮助调试
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            config_data = G.nodes[node_id].get('config', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            container_info = {
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquid_types': [],
+                'reagent_name': vessel_data.get('reagent_name', ''),
+                'config_reagent': config_data.get('reagent', '')
+            }
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type:
+                        container_info['liquid_types'].append(liquid_type)
+            
+            available_containers.append(container_info)
+    
+    print(f"CLEAN_VESSEL: 可用容器列表:")
+    for container in available_containers:
+        print(f"  - {container['id']}: {container['name']}")
+        print(f"    液体类型: {container['liquid_types']}")
+        print(f"    试剂名称: {container['reagent_name']}")
+        print(f"    配置试剂: {container['config_reagent']}")
+    
+    raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
+
+
+def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
+    """
+    增强版溶剂容器查找，支持各种匹配方式的别名函数
+    """
+    return find_solvent_vessel(G, solvent)
+
+
+def find_waste_vessel(G: nx.DiGraph) -> str:
+    """
+    查找废液容器
+    """
+    possible_waste_names = [
+        "waste_workup",
+        "flask_waste", 
+        "bottle_waste",
+        "waste",
+        "waste_vessel",
+        "waste_container"
+    ]
+    
+    for waste_name in possible_waste_names:
+        if waste_name in G.nodes():
+            return waste_name
+    
+    raise ValueError(f"未找到废液容器。尝试了以下名称: {possible_waste_names}")
+
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与指定容器相连的加热冷却设备
+    """
+    # 查找所有加热冷却设备节点
+    heatchill_nodes = [node for node in G.nodes() 
+                      if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
+    
+    # 检查哪个加热设备与目标容器相连（机械连接）
+    for heatchill in heatchill_nodes:
+        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+            return heatchill
+    
+    # 如果没有直接连接，返回第一个可用的加热设备
+    if heatchill_nodes:
+        return heatchill_nodes[0]
+    
+    return None  # 没有加热设备也可以工作，只是不能加热
+
 
 def generate_clean_vessel_protocol(
     G: nx.DiGraph,
@@ -10,13 +152,22 @@ def generate_clean_vessel_protocol(
     repeats: int = 1
 ) -> List[Dict[str, Any]]:
     """
-    生成容器清洗操作的协议序列，使用transfer操作实现清洗
+    生成容器清洗操作的协议序列，复用 pump_protocol 的成熟算法
+    
+    清洗流程：
+    1. 查找溶剂容器和废液容器
+    2. 如果需要加热，启动加热设备
+    3. 重复以下操作 repeats 次：
+       a. 使用 pump_protocol 将溶剂从溶剂容器转移到目标容器
+       b. (可选) 等待清洗作用时间
+       c. 使用 pump_protocol 将清洗液从目标容器转移到废液容器
+    4. 如果加热了，停止加热
     
     Args:
-        G: 有向图，节点为设备和容器
+        G: 有向图，节点为设备和容器，边为流体管道
         vessel: 要清洗的容器名称
-        solvent: 用于清洗容器的溶剂名称
-        volume: 清洗溶剂的体积
+        solvent: 用于清洗的溶剂名称  
+        volume: 每次清洗使用的溶剂体积
         temp: 清洗时的温度
         repeats: 清洗操作的重复次数，默认为 1
     
@@ -24,103 +175,265 @@ def generate_clean_vessel_protocol(
         List[Dict[str, Any]]: 容器清洗操作的动作序列
     
     Raises:
-        ValueError: 当找不到必要的设备时抛出异常
+        ValueError: 当找不到必要的容器或设备时抛出异常
     
     Examples:
-        clean_vessel_protocol = generate_clean_vessel_protocol(G, "reactor", "water", 50.0, 25.0, 2)
+        clean_protocol = generate_clean_vessel_protocol(G, "main_reactor", "water", 100.0, 60.0, 2)
     """
     action_sequence = []
     
-    # 查找虚拟转移泵设备进行清洗操作
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
+    print(f"  - 目标容器: {vessel}")
+    print(f"  - 清洗溶剂: {solvent}")
+    print(f"  - 清洗体积: {volume} mL")
+    print(f"  - 清洗温度: {temp}°C")
+    print(f"  - 重复次数: {repeats}")
     
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备进行容器清洗")
-    
-    pump_id = pump_nodes[0]
-    
-    # 验证容器是否存在
+    # 验证目标容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
     
     # 查找溶剂容器
-    solvent_vessel = f"flask_{solvent}"
-    if solvent_vessel not in G.nodes():
-        raise ValueError(f"溶剂容器 {solvent_vessel} 不存在于图中")
+    try:
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        print(f"CLEAN_VESSEL: 找到溶剂容器: {solvent_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到溶剂容器: {str(e)}")
     
     # 查找废液容器
-    waste_vessel = "flask_waste"
-    if waste_vessel not in G.nodes():
-        raise ValueError(f"废液容器 {waste_vessel} 不存在于图中")
+    try:
+        waste_vessel = find_waste_vessel(G)
+        print(f"CLEAN_VESSEL: 找到废液容器: {waste_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到废液容器: {str(e)}")
     
-    # 查找加热设备（如果需要加热）
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    # 查找加热设备（可选）
+    heatchill_id = find_connected_heatchill(G, vessel)
+    if heatchill_id:
+        print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
+    else:
+        print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
     
-    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    # 第一步：如果需要加热且有加热设备，启动加热
+    if temp > 25.0 and heatchill_id:
+        print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
+        heatchill_start_action = {
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": temp,
+                "purpose": f"cleaning with {solvent}"
+            }
+        }
+        action_sequence.append(heatchill_start_action)
+        
+        # 等待温度稳定
+        wait_action = {
+            "action_name": "wait", 
+            "action_kwargs": {"time": 30}  # 等待30秒让温度稳定
+        }
+        action_sequence.append(wait_action)
     
-    # 执行清洗操作序列
+    # 第二步：重复清洗操作
     for repeat in range(repeats):
-        # 1. 如果需要加热，先设置温度
-        if temp > 25.0 and heatchill_id:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_start",
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "temp": temp,
-                    "purpose": "cleaning"
-                }
-            })
+        print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
         
-        # 2. 使用transfer操作：从溶剂容器转移清洗溶剂到目标容器
-        action_sequence.append({
-            "device_id": pump_id,
-            "action_name": "transfer",
-            "action_kwargs": {
-                "from_vessel": solvent_vessel,
-                "to_vessel": vessel,
-                "volume": volume,
-                "amount": f"cleaning with {solvent} - cycle {repeat + 1}",
-                "time": 0.0,
-                "viscous": False,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "solid": False
+        # 2a. 使用 pump_protocol 将溶剂转移到目标容器
+        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel}")
+        try:
+            # 调用成熟的 pump_protocol 算法
+            add_solvent_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=solvent_vessel,
+                to_vessel=vessel,
+                volume=volume,
+                flowrate=2.5,  # 适中的流速，避免飞溅
+                transfer_flowrate=2.5
+            )
+            action_sequence.extend(add_solvent_actions)
+        except Exception as e:
+            raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
+        
+        # 2b. 等待清洗作用时间（让溶剂充分清洗容器）
+        cleaning_wait_time = 60 if temp > 50.0 else 30  # 高温下等待更久
+        print(f"CLEAN_VESSEL: 等待清洗作用 {cleaning_wait_time} 秒")
+        wait_action = {
+            "action_name": "wait", 
+            "action_kwargs": {"time": cleaning_wait_time}
+        }
+        action_sequence.append(wait_action)
+        
+        # 2c. 使用 pump_protocol 将清洗液转移到废液容器
+        print(f"CLEAN_VESSEL: 将清洗液从 {vessel} 转移到废液容器")
+        try:
+            # 调用成熟的 pump_protocol 算法
+            remove_waste_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=vessel,
+                to_vessel=waste_vessel,
+                volume=volume,
+                flowrate=2.5,  # 适中的流速
+                transfer_flowrate=2.5
+            )
+            action_sequence.extend(remove_waste_actions)
+        except Exception as e:
+            raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
+        
+        # 2d. 清洗循环间的短暂等待
+        if repeat < repeats - 1:  # 不是最后一次清洗
+            print(f"CLEAN_VESSEL: 清洗循环间等待")
+            wait_action = {
+                "action_name": "wait", 
+                "action_kwargs": {"time": 10}
             }
-        })
-        
-        # 3. 等待清洗作用时间（可选，可以添加wait操作）
-        # 这里省略wait操作，直接进行下一步
-        
-        # 4. 将清洗后的溶剂转移到废液容器
-        action_sequence.append({
-            "device_id": pump_id,
-            "action_name": "transfer",
-            "action_kwargs": {
-                "from_vessel": vessel,
-                "to_vessel": waste_vessel,
-                "volume": volume,
-                "amount": f"waste from cleaning {vessel} - cycle {repeat + 1}",
-                "time": 0.0,
-                "viscous": False,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "solid": False
-            }
-        })
-        
-        # 5. 如果加热了，停止加热
-        if temp > 25.0 and heatchill_id:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_stop",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
+            action_sequence.append(wait_action)
     
-    return action_sequence
+    # 第三步：如果加热了，停止加热
+    if temp > 25.0 and heatchill_id:
+        print(f"CLEAN_VESSEL: 停止加热")
+        heatchill_stop_action = {
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": vessel
+            }
+        }
+        action_sequence.append(heatchill_stop_action)
+    
+    print(f"CLEAN_VESSEL: 生成了 {len(action_sequence)} 个动作")
+    print(f"CLEAN_VESSEL: 清洗协议生成完成")
+    
+    return action_sequence
+
+
+# 便捷函数：常用清洗方案
+def generate_quick_clean_protocol(
+    G: nx.DiGraph, 
+    vessel: str, 
+    solvent: str = "water", 
+    volume: float = 100.0
+) -> List[Dict[str, Any]]:
+    """快速清洗：室温，单次清洗"""
+    return generate_clean_vessel_protocol(G, vessel, solvent, volume, 25.0, 1)
+
+
+def generate_thorough_clean_protocol(
+    G: nx.DiGraph, 
+    vessel: str, 
+    solvent: str = "water", 
+    volume: float = 150.0,
+    temp: float = 60.0
+) -> List[Dict[str, Any]]:
+    """深度清洗：加热，多次清洗"""
+    return generate_clean_vessel_protocol(G, vessel, solvent, volume, temp, 3)
+
+
+def generate_organic_clean_protocol(
+    G: nx.DiGraph, 
+    vessel: str, 
+    volume: float = 100.0
+) -> List[Dict[str, Any]]:
+    """有机清洗：先用有机溶剂，再用水清洗"""
+    action_sequence = []
+    
+    # 第一步：有机溶剂清洗
+    try:
+        organic_actions = generate_clean_vessel_protocol(
+            G, vessel, "acetone", volume, 25.0, 2
+        )
+        action_sequence.extend(organic_actions)
+    except ValueError:
+        # 如果没有丙酮，尝试乙醇
+        try:
+            organic_actions = generate_clean_vessel_protocol(
+                G, vessel, "ethanol", volume, 25.0, 2
+            )
+            action_sequence.extend(organic_actions)
+        except ValueError:
+            print("警告：未找到有机溶剂，跳过有机清洗步骤")
+    
+    # 第二步：水清洗
+    water_actions = generate_clean_vessel_protocol(
+        G, vessel, "water", volume, 25.0, 2
+    )
+    action_sequence.extend(water_actions)
+    
+    return action_sequence
+
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积（修复版）"""
+    if vessel not in G.nodes():
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    total_volume = 0.0
+    for liquid in liquids:
+        if isinstance(liquid, dict):
+            # 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
+            volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
+            total_volume += volume
+    
+    return total_volume
+
+
+def get_vessel_liquid_types(G: nx.DiGraph, vessel: str) -> List[str]:
+    """获取容器中所有液体的类型"""
+    if vessel not in G.nodes():
+        return []
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    liquid_types = []
+    for liquid in liquids:
+        if isinstance(liquid, dict):
+            # 支持两种格式的液体类型字段
+            liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+            if liquid_type:
+                liquid_types.append(liquid_type)
+    
+    return liquid_types
+
+
+def find_vessel_by_content(G: nx.DiGraph, content: str) -> List[str]:
+    """
+    根据内容物查找所有匹配的容器
+    返回匹配容器的ID列表
+    """
+    matching_vessels = []
+    
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查容器名称匹配
+            node_name = G.nodes[node_id].get('name', '').lower()
+            if content.lower() in node_id.lower() or content.lower() in node_name:
+                matching_vessels.append(node_id)
+                continue
+            
+            # 检查液体类型匹配
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            config_data = G.nodes[node_id].get('config', {})
+            
+            # 检查 reagent_name 和 config.reagent
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            config_reagent = config_data.get('reagent', '').lower()
+            
+            if (content.lower() == reagent_name or 
+                content.lower() == config_reagent):
+                matching_vessels.append(node_id)
+                continue
+            
+            # 检查液体列表
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type.lower() == content.lower():
+                        matching_vessels.append(node_id)
+                        break
+    
+    return matching_vessels

unilabos/compile/dissolve_protocol.py

@@ -1,5 +1,47 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器
+    """
+    # 按照pump_protocol的命名规则查找溶剂瓶
+    solvent_vessel_id = f"flask_{solvent}"
+    
+    if solvent_vessel_id in G.nodes():
+        return solvent_vessel_id
+    
+    # 如果直接匹配失败，尝试模糊匹配
+    for node in G.nodes():
+        if node.startswith('flask_') and solvent.lower() in node.lower():
+            return node
+    
+    # 如果还是找不到，列出所有可用的溶剂瓶
+    available_flasks = [node for node in G.nodes() 
+                       if node.startswith('flask_') 
+                       and G.nodes[node].get('type') == 'container']
+    
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的溶剂瓶。可用溶剂瓶: {available_flasks}")
+
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与指定容器相连的加热搅拌器
+    """
+    # 查找所有加热搅拌器节点
+    heatchill_nodes = [node for node in G.nodes() 
+                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    
+    # 检查哪个加热器与目标容器相连
+    for heatchill in heatchill_nodes:
+        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+            return heatchill
+    
+    # 如果没有直接连接，返回第一个可用的加热器
+    return heatchill_nodes[0] if heatchill_nodes else None
+
 
 def generate_dissolve_protocol(
     G: nx.DiGraph,
@@ -9,154 +51,309 @@ def generate_dissolve_protocol(
     amount: str = "",
     temp: float = 25.0,
     time: float = 0.0,
-    stir_speed: float = 0.0
+    stir_speed: float = 300.0
 ) -> List[Dict[str, Any]]:
     """
-    生成溶解操作的协议序列
+    生成溶解操作的协议序列，复用 pump_protocol 的成熟算法
+    
+    溶解流程：
+    1. 溶剂转移：将溶剂从溶剂瓶转移到目标容器
+    2. 启动加热搅拌：设置温度和搅拌
+    3. 等待溶解：监控溶解过程
+    4. 停止加热搅拌：完成溶解
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 装有要溶解物质的容器名称
-        solvent: 用于溶解物质的溶剂名称
-        volume: 溶剂的体积，可选参数
-        amount: 要溶解物质的量，可选参数
-        temp: 溶解时的温度，可选参数
-        time: 溶解的时间，可选参数
-        stir_speed: 搅拌速度，可选参数
+        G: 有向图，节点为设备和容器，边为流体管道
+        vessel: 目标容器（要进行溶解的容器）
+        solvent: 溶剂名称（用于查找对应的溶剂瓶）
+        volume: 溶剂体积 (mL)
+        amount: 要溶解的物质描述
+        temp: 溶解温度 (°C)，默认25°C（室温）
+        time: 溶解时间 (秒)，默认0（立即完成）
+        stir_speed: 搅拌速度 (RPM)，默认300 RPM
     
     Returns:
         List[Dict[str, Any]]: 溶解操作的动作序列
     
     Raises:
-        ValueError: 当找不到必要的设备时抛出异常
+        ValueError: 当找不到必要的设备或容器时
     
     Examples:
-        dissolve_protocol = generate_dissolve_protocol(G, "reactor", "water", 100.0, "NaCl 5g", 60.0, 300.0, 500.0)
+        dissolve_actions = generate_dissolve_protocol(G, "reaction_mixture", "DMF", 10.0, "NaCl 2g", 60.0, 600.0, 400.0)
     """
     action_sequence = []
     
-    # 验证容器是否存在
+    print(f"DISSOLVE: 开始生成溶解协议")
+    print(f"  - 目标容器: {vessel}")
+    print(f"  - 溶剂: {solvent}")
+    print(f"  - 溶剂体积: {volume} mL")
+    print(f"  - 要溶解的物质: {amount}")
+    print(f"  - 溶解温度: {temp}°C")
+    print(f"  - 溶解时间: {time}s ({time/60:.1f}分钟)" if time > 0 else "  - 溶解时间: 立即完成")
+    print(f"  - 搅拌速度: {stir_speed} RPM")
+    
+    # 验证目标容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
     
-    # 查找溶剂容器
-    solvent_vessel = f"flask_{solvent}"
-    if solvent_vessel not in G.nodes():
-        # 如果没有找到特定溶剂容器，查找可用的源容器
-        available_vessels = [node for node in G.nodes() 
-                           if node.startswith('flask_') and 
-                           G.nodes[node].get('type') == 'container']
-        if available_vessels:
-            solvent_vessel = available_vessels[0]
-        else:
-            raise ValueError(f"没有找到溶剂容器 {solvent}")
+    # 查找溶剂瓶
+    try:
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        print(f"DISSOLVE: 找到溶剂瓶: {solvent_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
     
-    # 查找转移泵设备
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    # 验证是否存在从溶剂瓶到目标容器的路径
+    try:
+        path = nx.shortest_path(G, source=solvent_vessel, target=vessel)
+        print(f"DISSOLVE: 找到路径 {solvent_vessel} -> {vessel}: {path}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从溶剂瓶 '{solvent_vessel}' 到目标容器 '{vessel}' 没有可用路径")
     
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备")
+    # 查找加热搅拌器
+    heatchill_id = None
+    if temp > 25.0 or stir_speed > 0 or time > 0:
+        try:
+            heatchill_id = find_connected_heatchill(G, vessel)
+            if heatchill_id:
+                print(f"DISSOLVE: 找到加热搅拌器: {heatchill_id}")
+            else:
+                print(f"DISSOLVE: 警告 - 需要加热/搅拌但未找到与容器 {vessel} 相连的加热搅拌器")
+        except Exception as e:
+            print(f"DISSOLVE: 加热搅拌器配置出错: {str(e)}")
     
-    pump_id = pump_nodes[0]
-    
-    # 查找加热设备（如果需要加热）
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
-    
-    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
-    
-    # 查找搅拌设备（如果需要搅拌）
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
-    
-    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
-    
-    # 步骤1：如果需要加热，先设置温度
-    if temp > 25.0 and heatchill_id:
-        action_sequence.append({
-            "device_id": heatchill_id,
-            "action_name": "heat_chill_start",
-            "action_kwargs": {
-                "vessel": vessel,
-                "temp": temp,
-                "purpose": "dissolution"
-            }
-        })
-    
-    # 步骤2：添加溶剂到容器中
-    if volume > 0:
-        action_sequence.append({
-            "device_id": pump_id,
-            "action_name": "transfer",
-            "action_kwargs": {
-                "from_vessel": solvent_vessel,
-                "to_vessel": vessel,
-                "volume": volume,
-                "amount": f"solvent {solvent} for dissolving {amount}",
-                "time": 0.0,
-                "viscous": False,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "solid": False
-            }
-        })
-    
-    # 步骤3：如果需要搅拌，开始搅拌
-    if stir_speed > 0 and stirrer_id:
-        action_sequence.append({
-            "device_id": stirrer_id,
-            "action_name": "start_stir",
-            "action_kwargs": {
-                "vessel": vessel,
-                "stir_speed": stir_speed,
-                "purpose": f"dissolving {amount} in {solvent}"
-            }
-        })
-    
-    # 步骤4：如果指定了溶解时间，等待溶解完成
-    if time > 0:
-        # 这里可以添加等待操作，或者使用搅拌操作来模拟溶解时间
-        if stirrer_id and stir_speed > 0:
-            # 停止之前的搅拌，使用定时搅拌
-            action_sequence.append({
-                "device_id": stirrer_id,
-                "action_name": "stop_stir",
+    # === 第一步：启动加热搅拌（在添加溶剂前） ===
+    if heatchill_id and (temp > 25.0 or time > 0):
+        print(f"DISSOLVE: 启动加热搅拌器，温度: {temp}°C")
+        
+        if time > 0:
+            # 如果指定了时间，使用定时加热搅拌
+            heatchill_action = {
+                "device_id": heatchill_id,
+                "action_name": "heat_chill",
                 "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
-            
-            # 开始定时搅拌
-            action_sequence.append({
-                "device_id": stirrer_id,
-                "action_name": "stir",
-                "action_kwargs": {
-                    "stir_time": time,
+                    "vessel": vessel,
+                    "temp": temp,
+                    "time": time,
+                    "stir": True,
                     "stir_speed": stir_speed,
-                    "settling_time": 10.0  # 搅拌后静置10秒
+                    "purpose": f"溶解 {amount} 在 {solvent} 中"
                 }
+            }
+        else:
+            # 如果没有指定时间，使用持续加热搅拌
+            heatchill_action = {
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": f"溶解 {amount} 在 {solvent} 中"
+                }
+            }
+        
+        action_sequence.append(heatchill_action)
+        
+        # 等待温度稳定
+        if temp > 25.0:
+            wait_time = min(60, abs(temp - 25.0) * 1.5)  # 根据温差估算预热时间
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": wait_time}
             })
     
-    # 步骤5：如果加热了，停止加热
-    if temp > 25.0 and heatchill_id:
+    # === 第二步：添加溶剂到目标容器 ===
+    if volume > 0:
+        print(f"DISSOLVE: 将 {volume} mL {solvent} 从 {solvent_vessel} 转移到 {vessel}")
+        
+        # 计算流速 - 溶解时通常用较慢的速度，避免飞溅
+        transfer_flowrate = 1.0  # 较慢的转移速度
+        flowrate = 0.5          # 较慢的注入速度
+        
+        try:
+            # 使用成熟的 pump_protocol 算法进行液体转移
+            pump_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=solvent_vessel,
+                to_vessel=vessel,
+                volume=volume,
+                flowrate=flowrate,           # 注入速度 - 较慢避免飞溅
+                transfer_flowrate=transfer_flowrate  # 转移速度
+            )
+            
+            action_sequence.extend(pump_actions)
+            
+        except Exception as e:
+            raise ValueError(f"生成泵协议时出错: {str(e)}")
+        
+        # 溶剂添加后等待
         action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5}
+        })
+    
+    # === 第三步：如果没有使用定时加热搅拌，但需要等待溶解 ===
+    if time > 0 and heatchill_id and temp <= 25.0:
+        # 只需要搅拌等待，不需要加热
+        print(f"DISSOLVE: 室温搅拌 {time}s 等待溶解")
+        
+        stir_action = {
+            "device_id": heatchill_id,
+            "action_name": "heat_chill",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": 25.0,  # 室温
+                "time": time,
+                "stir": True,
+                "stir_speed": stir_speed,
+                "purpose": f"室温搅拌溶解 {amount}"
+            }
+        }
+        action_sequence.append(stir_action)
+    
+    # === 第四步：如果使用了持续加热，需要手动停止 ===
+    if heatchill_id and time == 0 and temp > 25.0:
+        print(f"DISSOLVE: 停止加热搅拌器")
+        
+        stop_action = {
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
                 "vessel": vessel
             }
-        })
+        }
+        action_sequence.append(stop_action)
     
-    # 步骤6：如果还在搅拌，停止搅拌（除非已经用定时搅拌）
-    if stir_speed > 0 and stirrer_id and time == 0:
-        action_sequence.append({
-            "device_id": stirrer_id,
-            "action_name": "stop_stir",
-            "action_kwargs": {
-                "vessel": vessel
+    print(f"DISSOLVE: 生成了 {len(action_sequence)} 个动作")
+    print(f"DISSOLVE: 溶解协议生成完成")
+    
+    return action_sequence
+
+
+# 便捷函数：常用溶解方案
+def generate_room_temp_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    stir_time: float = 300.0  # 5分钟
+) -> List[Dict[str, Any]]:
+    """室温溶解：快速搅拌，短时间"""
+    return generate_dissolve_protocol(G, vessel, solvent, volume, amount, 25.0, stir_time, 400.0)
+
+
+def generate_heated_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    temp: float = 60.0,
+    dissolve_time: float = 900.0  # 15分钟
+) -> List[Dict[str, Any]]:
+    """加热溶解：中等温度，较长时间"""
+    return generate_dissolve_protocol(G, vessel, solvent, volume, amount, temp, dissolve_time, 300.0)
+
+
+def generate_gentle_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    temp: float = 40.0,
+    dissolve_time: float = 1800.0  # 30分钟
+) -> List[Dict[str, Any]]:
+    """温和溶解：低温，长时间，慢搅拌"""
+    return generate_dissolve_protocol(G, vessel, solvent, volume, amount, temp, dissolve_time, 200.0)
+
+
+def generate_hot_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    amount: str = "",
+    temp: float = 80.0,
+    dissolve_time: float = 600.0  # 10分钟
+) -> List[Dict[str, Any]]:
+    """高温溶解：高温，中等时间，快搅拌"""
+    return generate_dissolve_protocol(G, vessel, solvent, volume, amount, temp, dissolve_time, 500.0)
+
+
+def generate_sequential_dissolve_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    dissolve_steps: List[Dict[str, Any]]
+) -> List[Dict[str, Any]]:
+    """
+    生成连续溶解多种物质的协议
+    
+    Args:
+        G: 网络图
+        vessel: 目标容器
+        dissolve_steps: 溶解步骤列表，每个元素包含溶解参数
+    
+    Returns:
+        List[Dict[str, Any]]: 完整的动作序列
+    
+    Example:
+        dissolve_steps = [
+            {
+                "solvent": "water",
+                "volume": 5.0,
+                "amount": "NaCl 1g",
+                "temp": 25.0,
+                "time": 300.0,
+                "stir_speed": 300.0
+            },
+            {
+                "solvent": "ethanol", 
+                "volume": 2.0,
+                "amount": "organic compound 0.5g",
+                "temp": 40.0,
+                "time": 600.0,
+                "stir_speed": 400.0
             }
-        })
+        ]
+    """
+    action_sequence = []
     
-    return action_sequence
+    for i, step in enumerate(dissolve_steps):
+        print(f"DISSOLVE: 处理第 {i+1}/{len(dissolve_steps)} 个溶解步骤")
+        
+        # 生成单个溶解步骤的协议
+        dissolve_actions = generate_dissolve_protocol(
+            G=G,
+            vessel=vessel,
+            solvent=step.get('solvent'),
+            volume=step.get('volume', 0.0),
+            amount=step.get('amount', ''),
+            temp=step.get('temp', 25.0),
+            time=step.get('time', 0.0),
+            stir_speed=step.get('stir_speed', 300.0)
+        )
+        
+        action_sequence.extend(dissolve_actions)
+        
+        # 在步骤之间加入等待时间
+        if i < len(dissolve_steps) - 1:  # 不是最后一个步骤
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": 10}
+            })
+    
+    print(f"DISSOLVE: 连续溶解协议生成完成，共 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 测试函数
+def test_dissolve_protocol():
+    """测试溶解协议的示例"""
+    print("=== DISSOLVE PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_dissolve_protocol()

unilabos/compile/dry_protocol.py

@@ -0,0 +1,165 @@
+import networkx as nx
+from typing import List, Dict, Any
+
+
+def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与容器相连的加热器
+    
+    Args:
+        G: 网络图
+        vessel: 容器名称
+    
+    Returns:
+        str: 加热器ID，如果没有则返回None
+    """
+    print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
+    
+    # 查找所有加热器节点
+    heater_nodes = [node for node in G.nodes() 
+                   if ('heater' in node.lower() or 
+                       'heat' in node.lower() or
+                       G.nodes[node].get('class') == 'virtual_heatchill' or
+                       G.nodes[node].get('type') == 'heater')]
+    
+    print(f"DRY: 找到的加热器节点: {heater_nodes}")
+    
+    # 检查是否有加热器与目标容器相连
+    for heater in heater_nodes:
+        if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
+            print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
+            return heater
+    
+    # 如果没有直接连接，查找距离最近的加热器
+    for heater in heater_nodes:
+        try:
+            path = nx.shortest_path(G, source=heater, target=vessel)
+            if len(path) <= 3:  # 最多2个中间节点
+                print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
+                return heater
+        except nx.NetworkXNoPath:
+            continue
+    
+    print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
+    return None
+
+
+def generate_dry_protocol(
+    G: nx.DiGraph,
+    compound: str,
+    vessel: str,
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成干燥协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        compound: 化合物名称（从XDL传入）
+        vessel: 目标容器（从XDL传入）
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 默认参数
+    dry_temp = 60.0  # 默认干燥温度 60°C
+    dry_time = 3600.0  # 默认干燥时间 1小时（3600秒）
+    
+    print(f"DRY: 开始生成干燥协议")
+    print(f"  - 化合物: {compound}")
+    print(f"  - 容器: {vessel}")
+    print(f"  - 干燥温度: {dry_temp}°C")
+    print(f"  - 干燥时间: {dry_time/60:.0f} 分钟")
+    
+    # 1. 验证目标容器存在
+    if vessel not in G.nodes():
+        print(f"DRY: 警告 - 容器 '{vessel}' 不存在于系统中，跳过干燥")
+        return action_sequence
+    
+    # 2. 查找相连的加热器
+    heater_id = find_connected_heater(G, vessel)
+    
+    if heater_id is None:
+        print(f"DRY: 警告 - 未找到与容器 '{vessel}' 相连的加热器，跳过干燥")
+        # 添加一个等待动作，表示干燥过程（模拟）
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 60.0,  # 等待1分钟
+                "description": f"模拟干燥 {compound} (无加热器可用)"
+            }
+        })
+        return action_sequence
+    
+    # 3. 启动加热器进行干燥
+    print(f"DRY: 启动加热器 {heater_id} 进行干燥")
+    
+    # 3.1 启动加热
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": dry_temp,
+            "purpose": f"干燥 {compound}"
+        }
+    })
+    
+    # 3.2 等待温度稳定
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 60.0,
+            "description": f"等待温度稳定到 {dry_temp}°C"
+        }
+    })
+    
+    # 3.3 保持干燥温度
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": dry_temp,
+            "time": dry_time,
+            "purpose": f"干燥 {compound}，保持温度 {dry_temp}°C"
+        }
+    })
+    
+    # 3.4 停止加热
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill_stop",
+        "action_kwargs": {
+            "vessel": vessel,
+            "purpose": f"干燥完成，停止加热"
+        }
+    })
+    
+    # 3.5 等待冷却
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 300.0,  # 等待5分钟冷却
+            "description": f"等待 {compound} 冷却"
+        }
+    })
+    
+    print(f"DRY: 协议生成完成，共 {len(action_sequence)} 个动作")
+    print(f"DRY: 预计总时间: {(dry_time + 360)/60:.0f} 分钟")
+    
+    return action_sequence
+
+
+# 测试函数
+def test_dry_protocol():
+    """测试干燥协议"""
+    print("=== DRY PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_dry_protocol()

unilabos/compile/evacuateandrefill_protocol.py

@@ -1,143 +1,570 @@
 import numpy as np
 import networkx as nx
+from typing import List, Dict, Any, Optional
+from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
+
+
+def find_gas_source(G: nx.DiGraph, gas: str) -> str:
+    """
+    根据气体名称查找对应的气源，支持多种匹配模式：
+    1. 容器名称匹配
+    2. 气体类型匹配（data.gas_type）
+    3. 默认气源
+    """
+    print(f"EVACUATE_REFILL: 正在查找气体 '{gas}' 的气源...")
+    
+    # 第一步：通过容器名称匹配
+    gas_source_patterns = [
+        f"gas_source_{gas}",
+        f"gas_{gas}",
+        f"flask_{gas}",
+        f"{gas}_source",
+        f"source_{gas}",
+        f"reagent_bottle_{gas}",
+        f"bottle_{gas}"
+    ]
+    
+    for pattern in gas_source_patterns:
+        if pattern in G.nodes():
+            print(f"EVACUATE_REFILL: 通过名称匹配找到气源: {pattern}")
+            return pattern
+    
+    # 第二步：通过气体类型匹配 (data.gas_type)
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        node_class = node_data.get('class', '') or ''
+        
+        # 检查是否是气源设备
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or 
+            node_id.startswith('flask_')):
+            
+            # 检查 data.gas_type
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', '')
+            
+            if gas_type.lower() == gas.lower():
+                print(f"EVACUATE_REFILL: 通过气体类型匹配找到气源: {node_id} (gas_type: {gas_type})")
+                return node_id
+            
+            # 检查 config.gas_type  
+            config = node_data.get('config', {})
+            config_gas_type = config.get('gas_type', '')
+            
+            if config_gas_type.lower() == gas.lower():
+                print(f"EVACUATE_REFILL: 通过配置气体类型匹配找到气源: {node_id} (config.gas_type: {config_gas_type})")
+                return node_id
+    
+    # 第三步：查找所有可用的气源设备
+    available_gas_sources = []
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or
+            (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
+            
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', 'unknown')
+            available_gas_sources.append(f"{node_id} (gas_type: {gas_type})")
+    
+    print(f"EVACUATE_REFILL: 可用气源列表: {available_gas_sources}")
+    
+    # 第四步：如果找不到特定气体，使用默认的第一个气源
+    default_gas_sources = [
+        node for node in G.nodes() 
+        if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source')
+            or 'gas_source' in node)
+    ]
+    
+    if default_gas_sources:
+        default_source = default_gas_sources[0]
+        print(f"EVACUATE_REFILL: ⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
+        return default_source
+    
+    raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
+
+
+def find_gas_source_by_any_match(G: nx.DiGraph, gas: str) -> str:
+    """
+    增强版气源查找，支持各种匹配方式的别名函数
+    """
+    return find_gas_source(G, gas)
+
+
+def get_gas_source_type(G: nx.DiGraph, gas_source: str) -> str:
+    """获取气源的气体类型"""
+    if gas_source not in G.nodes():
+        return "unknown"
+    
+    node_data = G.nodes[gas_source]
+    data = node_data.get('data', {})
+    config = node_data.get('config', {})
+    
+    # 检查多个可能的字段
+    gas_type = (data.get('gas_type') or 
+                config.get('gas_type') or 
+                data.get('gas') or
+                config.get('gas') or
+                "air")  # 默认为空气
+    
+    return gas_type
+
+
+def find_vessels_by_gas_type(G: nx.DiGraph, gas: str) -> List[str]:
+    """
+    根据气体类型查找所有匹配的容器/气源
+    """
+    matching_vessels = []
+    
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        
+        # 检查容器名称匹配
+        if gas.lower() in node_id.lower():
+            matching_vessels.append(f"{node_id} (名称匹配)")
+            continue
+        
+        # 检查气体类型匹配
+        data = node_data.get('data', {})
+        config = node_data.get('config', {})
+        
+        gas_type = data.get('gas_type', '') or config.get('gas_type', '')
+        if gas_type.lower() == gas.lower():
+            matching_vessels.append(f"{node_id} (gas_type: {gas_type})")
+    
+    return matching_vessels
+
+
+def find_vacuum_pump(G: nx.DiGraph) -> str:
+    """查找真空泵设备"""
+    vacuum_pumps = [
+        node for node in G.nodes() 
+        if ((G.nodes[node].get('class') or '').startswith('virtual_vacuum_pump')
+            or 'vacuum_pump' in node
+            or 'vacuum' in (G.nodes[node].get('class') or ''))
+    ]
+    
+    if not vacuum_pumps:
+        raise ValueError("系统中未找到真空泵设备")
+    
+    return vacuum_pumps[0]
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找与指定容器相连的搅拌器"""
+    stirrer_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    
+    # 检查哪个搅拌器与目标容器相连
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            return stirrer
+    
+    return stirrer_nodes[0] if stirrer_nodes else None
+
+
+def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
+    """查找与指定设备相关联的电磁阀"""
+    solenoid_valves = [
+        node for node in G.nodes() 
+        if ('solenoid' in (G.nodes[node].get('class') or '').lower()
+            or 'solenoid_valve' in node)
+    ]
+    
+    # 通过网络连接查找直接相连的电磁阀
+    for solenoid in solenoid_valves:
+        if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
+            return solenoid
+    
+    # 通过命名规则查找关联的电磁阀
+    device_type = ""
+    if 'vacuum' in device_id.lower():
+        device_type = "vacuum"
+    elif 'gas' in device_id.lower():
+        device_type = "gas"
+    
+    if device_type:
+        for solenoid in solenoid_valves:
+            if device_type in solenoid.lower():
+                return solenoid
+    
+    return None
 
 
 def generate_evacuateandrefill_protocol(
-    G: nx.DiGraph, 
-    vessel: str, 
-    gas: str, 
-    repeats: int = 1
-) -> list[dict]:
+    G: nx.DiGraph,
+    vessel: str,
+    gas: str,
+    # 🔧 删除 repeats 参数，直接硬编码为 3
+    **kwargs  # 🔧 接受额外参数，增强兼容性
+) -> List[Dict[str, Any]]:
     """
-    生成泵操作的动作序列。
+    生成抽真空和充气操作的动作序列 - 简化版本
     
-    :param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
-    :param from_vessel: 容器A
-    :param to_vessel: 容器B
-    :param volume: 转移的体积
-    :param flowrate: 最终注入容器B时的流速
-    :param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
-    :return: 泵操作的动作序列
+    Args:
+        G: 设备图
+        vessel: 目标容器名称（必需）
+        gas: 气体名称（必需）  
+        **kwargs: 其他参数（兼容性）
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
     """
     
-    # 生成电磁阀、真空泵、气源操作的动作序列
-    vacuum_action_sequence = []
-    nodes = G.nodes(data=True)
+    # 🔧 硬编码重复次数为 3
+    repeats = 3
     
-    # 找到和 vessel 相连的电磁阀和真空泵、气源
-    vacuum_backbone = {"vessel": vessel}
+    debug_print("=" * 60)
+    debug_print("开始生成抽真空充气协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - gas: {gas}")
+    debug_print(f"  - repeats: {repeats} (硬编码)")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 60)
     
-    for neighbor in G.neighbors(vessel):
-        if nodes[neighbor]["class"].startswith("solenoid_valve"):
-            for neighbor2 in G.neighbors(neighbor):
-                if neighbor2 == vessel:
-                    continue
-                if nodes[neighbor2]["class"].startswith("vacuum_pump"):
-                    vacuum_backbone.update({"vacuum_valve": neighbor, "pump": neighbor2})
-                    break
-                elif nodes[neighbor2]["class"].startswith("gas_source"):
-                    vacuum_backbone.update({"gas_valve": neighbor, "gas": neighbor2})
-                    break
-    # 判断是否设备齐全
-    if len(vacuum_backbone) < 5:
-        print(f"\n\n\n{vacuum_backbone}\n\n\n")
-        raise ValueError("Not all devices are connected to the vessel.")
+    action_sequence = []
     
-    # 生成操作的动作序列
-    for i in range(repeats):
-        # 打开真空泵阀门、关闭气源阀门
-        vacuum_action_sequence.append([
-            {
-                "device_id": vacuum_backbone["vacuum_valve"],
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": "OPEN"
-                }
-            },
-            {
-                "device_id": vacuum_backbone["gas_valve"],
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": "CLOSED"
-                }
-            }
-        ])
+    # === 参数验证和修正 ===
+    debug_print("步骤1: 参数验证和修正...")
+    
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
+    
+    if not gas:
+        raise ValueError("gas 参数不能为空")
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    
+    # 标准化气体名称
+    gas_aliases = {
+        'n2': 'nitrogen',
+        'ar': 'argon',
+        'air': 'air',
+        'o2': 'oxygen',
+        'co2': 'carbon_dioxide',
+        'h2': 'hydrogen'
+    }
+    
+    original_gas = gas
+    gas_lower = gas.lower().strip()
+    if gas_lower in gas_aliases:
+        gas = gas_aliases[gas_lower]
+        debug_print(f"标准化气体名称: {original_gas} -> {gas}")
+    
+    debug_print(f"最终参数: vessel={vessel}, gas={gas}, repeats={repeats}")
+    
+    # === 查找设备 ===
+    debug_print("步骤2: 查找设备...")
+    
+    try:
+        vacuum_pump = find_vacuum_pump(G)
+        gas_source = find_gas_source(G, gas)
+        vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump)
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source)
+        stirrer_id = find_connected_stirrer(G, vessel)
         
-        # 打开真空泵、关闭气源
-        vacuum_action_sequence.append([
-            {
-                "device_id": vacuum_backbone["pump"],
-                "action_name": "set_status",
-                "action_kwargs": {
-                    "string": "ON"
-                }
-            },
-            {
-                "device_id": vacuum_backbone["gas"],
-                "action_name": "set_status",
-                "action_kwargs": {
-                    "string": "OFF"
-                }
-            }
-        ])
-        vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
+        debug_print(f"设备配置:")
+        debug_print(f"  - 真空泵: {vacuum_pump}")
+        debug_print(f"  - 气源: {gas_source}")
+        debug_print(f"  - 真空电磁阀: {vacuum_solenoid}")
+        debug_print(f"  - 气源电磁阀: {gas_solenoid}")
+        debug_print(f"  - 搅拌器: {stirrer_id}")
         
-        # 关闭真空泵阀门、打开气源阀门
-        vacuum_action_sequence.append([
-            {
-                "device_id": vacuum_backbone["vacuum_valve"],
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": "CLOSED"
-                }
-            },
-            {
-                "device_id": vacuum_backbone["gas_valve"],
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": "OPEN"
-                }
-            }
-        ])
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"设备查找失败: {str(e)}")
+    
+    # === 参数设置 ===
+    debug_print("步骤3: 参数设置...")
+    
+    # 根据气体类型调整参数
+    if gas.lower() in ['nitrogen', 'argon']:
+        VACUUM_VOLUME = 25.0
+        REFILL_VOLUME = 25.0
+        PUMP_FLOW_RATE = 2.0
+        VACUUM_TIME = 30.0
+        REFILL_TIME = 20.0
+        debug_print("惰性气体：使用标准参数")
+    elif gas.lower() in ['air', 'oxygen']:
+        VACUUM_VOLUME = 20.0
+        REFILL_VOLUME = 20.0
+        PUMP_FLOW_RATE = 1.5
+        VACUUM_TIME = 45.0
+        REFILL_TIME = 25.0
+        debug_print("活性气体：使用保守参数")
+    else:
+        VACUUM_VOLUME = 15.0
+        REFILL_VOLUME = 15.0
+        PUMP_FLOW_RATE = 1.0
+        VACUUM_TIME = 60.0
+        REFILL_TIME = 30.0
+        debug_print("未知气体：使用安全参数")
+    
+    STIR_SPEED = 200.0
+    
+    debug_print(f"操作参数:")
+    debug_print(f"  - 抽真空体积: {VACUUM_VOLUME}mL")
+    debug_print(f"  - 充气体积: {REFILL_VOLUME}mL")
+    debug_print(f"  - 泵流速: {PUMP_FLOW_RATE}mL/s")
+    debug_print(f"  - 抽真空时间: {VACUUM_TIME}s")
+    debug_print(f"  - 充气时间: {REFILL_TIME}s")
+    debug_print(f"  - 搅拌速度: {STIR_SPEED}RPM")
+    
+    # === 路径验证 ===
+    debug_print("步骤4: 路径验证...")
+    
+    try:
+        # 验证抽真空路径
+        vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump)
+        debug_print(f"抽真空路径: {' → '.join(vacuum_path)}")
         
-        # 关闭真空泵、打开气源
-        vacuum_action_sequence.append([
-            {
-                "device_id": vacuum_backbone["pump"],
-                "action_name": "set_status",
-                "action_kwargs": {
-                    "string": "OFF"
-                }
-            },
-            {
-                "device_id": vacuum_backbone["gas"],
-                "action_name": "set_status",
-                "action_kwargs": {
-                    "string": "ON"
-                }
+        # 验证充气路径
+        gas_path = nx.shortest_path(G, source=gas_source, target=vessel)
+        debug_print(f"充气路径: {' → '.join(gas_path)}")
+        
+    except nx.NetworkXNoPath as e:
+        debug_print(f"❌ 路径不存在: {str(e)}")
+        raise ValueError(f"路径不存在: {str(e)}")
+    except Exception as e:
+        debug_print(f"❌ 路径验证失败: {str(e)}")
+        raise ValueError(f"路径验证失败: {str(e)}")
+    
+    # === 启动搅拌器 ===
+    debug_print("步骤5: 启动搅拌器...")
+    
+    if stirrer_id:
+        debug_print(f"启动搅拌器: {stirrer_id}")
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "stir_speed": STIR_SPEED,
+                "purpose": "抽真空充气操作前启动搅拌"
             }
-        ])
-        vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
+        })
+        
+        # 等待搅拌稳定
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5.0}
+        })
+    else:
+        debug_print("未找到搅拌器，跳过搅拌启动")
+    
+    # === 执行 3 次抽真空-充气循环 ===
+    debug_print("步骤6: 执行抽真空-充气循环...")
+    
+    for cycle in range(repeats):  # 这里 repeats = 3
+        debug_print(f"=== 第 {cycle+1}/{repeats} 次循环 ===")
+        
+        # ============ 抽真空阶段 ============
+        debug_print(f"抽真空阶段开始")
+        
+        # 启动真空泵
+        debug_print(f"启动真空泵: {vacuum_pump}")
+        action_sequence.append({
+            "device_id": vacuum_pump,
+            "action_name": "set_status",
+            "action_kwargs": {"string": "ON"}
+        })
+        
+        # 开启真空电磁阀
+        if vacuum_solenoid:
+            debug_print(f"开启真空电磁阀: {vacuum_solenoid}")
+            action_sequence.append({
+                "device_id": vacuum_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "OPEN"}
+            })
+        
+        # 抽真空操作
+        debug_print(f"抽真空操作: {vessel} → {vacuum_pump}")
+        try:
+            vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=vessel,
+                to_vessel=vacuum_pump,
+                volume=VACUUM_VOLUME,
+                amount="",
+                duration=0.0,  # 🔧 修复time参数名冲突
+                viscous=False,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=PUMP_FLOW_RATE,
+                transfer_flowrate=PUMP_FLOW_RATE
+            )
+            
+            if vacuum_transfer_actions:
+                action_sequence.extend(vacuum_transfer_actions)
+                debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
+            else:
+                debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": VACUUM_TIME}
+                })
+                
+        except Exception as e:
+            debug_print(f"❌ 抽真空失败: {str(e)}")
+            # 添加等待时间作为备选
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": VACUUM_TIME}
+            })
+        
+        # 抽真空后等待
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5.0}
+        })
+        
+        # 关闭真空电磁阀
+        if vacuum_solenoid:
+            debug_print(f"关闭真空电磁阀: {vacuum_solenoid}")
+            action_sequence.append({
+                "device_id": vacuum_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "CLOSED"}
+            })
+        
+        # 关闭真空泵
+        debug_print(f"关闭真空泵: {vacuum_pump}")
+        action_sequence.append({
+            "device_id": vacuum_pump,
+            "action_name": "set_status",
+            "action_kwargs": {"string": "OFF"}
+        })
+        
+        # ============ 充气阶段 ============
+        debug_print(f"充气阶段开始")
+        
+        # 启动气源
+        debug_print(f"启动气源: {gas_source}")
+        action_sequence.append({
+            "device_id": gas_source,
+            "action_name": "set_status",
+            "action_kwargs": {"string": "ON"}
+        })
+        
+        # 开启气源电磁阀
+        if gas_solenoid:
+            debug_print(f"开启气源电磁阀: {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "OPEN"}
+            })
+        
+        # 充气操作
+        debug_print(f"充气操作: {gas_source} → {vessel}")
+        try:
+            gas_transfer_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=gas_source,
+                to_vessel=vessel,
+                volume=REFILL_VOLUME,
+                amount="",
+                duration=0.0,  # 🔧 修复time参数名冲突
+                viscous=False,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=PUMP_FLOW_RATE,
+                transfer_flowrate=PUMP_FLOW_RATE
+            )
+            
+            if gas_transfer_actions:
+                action_sequence.extend(gas_transfer_actions)
+                debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
+            else:
+                debug_print("⚠️ 充气协议返回空序列，添加手动动作")
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": REFILL_TIME}
+                })
+                
+        except Exception as e:
+            debug_print(f"❌ 充气失败: {str(e)}")
+            # 添加等待时间作为备选
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": REFILL_TIME}
+            })
+        
+        # 充气后等待
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5.0}
+        })
+        
+        # 关闭气源电磁阀
+        if gas_solenoid:
+            debug_print(f"关闭气源电磁阀: {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "CLOSED"}
+            })
         
         # 关闭气源
-        vacuum_action_sequence.append(
-            {
-                "device_id": vacuum_backbone["gas"],
-                "action_name": "set_status",
-                "action_kwargs": {
-                    "string": "OFF"
-                }
-            }
-        )
+        debug_print(f"关闭气源: {gas_source}")
+        action_sequence.append({
+            "device_id": gas_source,
+            "action_name": "set_status",
+            "action_kwargs": {"string": "OFF"}
+        })
         
-        # 关闭阀门
-        vacuum_action_sequence.append(
-            {
-                "device_id": vacuum_backbone["gas_valve"],
-                "action_name": "set_valve_position",
-                "action_kwargs": {
-                    "command": "CLOSED"
-                }
-            }
-        )
-    return vacuum_action_sequence
+        # 等待下一次循环
+        if cycle < repeats - 1:
+            debug_print(f"等待下一次循环...")
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": 10.0}
+            })
+    
+    # === 停止搅拌器 ===
+    debug_print("步骤7: 停止搅拌器...")
+    
+    if stirrer_id:
+        debug_print(f"停止搅拌器: {stirrer_id}")
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {"vessel": vessel}
+        })
+    
+    # === 最终等待 ===
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 10.0}
+    })
+    
+    # === 总结 ===
+    debug_print("=" * 60)
+    debug_print(f"抽真空充气协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"处理容器: {vessel}")
+    debug_print(f"使用气体: {gas}")
+    debug_print(f"重复次数: {repeats} (硬编码)")
+    debug_print("=" * 60)
+    
+    return action_sequence
+
+# 测试函数
+def test_evacuateandrefill_protocol():
+    """测试抽真空充气协议"""
+    print("=== EVACUATE AND REFILL PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_evacuateandrefill_protocol()

unilabos/compile/evacuateandrefill_protocol_old.py

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

unilabos/compile/evaporate_protocol.py

@@ -1,81 +1,387 @@
-import numpy as np
+from typing import List, Dict, Any, Optional
 import networkx as nx
+import logging
+from .pump_protocol import generate_pump_protocol
 
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    print(f"[EVAPORATE] {message}", flush=True)
+    logger.info(f"[EVAPORATE] {message}")
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积"""
+    debug_print(f"检查容器 '{vessel}' 的液体体积...")
+    
+    if vessel not in G.nodes():
+        debug_print(f"容器 '{vessel}' 不存在")
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    debug_print(f"容器数据: {vessel_data}")
+    
+    # 检查多种体积字段
+    volume_keys = ['total_volume', 'volume', 'liquid_volume', 'current_volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                debug_print(f"从 '{key}' 读取到体积: {volume}mL")
+                return volume
+            except (ValueError, TypeError):
+                continue
+    
+    # 检查liquid数组
+    liquids = vessel_data.get('liquid', [])
+    if isinstance(liquids, list):
+        total_volume = 0.0
+        for liquid in liquids:
+            if isinstance(liquid, dict):
+                for vol_key in ['liquid_volume', 'volume', 'amount']:
+                    if vol_key in liquid:
+                        try:
+                            vol = float(liquid[vol_key])
+                            total_volume += vol
+                            debug_print(f"从液体数据 '{vol_key}' 读取: {vol}mL")
+                        except (ValueError, TypeError):
+                            continue
+        if total_volume > 0:
+            return total_volume
+    
+    debug_print(f"未检测到液体体积，返回 0.0")
+    return 0.0
+
+def find_rotavap_device(G: nx.DiGraph) -> Optional[str]:
+    """查找旋转蒸发仪设备"""
+    debug_print("查找旋转蒸发仪设备...")
+    
+    # 查找各种可能的旋转蒸发仪设备
+    possible_devices = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '')
+        
+        if any(keyword in node_class.lower() for keyword in ['rotavap', 'evaporator']):
+            possible_devices.append(node)
+            debug_print(f"找到旋转蒸发仪设备: {node}")
+    
+    if possible_devices:
+        return possible_devices[0]
+    
+    debug_print("未找到旋转蒸发仪设备")
+    return None
+
+def find_rotavap_vessel(G: nx.DiGraph) -> Optional[str]:
+    """查找旋转蒸发仪样品容器"""
+    debug_print("查找旋转蒸发仪样品容器...")
+    
+    possible_vessels = [
+        "rotavap", "rotavap_flask", "flask_rotavap", 
+        "evaporation_flask", "evaporator", "rotary_evaporator"
+    ]
+    
+    for vessel in possible_vessels:
+        if vessel in G.nodes():
+            debug_print(f"找到旋转蒸发仪样品容器: {vessel}")
+            return vessel
+    
+    debug_print("未找到旋转蒸发仪样品容器")
+    return None
+
+def find_recovery_vessel(G: nx.DiGraph) -> Optional[str]:
+    """查找溶剂回收容器"""
+    debug_print("查找溶剂回收容器...")
+    
+    possible_vessels = [
+        "flask_distillate", "distillate", "solvent_recovery",
+        "rotavap_condenser", "condenser", "waste_workup", "waste"
+    ]
+    
+    for vessel in possible_vessels:
+        if vessel in G.nodes():
+            debug_print(f"找到回收容器: {vessel}")
+            return vessel
+    
+    debug_print("未找到回收容器")
+    return None
 
 def generate_evaporate_protocol(
-    G: nx.DiGraph, 
+    G: nx.DiGraph,
     vessel: str,
-    pressure: float,
-    temp: float,
-    time: float,
-    stir_speed: float
-) -> list[dict]:
+    pressure: float = 0.1,
+    temp: float = 60.0,
+    time: float = 1800.0,
+    stir_speed: float = 100.0,
+    solvent: str = "",
+    **kwargs  # 接受任意额外参数，增强兼容性
+) -> List[Dict[str, Any]]:
     """
-    Generate a protocol to evaporate a solution from a vessel.
+    生成蒸发操作的协议序列 - 增强兼容性版本
     
-    :param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
-    :param vessel: Vessel to clean.
-    :param solvent: Solvent to clean vessel with.
-    :param volume: Volume of solvent to clean vessel with.
-    :param temp: Temperature to heat vessel to while cleaning.
-    :param repeats: Number of cleaning cycles to perform.
-    :return: List of actions to clean vessel.
+    Args:
+        G: 设备图
+        vessel: 蒸发容器名称（必需）
+        pressure: 真空度 (bar)，默认0.1
+        temp: 加热温度 (°C)，默认60
+        time: 蒸发时间 (秒)，默认1800
+        stir_speed: 旋转速度 (RPM)，默认100
+        solvent: 溶剂名称（可选，用于参数优化）
+        **kwargs: 其他参数（兼容性）
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
     """
     
-    # 生成泵操作的动作序列
-    pump_action_sequence = []
-    reactor_volume = 500.0
-    transfer_flowrate = flowrate = 2.5
+    debug_print("=" * 50)
+    debug_print("开始生成蒸发协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - pressure: {pressure} bar")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - time: {time}s ({time/60:.1f}分钟)")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - solvent: '{solvent}'")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
     
-    # 开启冷凝器
-    pump_action_sequence.append({
-        "device_id": "rotavap_chiller",
-        "action_name": "set_temperature",
-        "action_kwargs": {
-            "command": "-40"
-        }
-    })
-    # TODO: 通过温度反馈改为 HeatChillToTemp，而非等待固定时间
-    pump_action_sequence.append({
+    action_sequence = []
+    
+    # === 参数验证和修正 ===
+    debug_print("步骤1: 参数验证和修正...")
+    
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
+    
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    
+    # 修正参数范围
+    if pressure <= 0 or pressure > 1.0:
+        debug_print(f"真空度 {pressure} bar 超出范围，修正为 0.1 bar")
+        pressure = 0.1
+    
+    if temp < 10.0 or temp > 200.0:
+        debug_print(f"温度 {temp}°C 超出范围，修正为 60°C")
+        temp = 60.0
+    
+    if time <= 0:
+        debug_print(f"时间 {time}s 无效，修正为 1800s")
+        time = 1800.0
+    
+    if stir_speed < 10.0 or stir_speed > 300.0:
+        debug_print(f"旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM")
+        stir_speed = 100.0
+    
+    # 根据溶剂优化参数
+    if solvent:
+        debug_print(f"根据溶剂 '{solvent}' 优化参数...")
+        solvent_lower = solvent.lower()
+        
+        if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
+            temp = max(temp, 80.0)
+            pressure = max(pressure, 0.2)
+            debug_print("水系溶剂：提高温度和真空度")
+        elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            temp = min(temp, 50.0)
+            pressure = min(pressure, 0.05)
+            debug_print("易挥发溶剂：降低温度和真空度")
+        elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
+            temp = max(temp, 100.0)
+            pressure = min(pressure, 0.01)
+            debug_print("高沸点溶剂：提高温度，降低真空度")
+    
+    debug_print(f"最终参数: pressure={pressure}, temp={temp}, time={time}, stir_speed={stir_speed}")
+    
+    # === 查找设备 ===
+    debug_print("步骤2: 查找设备...")
+    
+    # 查找旋转蒸发仪设备
+    rotavap_device = find_rotavap_device(G)
+    if not rotavap_device:
+        debug_print("未找到旋转蒸发仪设备，使用通用设备")
+        rotavap_device = "rotavap_1"  # 默认设备ID
+    
+    # 查找旋转蒸发仪样品容器
+    rotavap_vessel = find_rotavap_vessel(G)
+    if not rotavap_vessel:
+        debug_print("未找到旋转蒸发仪样品容器，使用默认容器")
+        rotavap_vessel = "rotavap"  # 默认容器
+    
+    # 查找回收容器
+    recovery_vessel = find_recovery_vessel(G)
+    
+    debug_print(f"设备配置:")
+    debug_print(f"  - 旋转蒸发仪设备: {rotavap_device}")
+    debug_print(f"  - 样品容器: {rotavap_vessel}")
+    debug_print(f"  - 回收容器: {recovery_vessel}")
+    
+    # === 体积计算 ===
+    debug_print("步骤3: 体积计算...")
+    
+    source_volume = get_vessel_liquid_volume(G, vessel)
+    
+    if source_volume > 0:
+        transfer_volume = min(source_volume * 0.9, 250.0)  # 90%或最多250mL
+        debug_print(f"检测到液体体积 {source_volume}mL，转移 {transfer_volume}mL")
+    else:
+        transfer_volume = 50.0  # 默认小体积，更安全
+        debug_print(f"未检测到液体体积，使用默认转移体积 {transfer_volume}mL")
+    
+    # === 生成动作序列 ===
+    debug_print("步骤4: 生成动作序列...")
+    
+    # 动作1: 转移溶液到旋转蒸发仪
+    if vessel != rotavap_vessel:
+        debug_print(f"转移 {transfer_volume}mL 从 {vessel} 到 {rotavap_vessel}")
+        try:
+            transfer_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=vessel,
+                to_vessel=rotavap_vessel,
+                volume=transfer_volume,
+                flowrate=2.0,
+                transfer_flowrate=2.0
+            )
+            action_sequence.extend(transfer_actions)
+            debug_print(f"添加了 {len(transfer_actions)} 个转移动作")
+        except Exception as e:
+            debug_print(f"转移失败: {str(e)}")
+            # 继续执行，不中断整个流程
+    
+    # 等待稳定
+    action_sequence.append({
         "action_name": "wait",
-        "action_kwargs": {
-            "time": 1800
-        }
+        "action_kwargs": {"time": 10}
     })
     
-    # 开启旋蒸真空泵、旋转，在液体转移后运行time时间
-    pump_action_sequence.append({
-        "device_id": "rotavap_controller",
-        "action_name": "set_pump_time",
+    # 动作2: 执行蒸发
+    debug_print(f"执行蒸发: {rotavap_device}")
+    evaporate_action = {
+        "device_id": rotavap_device,
+        "action_name": "evaporate",
         "action_kwargs": {
-            "command": str(time + reactor_volume / flowrate * 3)
+            "vessel": rotavap_vessel,
+            "pressure": pressure,
+            "temp": temp,
+            "time": time,
+            "stir_speed": stir_speed,
+            "solvent": solvent
         }
-    })
-    pump_action_sequence.append({
-        "device_id": "rotavap_controller",
-        "action_name": "set_pump_time",
-        "action_kwargs": {
-            "command": str(time + reactor_volume / flowrate * 3)
-        }
-    })
+    }
+    action_sequence.append(evaporate_action)
     
-    # 液体转入旋转蒸发器
-    pump_action_sequence.append({
-        "device_id": "", 
-        "action_name": "PumpTransferProtocol",
-        "action_kwargs": {
-            "from_vessel": vessel,
-            "to_vessel": "rotavap",
-            "volume": reactor_volume,
-            "time": reactor_volume / flowrate,
-            # "transfer_flowrate": transfer_flowrate,
-        }
-    })
-    
-    pump_action_sequence.append({
+    # 蒸发后等待
+    action_sequence.append({
         "action_name": "wait",
-        "action_kwargs": {
-            "time": time
-        }
+        "action_kwargs": {"time": 30}
     })
-    return pump_action_sequence
+    
+    # 动作3: 回收溶剂（如果有回收容器）
+    if recovery_vessel:
+        debug_print(f"回收溶剂到 {recovery_vessel}")
+        try:
+            recovery_volume = transfer_volume * 0.7  # 估算回收70%
+            recovery_actions = generate_pump_protocol(
+                G=G,
+                from_vessel="rotavap_condenser",  # 假设的冷凝器
+                to_vessel=recovery_vessel,
+                volume=recovery_volume,
+                flowrate=3.0,
+                transfer_flowrate=3.0
+            )
+            action_sequence.extend(recovery_actions)
+            debug_print(f"添加了 {len(recovery_actions)} 个回收动作")
+        except Exception as e:
+            debug_print(f"溶剂回收失败: {str(e)}")
+    
+    # 动作4: 转移浓缩物回原容器
+    if vessel != rotavap_vessel:
+        debug_print(f"转移浓缩物从 {rotavap_vessel} 到 {vessel}")
+        try:
+            concentrate_volume = transfer_volume * 0.2  # 估算浓缩物20%
+            transfer_back_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=rotavap_vessel,
+                to_vessel=vessel,
+                volume=concentrate_volume,
+                flowrate=1.0,  # 浓缩物可能粘稠
+                transfer_flowrate=1.0
+            )
+            action_sequence.extend(transfer_back_actions)
+            debug_print(f"添加了 {len(transfer_back_actions)} 个转移回收动作")
+        except Exception as e:
+            debug_print(f"浓缩物转移失败: {str(e)}")
+    
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"蒸发协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"处理体积: {transfer_volume}mL")
+    debug_print(f"蒸发参数: {pressure} bar, {temp}°C, {time}s, {stir_speed} RPM")
+    debug_print("=" * 50)
+    
+    return action_sequence
+
+# === 便捷函数 ===
+
+def generate_quick_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """快速蒸发：低温短时间"""
+    return generate_evaporate_protocol(
+        G, vessel, 
+        pressure=0.2, 
+        temp=40.0, 
+        time=900.0, 
+        stir_speed=80.0,
+        **kwargs
+    )
+
+def generate_gentle_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """温和蒸发：中等条件"""
+    return generate_evaporate_protocol(
+        G, vessel, 
+        pressure=0.1, 
+        temp=50.0, 
+        time=2700.0, 
+        stir_speed=60.0,
+        **kwargs
+    )
+
+def generate_high_vacuum_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """高真空蒸发：低温高真空"""
+    return generate_evaporate_protocol(
+        G, vessel, 
+        pressure=0.01, 
+        temp=35.0, 
+        time=3600.0, 
+        stir_speed=120.0,
+        **kwargs
+    )
+
+def generate_standard_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """标准蒸发：常用参数"""
+    return generate_evaporate_protocol(
+        G, vessel, 
+        pressure=0.1, 
+        temp=60.0, 
+        time=1800.0, 
+        stir_speed=100.0,
+        **kwargs
+    )

unilabos/compile/filter_protocol.py

@@ -1,70 +1,219 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+import logging
+import sys
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    print(f"[FILTER] {message}", flush=True)
+    logger.info(f"[FILTER] {message}")
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积"""
+    debug_print(f"检查容器 '{vessel}' 的液体体积...")
+    
+    if vessel not in G.nodes():
+        debug_print(f"容器 '{vessel}' 不存在")
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    
+    # 检查多种体积字段
+    volume_keys = ['total_volume', 'volume', 'liquid_volume', 'current_volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                debug_print(f"从 '{key}' 读取到体积: {volume}mL")
+                return volume
+            except (ValueError, TypeError):
+                continue
+    
+    # 检查liquid数组
+    liquids = vessel_data.get('liquid', [])
+    if isinstance(liquids, list):
+        total_volume = 0.0
+        for liquid in liquids:
+            if isinstance(liquid, dict):
+                for vol_key in ['liquid_volume', 'volume', 'amount']:
+                    if vol_key in liquid:
+                        try:
+                            vol = float(liquid[vol_key])
+                            total_volume += vol
+                            debug_print(f"从液体数据 '{vol_key}' 读取: {vol}mL")
+                        except (ValueError, TypeError):
+                            continue
+        if total_volume > 0:
+            return total_volume
+    
+    debug_print(f"未检测到液体体积，返回 0.0")
+    return 0.0
+
+def find_filter_device(G: nx.DiGraph) -> str:
+    """查找过滤器设备"""
+    debug_print("查找过滤器设备...")
+    
+    # 查找过滤器设备
+    filter_devices = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'filter' in node_class.lower() or 'virtual_filter' in node_class:
+            filter_devices.append(node)
+            debug_print(f"找到过滤器设备: {node}")
+    
+    if filter_devices:
+        return filter_devices[0]
+    
+    debug_print("未找到过滤器设备，使用默认设备")
+    return "filter_1"  # 默认设备
+
+def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
+    """查找滤液收集容器"""
+    debug_print(f"查找滤液收集容器，指定容器: '{filtrate_vessel}'")
+    
+    # 如果指定了容器且存在，直接使用
+    if filtrate_vessel and filtrate_vessel.strip():
+        if filtrate_vessel in G.nodes():
+            debug_print(f"使用指定的滤液容器: {filtrate_vessel}")
+            return filtrate_vessel
+        else:
+            debug_print(f"指定的滤液容器 '{filtrate_vessel}' 不存在，查找默认容器")
+    
+    # 自动查找滤液容器
+    possible_names = [
+        "filtrate_vessel",      # 标准名称
+        "collection_bottle_1",  # 收集瓶
+        "collection_bottle_2",  # 收集瓶
+        "waste_workup",         # 废液收集
+        "rotavap",              # 旋蒸仪
+        "flask_1",              # 通用烧瓶
+        "flask_2"               # 通用烧瓶
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"找到滤液收集容器: {vessel_name}")
+            return vessel_name
+    
+    debug_print("未找到滤液收集容器，使用默认容器")
+    return "filtrate_vessel"  # 默认容器
 
 def generate_filter_protocol(
     G: nx.DiGraph,
     vessel: str,
     filtrate_vessel: str = "",
-    stir: bool = False,
-    stir_speed: float = 300.0,
-    temp: float = 25.0,
-    continue_heatchill: bool = False,
-    volume: float = 0.0
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
-    生成过滤操作的协议序列
+    生成过滤操作的协议序列 - 简化版本
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 过滤容器
-        filtrate_vessel: 滤液容器（可选）
-        stir: 是否搅拌
-        stir_speed: 搅拌速度（可选）
-        temp: 温度（可选，摄氏度）
-        continue_heatchill: 是否继续加热冷却
-        volume: 过滤体积（可选）
+        G: 设备图
+        vessel: 过滤容器名称（必需）
+        filtrate_vessel: 滤液容器名称（可选，自动查找）
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 过滤操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到过滤设备时抛出异常
-    
-    Examples:
-        filter_protocol = generate_filter_protocol(G, "reactor", "filtrate_vessel", stir=True, volume=100.0)
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成过滤协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - filtrate_vessel: {filtrate_vessel}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 查找过滤设备
-    filter_nodes = [node for node in G.nodes() 
-                   if G.nodes[node].get('class') == 'virtual_filter']
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
     
-    if not filter_nodes:
-        raise ValueError("没有找到可用的过滤设备")
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
-    # 使用第一个可用的过滤器
-    filter_id = filter_nodes[0]
-    
-    # 验证容器是否存在
     if vessel not in G.nodes():
-        raise ValueError(f"过滤容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    if filtrate_vessel and filtrate_vessel not in G.nodes():
-        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    debug_print(f"✅ 参数验证通过")
     
-    # 执行过滤操作
-    action_sequence.append({
-        "device_id": filter_id,
-        "action_name": "filter_sample",
+    # === 查找设备 ===
+    debug_print("步骤2: 查找设备...")
+    
+    try:
+        filter_device = find_filter_device(G)
+        actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel)
+        
+        debug_print(f"设备配置:")
+        debug_print(f"  - 过滤器设备: {filter_device}")
+        debug_print(f"  - 滤液收集容器: {actual_filtrate_vessel}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"设备查找失败: {str(e)}")
+    
+    # === 体积检测 ===
+    debug_print("步骤3: 体积检测...")
+    
+    source_volume = get_vessel_liquid_volume(G, vessel)
+    
+    if source_volume > 0:
+        transfer_volume = source_volume
+        debug_print(f"检测到液体体积: {transfer_volume}mL")
+    else:
+        transfer_volume = 50.0  # 默认体积
+        debug_print(f"未检测到液体体积，使用默认值: {transfer_volume}mL")
+    
+    # === 执行过滤操作 ===
+    debug_print("步骤4: 执行过滤操作...")
+    
+    # 过滤动作（直接调用过滤器）
+    debug_print(f"执行过滤: {vessel} -> {actual_filtrate_vessel}")
+    
+    filter_action = {
+        "device_id": filter_device,
+        "action_name": "filter",
         "action_kwargs": {
             "vessel": vessel,
-            "filtrate_vessel": filtrate_vessel,
-            "stir": stir,
-            "stir_speed": stir_speed,
-            "temp": temp,
-            "continue_heatchill": continue_heatchill,
-            "volume": volume
+            "filtrate_vessel": actual_filtrate_vessel,
+            "stir": False,           # 🔧 使用默认值
+            "stir_speed": 0.0,       # 🔧 使用默认值
+            "temp": 25.0,            # 🔧 使用默认值
+            "continue_heatchill": False,  # 🔧 使用默认值
+            "volume": transfer_volume     # 🔧 使用检测到的体积
         }
+    }
+    action_sequence.append(filter_action)
+    
+    # 过滤后等待
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 10.0}
     })
     
-    return action_sequence
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"过滤协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"过滤容器: {vessel}")
+    debug_print(f"滤液容器: {actual_filtrate_vessel}")
+    debug_print(f"处理体积: {transfer_volume}mL")
+    debug_print("=" * 50)
+    
+    return action_sequence
+
+# 测试函数
+def test_filter_protocol():
+    """测试过滤协议"""
+    debug_print("=== FILTER PROTOCOL 测试 ===")
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_filter_protocol()

unilabos/compile/filter_through_protocol.py

@@ -1,5 +1,72 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积"""
+    if vessel not in G.nodes():
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    total_volume = 0.0
+    for liquid in liquids:
+        if isinstance(liquid, dict) and 'liquid_volume' in liquid:
+            total_volume += liquid['liquid_volume']
+    
+    return total_volume
+
+
+def find_filter_through_vessel(G: nx.DiGraph, filter_through: str) -> str:
+    """查找过滤介质容器"""
+    # 直接使用 filter_through 参数作为容器名称
+    if filter_through in G.nodes():
+        return filter_through
+    
+    # 尝试常见的过滤介质容器命名
+    possible_names = [
+        f"filter_{filter_through}",
+        f"{filter_through}_filter",
+        f"column_{filter_through}",
+        f"{filter_through}_column",
+        "filter_through_vessel",
+        "column_vessel",
+        "chromatography_column",
+        "filter_column"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到过滤介质容器 '{filter_through}'。尝试了以下名称: {[filter_through] + possible_names}")
+
+
+def find_eluting_solvent_vessel(G: nx.DiGraph, eluting_solvent: str) -> str:
+    """查找洗脱溶剂容器"""
+    if not eluting_solvent:
+        return ""
+    
+    # 按照命名规则查找溶剂瓶
+    solvent_vessel_id = f"flask_{eluting_solvent}"
+    
+    if solvent_vessel_id in G.nodes():
+        return solvent_vessel_id
+    
+    # 如果直接匹配失败，尝试模糊匹配
+    for node in G.nodes():
+        if node.startswith('flask_') and eluting_solvent.lower() in node.lower():
+            return node
+    
+    # 如果还是找不到，列出所有可用的溶剂瓶
+    available_flasks = [node for node in G.nodes() 
+                       if node.startswith('flask_') 
+                       and G.nodes[node].get('type') == 'container']
+    
+    raise ValueError(f"找不到洗脱溶剂 '{eluting_solvent}' 对应的溶剂瓶。可用溶剂瓶: {available_flasks}")
+
 
 def generate_filter_through_protocol(
     G: nx.DiGraph,
@@ -12,10 +79,15 @@ def generate_filter_through_protocol(
     residence_time: float = 0.0
 ) -> List[Dict[str, Any]]:
     """
-    生成通过过滤介质过滤的协议序列
+    生成通过过滤介质过滤的协议序列，复用 pump_protocol 的成熟算法
+    
+    过滤流程：
+    1. 液体转移：将样品从源容器转移到过滤介质
+    2. 重力过滤：液体通过过滤介质自动流到目标容器
+    3. 洗脱操作：将洗脱溶剂通过过滤介质洗脱目标物质
     
     Args:
-        G: 有向图，节点为设备和容器
+        G: 有向图，节点为设备和容器，边为流体管道
         from_vessel: 源容器的名称，即物质起始所在的容器
         to_vessel: 目标容器的名称，物质过滤后要到达的容器
         filter_through: 过滤时所通过的介质，如滤纸、柱子等
@@ -28,123 +100,288 @@ def generate_filter_through_protocol(
         List[Dict[str, Any]]: 过滤操作的动作序列
     
     Raises:
-        ValueError: 当找不到必要的设备时抛出异常
+        ValueError: 当找不到必要的设备或容器时
     
     Examples:
-        filter_through_protocol = generate_filter_through_protocol(
-            G, "reactor", "collection_flask", "celite", "ethanol", 50.0, 2, 60.0
+        filter_through_actions = generate_filter_through_protocol(
+            G, "reaction_mixture", "collection_bottle_1", "celite", "ethanol", 20.0, 2, 30.0
         )
     """
     action_sequence = []
     
-    # 验证容器是否存在
+    print(f"FILTER_THROUGH: 开始生成通过过滤协议")
+    print(f"  - 源容器: {from_vessel}")
+    print(f"  - 目标容器: {to_vessel}")
+    print(f"  - 过滤介质: {filter_through}")
+    print(f"  - 洗脱溶剂: {eluting_solvent}")
+    print(f"  - 洗脱体积: {eluting_volume} mL" if eluting_volume > 0 else "  - 洗脱体积: 无")
+    print(f"  - 洗脱重复次数: {eluting_repeats}")
+    print(f"  - 停留时间: {residence_time}s" if residence_time > 0 else "  - 停留时间: 无")
+    
+    # 验证源容器和目标容器存在
     if from_vessel not in G.nodes():
-        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+        raise ValueError(f"源容器 '{from_vessel}' 不存在于系统中")
     
     if to_vessel not in G.nodes():
-        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
+        raise ValueError(f"目标容器 '{to_vessel}' 不存在于系统中")
     
-    # 查找转移泵设备（用于液体转移）
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    # 获取源容器中的液体体积
+    source_volume = get_vessel_liquid_volume(G, from_vessel)
+    print(f"FILTER_THROUGH: 源容器 {from_vessel} 中有 {source_volume} mL 液体")
     
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备")
+    # 查找过滤介质容器
+    try:
+        filter_through_vessel = find_filter_through_vessel(G, filter_through)
+        print(f"FILTER_THROUGH: 找到过滤介质容器: {filter_through_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到过滤介质容器: {str(e)}")
     
-    pump_id = pump_nodes[0]
+    # 查找洗脱溶剂容器（如果需要）
+    eluting_vessel = ""
+    if eluting_solvent and eluting_volume > 0 and eluting_repeats > 0:
+        try:
+            eluting_vessel = find_eluting_solvent_vessel(G, eluting_solvent)
+            print(f"FILTER_THROUGH: 找到洗脱溶剂容器: {eluting_vessel}")
+        except ValueError as e:
+            raise ValueError(f"无法找到洗脱溶剂容器: {str(e)}")
     
-    # 查找过滤设备（可选，如果有专门的过滤设备）
-    filter_nodes = [node for node in G.nodes() 
-                   if G.nodes[node].get('class') == 'virtual_filter']
+    # === 第一步：将样品从源容器转移到过滤介质 ===
+    transfer_volume = source_volume if source_volume > 0 else 100.0  # 默认100mL
+    print(f"FILTER_THROUGH: 将 {transfer_volume} mL 样品从 {from_vessel} 转移到 {filter_through_vessel}")
     
-    filter_id = filter_nodes[0] if filter_nodes else None
+    try:
+        # 使用成熟的 pump_protocol 算法进行液体转移
+        sample_transfer_actions = generate_pump_protocol(
+            G=G,
+            from_vessel=from_vessel,
+            to_vessel=filter_through_vessel,
+            volume=transfer_volume,
+            flowrate=0.8,  # 较慢的流速，避免冲击过滤介质
+            transfer_flowrate=1.2
+        )
+        action_sequence.extend(sample_transfer_actions)
+    except Exception as e:
+        raise ValueError(f"无法将样品转移到过滤介质: {str(e)}")
     
-    # 查找洗脱溶剂容器（如果需要洗脱）
-    eluting_vessel = None
-    if eluting_solvent and eluting_volume > 0:
-        eluting_vessel = f"flask_{eluting_solvent}"
-        if eluting_vessel not in G.nodes():
-            # 查找可用的溶剂容器
-            available_vessels = [node for node in G.nodes() 
-                               if node.startswith('flask_') and 
-                               G.nodes[node].get('type') == 'container']
-            if available_vessels:
-                eluting_vessel = available_vessels[0]
-            else:
-                raise ValueError(f"没有找到洗脱溶剂容器 {eluting_solvent}")
-    
-    # 步骤1：将样品从源容器转移到过滤装置（模拟通过过滤介质）
-    # 这里我们将过滤过程分解为多个转移步骤来模拟通过介质的过程
-    
-    # 首先转移样品（模拟样品通过过滤介质）
-    action_sequence.append({
-        "device_id": pump_id,
-        "action_name": "transfer",
-        "action_kwargs": {
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "volume": 0.0,  # 转移所有液体，体积由系统确定
-            "amount": f"通过 {filter_through} 过滤",
-            "time": residence_time if residence_time > 0 else 0.0,
-            "viscous": False,
-            "rinsing_solvent": "",
-            "rinsing_volume": 0.0,
-            "rinsing_repeats": 0,
-            "solid": True  # 通过过滤介质可能涉及固体分离
-        }
-    })
-    
-    # 步骤2：如果有专门的过滤设备，使用过滤设备处理
-    if filter_id:
+    # === 第二步：等待样品通过过滤介质（停留时间） ===
+    if residence_time > 0:
+        print(f"FILTER_THROUGH: 等待样品在过滤介质中停留 {residence_time}s")
         action_sequence.append({
-            "device_id": filter_id,
-            "action_name": "filter_sample",
-            "action_kwargs": {
-                "vessel": to_vessel,
-                "filtrate_vessel": to_vessel,
-                "stir": False,
-                "stir_speed": 0.0,
-                "temp": 25.0,
-                "continue_heatchill": False,
-                "volume": 0.0
-            }
+            "action_name": "wait",
+            "action_kwargs": {"time": residence_time}
+        })
+    else:
+        # 即使没有指定停留时间，也等待一段时间让液体通过
+        default_wait_time = max(10, transfer_volume / 10)  # 根据体积估算等待时间
+        print(f"FILTER_THROUGH: 等待样品通过过滤介质 {default_wait_time}s")
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": default_wait_time}
         })
     
-    # 步骤3：洗脱操作（如果指定了洗脱溶剂和重复次数）
+    # === 第三步：洗脱操作（如果指定了洗脱参数） ===
     if eluting_solvent and eluting_volume > 0 and eluting_repeats > 0 and eluting_vessel:
-        for repeat in range(eluting_repeats):
-            # 添加洗脱溶剂
+        print(f"FILTER_THROUGH: 开始洗脱操作 - {eluting_repeats} 次，每次 {eluting_volume} mL {eluting_solvent}")
+        
+        for repeat_idx in range(eluting_repeats):
+            print(f"FILTER_THROUGH: 第 {repeat_idx + 1}/{eluting_repeats} 次洗脱")
+            
+            try:
+                # 将洗脱溶剂转移到过滤介质
+                eluting_transfer_actions = generate_pump_protocol(
+                    G=G,
+                    from_vessel=eluting_vessel,
+                    to_vessel=filter_through_vessel,
+                    volume=eluting_volume,
+                    flowrate=0.6,  # 洗脱用更慢的流速
+                    transfer_flowrate=1.0
+                )
+                action_sequence.extend(eluting_transfer_actions)
+            except Exception as e:
+                raise ValueError(f"第 {repeat_idx + 1} 次洗脱转移失败: {str(e)}")
+            
+            # 等待洗脱溶剂通过过滤介质
+            eluting_wait_time = max(30, eluting_volume / 5)  # 根据洗脱体积估算等待时间
+            print(f"FILTER_THROUGH: 等待第 {repeat_idx + 1} 次洗脱液通过 {eluting_wait_time}s")
             action_sequence.append({
-                "device_id": pump_id,
-                "action_name": "transfer",
-                "action_kwargs": {
-                    "from_vessel": eluting_vessel,
-                    "to_vessel": to_vessel,
-                    "volume": eluting_volume,
-                    "amount": f"洗脱溶剂 {eluting_solvent} - 第 {repeat + 1} 次",
-                    "time": 0.0,
-                    "viscous": False,
-                    "rinsing_solvent": "",
-                    "rinsing_volume": 0.0,
-                    "rinsing_repeats": 0,
-                    "solid": False
-                }
+                "action_name": "wait",
+                "action_kwargs": {"time": eluting_wait_time}
             })
             
-            # 如果有过滤设备，再次过滤洗脱液
-            if filter_id:
+            # 洗脱间隔等待
+            if repeat_idx < eluting_repeats - 1:  # 不是最后一次洗脱
                 action_sequence.append({
-                    "device_id": filter_id,
-                    "action_name": "filter_sample",
-                    "action_kwargs": {
-                        "vessel": to_vessel,
-                        "filtrate_vessel": to_vessel,
-                        "stir": False,
-                        "stir_speed": 0.0,
-                        "temp": 25.0,
-                        "continue_heatchill": False,
-                        "volume": eluting_volume
-                    }
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 10}
                 })
     
-    return action_sequence
+    # === 第四步：最终等待，确保所有液体完全通过 ===
+    print(f"FILTER_THROUGH: 最终等待，确保所有液体完全通过过滤介质")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 20}
+    })
+    
+    print(f"FILTER_THROUGH: 生成了 {len(action_sequence)} 个动作")
+    print(f"FILTER_THROUGH: 通过过滤协议生成完成")
+    print(f"FILTER_THROUGH: 样品从 {from_vessel} 通过 {filter_through} 到达 {to_vessel}")
+    if eluting_repeats > 0:
+        total_eluting_volume = eluting_volume * eluting_repeats
+        print(f"FILTER_THROUGH: 总洗脱体积: {total_eluting_volume} mL {eluting_solvent}")
+    
+    return action_sequence
+
+
+# 便捷函数：常用过滤方案
+def generate_gravity_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "silica_gel"
+) -> List[Dict[str, Any]]:
+    """重力柱层析：简单重力过滤，无洗脱"""
+    return generate_filter_through_protocol(G, from_vessel, to_vessel, column_material, "", 0.0, 0, 0.0)
+
+
+def generate_celite_filter_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    wash_solvent: str = "ethanol",
+    wash_volume: float = 20.0
+) -> List[Dict[str, Any]]:
+    """硅藻土过滤：用于去除固体杂质"""
+    return generate_filter_through_protocol(G, from_vessel, to_vessel, "celite", wash_solvent, wash_volume, 1, 30.0)
+
+
+def generate_column_chromatography_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "silica_gel",
+    eluting_solvent: str = "ethyl_acetate",
+    eluting_volume: float = 30.0,
+    eluting_repeats: int = 3
+) -> List[Dict[str, Any]]:
+    """柱层析：多次洗脱分离"""
+    return generate_filter_through_protocol(
+        G, from_vessel, to_vessel, column_material, eluting_solvent, eluting_volume, eluting_repeats, 60.0
+    )
+
+
+def generate_solid_phase_extraction_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    spe_cartridge: str = "C18",
+    eluting_solvent: str = "methanol",
+    eluting_volume: float = 15.0,
+    eluting_repeats: int = 2
+) -> List[Dict[str, Any]]:
+    """固相萃取：C18柱或其他SPE柱"""
+    return generate_filter_through_protocol(
+        G, from_vessel, to_vessel, spe_cartridge, eluting_solvent, eluting_volume, eluting_repeats, 120.0
+    )
+
+
+def generate_resin_filter_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    resin_type: str = "ion_exchange",
+    regeneration_solvent: str = "NaCl_solution",
+    regeneration_volume: float = 25.0
+) -> List[Dict[str, Any]]:
+    """树脂过滤：离子交换树脂或其他功能树脂"""
+    return generate_filter_through_protocol(
+        G, from_vessel, to_vessel, resin_type, regeneration_solvent, regeneration_volume, 1, 180.0
+    )
+
+
+def generate_multi_step_purification_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    filter_steps: List[Dict[str, Any]]
+) -> List[Dict[str, Any]]:
+    """
+    多步骤纯化：连续多个过滤介质
+    
+    Args:
+        G: 网络图
+        from_vessel: 源容器
+        to_vessel: 最终目标容器
+        filter_steps: 过滤步骤列表，每个元素包含过滤参数
+    
+    Returns:
+        List[Dict[str, Any]]: 完整的动作序列
+    
+    Example:
+        filter_steps = [
+            {
+                "to_vessel": "intermediate_vessel_1",
+                "filter_through": "celite",
+                "eluting_solvent": "",
+                "eluting_volume": 0.0,
+                "eluting_repeats": 0,
+                "residence_time": 30.0
+            },
+            {
+                "from_vessel": "intermediate_vessel_1",
+                "to_vessel": "final_vessel",
+                "filter_through": "silica_gel",
+                "eluting_solvent": "ethyl_acetate",
+                "eluting_volume": 20.0,
+                "eluting_repeats": 2,
+                "residence_time": 60.0
+            }
+        ]
+    """
+    action_sequence = []
+    
+    current_from_vessel = from_vessel
+    
+    for i, step in enumerate(filter_steps):
+        print(f"FILTER_THROUGH: 处理第 {i+1}/{len(filter_steps)} 个过滤步骤")
+        
+        # 使用步骤中指定的参数，或使用默认值
+        step_from_vessel = step.get('from_vessel', current_from_vessel)
+        step_to_vessel = step.get('to_vessel', to_vessel if i == len(filter_steps) - 1 else f"intermediate_vessel_{i+1}")
+        
+        # 生成单个过滤步骤的协议
+        step_actions = generate_filter_through_protocol(
+            G=G,
+            from_vessel=step_from_vessel,
+            to_vessel=step_to_vessel,
+            filter_through=step.get('filter_through', 'silica_gel'),
+            eluting_solvent=step.get('eluting_solvent', ''),
+            eluting_volume=step.get('eluting_volume', 0.0),
+            eluting_repeats=step.get('eluting_repeats', 0),
+            residence_time=step.get('residence_time', 0.0)
+        )
+        
+        action_sequence.extend(step_actions)
+        
+        # 更新下一步的源容器
+        current_from_vessel = step_to_vessel
+        
+        # 在步骤之间加入等待时间
+        if i < len(filter_steps) - 1:  # 不是最后一个步骤
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": 15}
+            })
+    
+    print(f"FILTER_THROUGH: 多步骤纯化协议生成完成，共 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 测试函数
+def test_filter_through_protocol():
+    """测试通过过滤协议的示例"""
+    print("=== FILTER THROUGH PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_filter_through_protocol()

unilabos/compile/heatchill_protocol.py

@@ -1,117 +1,487 @@
 from typing import List, Dict, Any
 import networkx as nx
+import logging
+import re
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    print(f"[HEATCHILL] {message}", flush=True)
+    logger.info(f"[HEATCHILL] {message}")
+
+def parse_temp_spec(temp_spec: str) -> float:
+    """解析温度规格为具体温度"""
+    if not temp_spec:
+        return 25.0
+    
+    temp_spec = temp_spec.strip().lower()
+    
+    # 特殊温度规格
+    special_temps = {
+        "room temperature": 25.0,      # 室温
+        "reflux": 78.0,                 # 默认回流温度
+        "ice bath": 0.0,                # 冰浴
+        "boiling": 100.0,               # 沸腾
+        "hot": 60.0,                    # 热
+        "warm": 40.0,                   # 温热
+        "cold": 10.0,                   # 冷
+    }
+    
+    if temp_spec in special_temps:
+        return special_temps[temp_spec]
+    
+    # 解析带单位的温度（如 "256 °C"）
+    temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
+    match = re.search(temp_pattern, temp_spec)
+    
+    if match:
+        return float(match.group(1))
+    
+    return 25.0
+
+def parse_time_spec(time_spec: str) -> float:
+    """解析时间规格为秒数"""
+    if not time_spec:
+        return 300.0
+    
+    time_spec = time_spec.strip().lower()
+    
+    # 特殊时间规格
+    special_times = {
+        "overnight": 43200.0,           # 12小时
+        "several hours": 10800.0,       # 3小时
+        "few hours": 7200.0,            # 2小时
+        "long time": 3600.0,            # 1小时
+        "short time": 300.0,            # 5分钟
+    }
+    
+    if time_spec in special_times:
+        return special_times[time_spec]
+    
+    # 解析带单位的时间（如 "2 h"）
+    time_pattern = r'(\d+(?:\.\d+)?)\s*([a-zA-Z]+)'
+    match = re.search(time_pattern, time_spec)
+    
+    if match:
+        value = float(match.group(1))
+        unit = match.group(2).lower()
+        
+        unit_multipliers = {
+            's': 1.0,
+            'sec': 1.0,
+            'min': 60.0,
+            'minute': 60.0,
+            'minutes': 60.0,
+            'h': 3600.0,
+            'hr': 3600.0,
+            'hour': 3600.0,
+            'hours': 3600.0,
+        }
+        
+        multiplier = unit_multipliers.get(unit, 3600.0)
+        return value * multiplier
+    
+    return 300.0
+
+def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
+    """查找与指定容器相连的加热/冷却设备"""
+    debug_print(f"查找加热设备，目标容器: {vessel}")
+    
+    # 查找所有加热/冷却设备节点
+    heatchill_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
+            heatchill_nodes.append(node)
+            debug_print(f"找到加热设备: {node}")
+    
+    if vessel:
+        # 检查哪个加热设备与目标容器相连
+        for heatchill in heatchill_nodes:
+            if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+                debug_print(f"加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
+                return heatchill
+    
+    # 如果没有指定容器或没有直接连接，返回第一个可用的加热设备
+    if heatchill_nodes:
+        debug_print(f"使用第一个加热设备: {heatchill_nodes[0]}")
+        return heatchill_nodes[0]
+    
+    debug_print("未找到加热设备，使用默认设备")
+    return "heatchill_1"
 
 def generate_heat_chill_protocol(
     G: nx.DiGraph,
     vessel: str,
-    temp: float,
-    time: float,
-    stir: bool,
-    stir_speed: float,
-    purpose: str
+    temp: float = 25.0,
+    time: float = 300.0,
+    temp_spec: str = "",
+    time_spec: str = "",
+    pressure: str = "",
+    reflux_solvent: str = "",
+    stir: bool = False,
+    stir_speed: float = 300.0,
+    purpose: str = "",
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
-    生成加热/冷却操作的协议序列 - 严格按照 HeatChill.action
+    生成加热/冷却操作的协议序列
+    
+    Args:
+        G: 设备图
+        vessel: 加热容器名称（必需）
+        temp: 目标温度 (°C)
+        time: 加热时间 (秒)
+        temp_spec: 温度规格（如 'room temperature', 'reflux'）
+        time_spec: 时间规格（如 'overnight', '2 h'）
+        pressure: 压力规格（如 '1 mbar'），不做特殊处理
+        reflux_solvent: 回流溶剂名称，不做特殊处理
+        stir: 是否搅拌
+        stir_speed: 搅拌速度 (RPM)
+        purpose: 操作目的
+        **kwargs: 其他参数（兼容性）
+    
+    Returns:
+        List[Dict[str, Any]]: 加热操作的动作序列
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成加热冷却协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - time: {time}s ({time/60:.1f}分钟)")
+    debug_print(f"  - temp_spec: {temp_spec}")
+    debug_print(f"  - time_spec: {time_spec}")
+    debug_print(f"  - pressure: {pressure}")
+    debug_print(f"  - reflux_solvent: {reflux_solvent}")
+    debug_print(f"  - stir: {stir}")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - purpose: {purpose}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 查找加热/冷却设备
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
     
-    if not heatchill_nodes:
-        raise ValueError("没有找到可用的加热/冷却设备")
-    
-    heatchill_id = heatchill_nodes[0]
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 温度解析：优先使用 temp_spec，然后是 temp
+    final_temp = temp
+    if temp_spec:
+        final_temp = parse_temp_spec(temp_spec)
+        debug_print(f"温度解析: '{temp_spec}' → {final_temp}°C")
+    
+    # 时间解析：优先使用 time_spec，然后是 time
+    final_time = time
+    if time_spec:
+        final_time = parse_time_spec(time_spec)
+        debug_print(f"时间解析: '{time_spec}' → {final_time}s ({final_time/60:.1f}分钟)")
+    
+    # 参数范围验证
+    if final_temp < -50.0 or final_temp > 300.0:
+        debug_print(f"温度 {final_temp}°C 超出范围，修正为 25°C")
+        final_temp = 25.0
+    
+    if final_time < 0:
+        debug_print(f"时间 {final_time}s 无效，修正为 300s")
+        final_time = 300.0
+    
+    if stir_speed < 0 or stir_speed > 1500.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
+        stir_speed = 300.0
+    
+    debug_print(f"✅ 参数验证通过")
+    
+    # === 查找加热设备 ===
+    debug_print("步骤2: 查找加热设备...")
+    
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        debug_print(f"设备配置: 加热设备 = {heatchill_id}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
+    
+    # === 执行加热操作 ===
+    debug_print("步骤3: 执行加热操作...")
+    
+    heatchill_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
             "vessel": vessel,
-            "temp": temp,
-            "time": time,
+            "temp": final_temp,
+            "time": final_time,
             "stir": stir,
             "stir_speed": stir_speed,
-            "purpose": purpose
+            "purpose": purpose or f"加热到 {final_temp}°C"
         }
-    })
+    }
     
+    action_sequence.append(heatchill_action)
+    
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"加热冷却协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"加热容器: {vessel}")
+    debug_print(f"目标温度: {final_temp}°C")
+    debug_print(f"加热时间: {final_time}s ({final_time/60:.1f}分钟)")
+    if pressure:
+        debug_print(f"压力参数: {pressure} (已接收，不做特殊处理)")
+    if reflux_solvent:
+        debug_print(f"回流溶剂: {reflux_solvent} (已接收，不做特殊处理)")
+    debug_print("=" * 50)
+    
+    return action_sequence
+
+
+def generate_heat_chill_to_temp_protocol(
+        G: nx.DiGraph,
+        vessel: str,
+        temp: float = 25.0,
+        time: float = 300.0,
+        temp_spec: str = "",
+        time_spec: str = "",
+        pressure: str = "",
+        reflux_solvent: str = "",
+        stir: bool = False,
+        stir_speed: float = 300.0,
+        purpose: str = "",
+        **kwargs  # 🔧 接受额外参数，增强兼容性
+) -> List[Dict[str, Any]]:
+    """
+    生成加热/冷却操作的协议序列
+
+    Args:
+        G: 设备图
+        vessel: 加热容器名称（必需）
+        temp: 目标温度 (°C)
+        time: 加热时间 (秒)
+        temp_spec: 温度规格（如 'room temperature', 'reflux'）
+        time_spec: 时间规格（如 'overnight', '2 h'）
+        pressure: 压力规格（如 '1 mbar'），不做特殊处理
+        reflux_solvent: 回流溶剂名称，不做特殊处理
+        stir: 是否搅拌
+        stir_speed: 搅拌速度 (RPM)
+        purpose: 操作目的
+        **kwargs: 其他参数（兼容性）
+
+    Returns:
+        List[Dict[str, Any]]: 加热操作的动作序列
+    """
+
+    debug_print("=" * 50)
+    debug_print("开始生成加热冷却协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - time: {time}s ({time / 60:.1f}分钟)")
+    debug_print(f"  - temp_spec: {temp_spec}")
+    debug_print(f"  - time_spec: {time_spec}")
+    debug_print(f"  - pressure: {pressure}")
+    debug_print(f"  - reflux_solvent: {reflux_solvent}")
+    debug_print(f"  - stir: {stir}")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - purpose: {purpose}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+
+    action_sequence = []
+
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
+
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
+
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+
+    # 温度解析：优先使用 temp_spec，然后是 temp
+    final_temp = temp
+    if temp_spec:
+        final_temp = parse_temp_spec(temp_spec)
+        debug_print(f"温度解析: '{temp_spec}' → {final_temp}°C")
+
+    # 时间解析：优先使用 time_spec，然后是 time
+    final_time = time
+    if time_spec:
+        final_time = parse_time_spec(time_spec)
+        debug_print(f"时间解析: '{time_spec}' → {final_time}s ({final_time / 60:.1f}分钟)")
+
+    # 参数范围验证
+    if final_temp < -50.0 or final_temp > 300.0:
+        debug_print(f"温度 {final_temp}°C 超出范围，修正为 25°C")
+        final_temp = 25.0
+
+    if final_time < 0:
+        debug_print(f"时间 {final_time}s 无效，修正为 300s")
+        final_time = 300.0
+
+    if stir_speed < 0 or stir_speed > 1500.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
+        stir_speed = 300.0
+
+    debug_print(f"✅ 参数验证通过")
+
+    # === 查找加热设备 ===
+    debug_print("步骤2: 查找加热设备...")
+
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        debug_print(f"设备配置: 加热设备 = {heatchill_id}")
+
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
+
+    # === 执行加热操作 ===
+    debug_print("步骤3: 执行加热操作...")
+
+    heatchill_action = {
+        "device_id": heatchill_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel,
+            "temp": final_temp,
+            "time": final_time,
+            "stir": stir,
+            "stir_speed": stir_speed,
+            "purpose": purpose or f"加热到 {final_temp}°C"
+        }
+    }
+
+    action_sequence.append(heatchill_action)
+
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"加热冷却协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"加热容器: {vessel}")
+    debug_print(f"目标温度: {final_temp}°C")
+    debug_print(f"加热时间: {final_time}s ({final_time / 60:.1f}分钟)")
+    if pressure:
+        debug_print(f"压力参数: {pressure} (已接收，不做特殊处理)")
+    if reflux_solvent:
+        debug_print(f"回流溶剂: {reflux_solvent} (已接收，不做特殊处理)")
+    debug_print("=" * 50)
+
     return action_sequence
 
 
 def generate_heat_chill_start_protocol(
     G: nx.DiGraph,
     vessel: str,
-    temp: float,
-    purpose: str
+    temp: float = 25.0,
+    purpose: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成开始加热/冷却操作的协议序列 - 严格按照 HeatChillStart.action
-    """
+    """生成开始加热操作的协议序列"""
+    
+    debug_print("=" * 50)
+    debug_print("开始生成启动加热协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - purpose: {purpose}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
-    
-    if not heatchill_nodes:
-        raise ValueError("没有找到可用的加热/冷却设备")
-    
-    heatchill_id = heatchill_nodes[0]
+    # 验证参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 查找加热设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        debug_print(f"设备配置: 加热设备 = {heatchill_id}")
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
+    
+    # 执行开始加热操作
+    start_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
             "vessel": vessel,
             "temp": temp,
-            "purpose": purpose
+            "purpose": purpose or f"开始加热到 {temp}°C"
         }
-    })
+    }
     
+    action_sequence.append(start_action)
+    
+    debug_print(f"启动加热协议生成完成，动作数: {len(action_sequence)}")
     return action_sequence
 
-
 def generate_heat_chill_stop_protocol(
     G: nx.DiGraph,
-    vessel: str
+    vessel: str,
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成停止加热/冷却操作的协议序列
+    """生成停止加热操作的协议序列"""
     
-    Args:
-        G: 有向图，节点为设备和容器
-        vessel: 容器名称
+    debug_print("=" * 50)
+    debug_print("开始生成停止加热协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print("=" * 50)
     
-    Returns:
-        List[Dict[str, Any]]: 停止加热/冷却操作的动作序列
-    """
     action_sequence = []
     
-    # 查找加热/冷却设备
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
-    
-    if not heatchill_nodes:
-        raise ValueError("没有找到可用的加热/冷却设备")
-    
-    heatchill_id = heatchill_nodes[0]
+    # 验证参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 查找加热设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        debug_print(f"设备配置: 加热设备 = {heatchill_id}")
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
+    
+    # 执行停止加热操作
+    stop_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
             "vessel": vessel
         }
-    })
+    }
     
-    return action_sequence
+    action_sequence.append(stop_action)
+    
+    debug_print(f"停止加热协议生成完成，动作数: {len(action_sequence)}")
+    return action_sequence
+
+# 测试函数
+def test_heatchill_protocol():
+    """测试加热协议"""
+    debug_print("=== HEATCHILL PROTOCOL 测试 ===")
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_heatchill_protocol()

unilabos/compile/hydrogenate_protocol.py

@@ -0,0 +1,366 @@
+import networkx as nx
+from typing import List, Dict, Any, Optional
+
+
+def parse_temperature(temp_str: str) -> float:
+    """
+    解析温度字符串，支持多种格式
+    
+    Args:
+        temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
+    
+    Returns:
+        float: 温度值（摄氏度）
+    """
+    try:
+        # 移除常见的温度单位和符号
+        temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
+        return float(temp_clean)
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
+        return 25.0
+
+
+def parse_time(time_str: str) -> float:
+    """
+    解析时间字符串，支持多种格式
+    
+    Args:
+        time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
+    
+    Returns:
+        float: 时间值（秒）
+    """
+    try:
+        time_clean = time_str.lower().strip()
+        
+        # 处理小时
+        if "h" in time_clean:
+            hours = float(time_clean.replace("h", "").strip())
+            return hours * 3600.0
+        
+        # 处理分钟
+        if "min" in time_clean:
+            minutes = float(time_clean.replace("min", "").strip())
+            return minutes * 60.0
+        
+        # 处理秒
+        if "s" in time_clean:
+            seconds = float(time_clean.replace("s", "").strip())
+            return seconds
+        
+        # 默认按小时处理
+        return float(time_clean) * 3600.0
+    
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
+        return 7200.0  # 2小时
+
+
+def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
+    """查找与指定设备相关联的电磁阀"""
+    solenoid_valves = [
+        node for node in G.nodes() 
+        if ('solenoid' in (G.nodes[node].get('class') or '').lower()
+            or 'solenoid_valve' in node)
+    ]
+    
+    # 通过网络连接查找直接相连的电磁阀
+    for solenoid in solenoid_valves:
+        if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
+            return solenoid
+    
+    # 通过命名规则查找关联的电磁阀
+    device_type = ""
+    if 'gas' in device_id.lower():
+        device_type = "gas"
+    elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
+        device_type = "gas"
+    
+    if device_type:
+        for solenoid in solenoid_valves:
+            if device_type in solenoid.lower():
+                return solenoid
+    
+    return None
+
+
+def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
+    """
+    查找与容器相连的指定类型设备
+    
+    Args:
+        G: 网络图
+        vessel: 容器名称
+        device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
+    
+    Returns:
+        str: 设备ID，如果没有则返回None
+    """
+    print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
+    
+    # 根据设备类型定义搜索关键词
+    if device_type == 'heater':
+        keywords = ['heater', 'heat', 'heatchill']
+        device_class = 'virtual_heatchill'
+    elif device_type == 'stirrer':
+        keywords = ['stirrer', 'stir']
+        device_class = 'virtual_stirrer'
+    elif device_type == 'gas_source':
+        keywords = ['gas', 'h2', 'hydrogen']
+        device_class = 'virtual_gas_source'
+    else:
+        return None
+    
+    # 查找设备节点
+    device_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_name = node.lower()
+        node_class = node_data.get('class', '').lower()
+        
+        # 通过名称匹配
+        if any(keyword in node_name for keyword in keywords):
+            device_nodes.append(node)
+        # 通过类型匹配
+        elif device_class in node_class:
+            device_nodes.append(node)
+    
+    print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
+    
+    # 检查是否有设备与目标容器相连
+    for device in device_nodes:
+        if G.has_edge(device, vessel) or G.has_edge(vessel, device):
+            print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
+            return device
+    
+    # 如果没有直接连接，查找距离最近的设备
+    for device in device_nodes:
+        try:
+            path = nx.shortest_path(G, source=device, target=vessel)
+            if len(path) <= 3:  # 最多2个中间节点
+                print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
+                return device
+        except nx.NetworkXNoPath:
+            continue
+    
+    print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
+    return None
+
+
+def generate_hydrogenate_protocol(
+    G: nx.DiGraph,
+    temp: str,
+    time: str,
+    vessel: str,
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成氢化反应协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        temp: 反应温度（如 "45 °C"）
+        time: 反应时间（如 "2 h"）
+        vessel: 反应容器
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 解析参数
+    temperature = parse_temperature(temp)
+    reaction_time = parse_time(time)
+    
+    print(f"HYDROGENATE: 开始生成氢化反应协议")
+    print(f"  - 反应温度: {temperature}°C")
+    print(f"  - 反应时间: {reaction_time/3600:.1f} 小时")
+    print(f"  - 反应容器: {vessel}")
+    
+    # 1. 验证目标容器存在
+    if vessel not in G.nodes():
+        print(f"HYDROGENATE: 警告 - 容器 '{vessel}' 不存在于系统中，跳过氢化反应")
+        return action_sequence
+    
+    # 2. 查找相连的设备
+    heater_id = find_connected_device(G, vessel, 'heater')
+    stirrer_id = find_connected_device(G, vessel, 'stirrer')
+    gas_source_id = find_connected_device(G, vessel, 'gas_source')
+    
+    # 3. 启动搅拌器
+    if stirrer_id:
+        print(f"HYDROGENATE: 启动搅拌器 {stirrer_id}")
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "stir_speed": 300.0,
+                "purpose": "氢化反应: 开始搅拌"
+            }
+        })
+    else:
+        print(f"HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
+    
+    # 4. 启动气源（氢气）- 修复版本
+    if gas_source_id:
+        print(f"HYDROGENATE: 启动气源 {gas_source_id} (氢气)")
+        action_sequence.append({
+            "device_id": gas_source_id,
+            "action_name": "set_status",  # 修改为 set_status
+            "action_kwargs": {
+                "string": "ON"  # 修改参数格式
+            }
+        })
+        
+        # 查找相关的电磁阀
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
+        if gas_solenoid:
+            print(f"HYDROGENATE: 开启气源电磁阀 {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {
+                    "command": "OPEN"
+                }
+            })
+    else:
+        print(f"HYDROGENATE: 警告 - 未找到气源，继续执行")
+    
+    # 5. 等待气体稳定
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 30.0,
+            "description": "等待氢气环境稳定"
+        }
+    })
+    
+    # 6. 启动加热器
+    if heater_id:
+        print(f"HYDROGENATE: 启动加热器 {heater_id} 到 {temperature}°C")
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": temperature,
+                "purpose": f"氢化反应: 加热到 {temperature}°C"
+            }
+        })
+        
+        # 等待温度稳定
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 120.0,
+                "description": f"等待温度稳定到 {temperature}°C"
+            }
+        })
+        
+        # 保持反应温度
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill",
+            "action_kwargs": {
+                "vessel": vessel,
+                "temp": temperature,
+                "time": reaction_time,
+                "purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/3600:.1f} 小时"
+            }
+        })
+    else:
+        print(f"HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
+        # 室温反应，只等待时间
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": reaction_time,
+                "description": f"室温氢化反应 {reaction_time/3600:.1f} 小时"
+            }
+        })
+    
+    # 7. 停止加热
+    if heater_id:
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": vessel,
+                "purpose": "氢化反应完成，停止加热"
+            }
+        })
+    
+    # 8. 等待冷却
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 300.0,
+            "description": "等待反应混合物冷却"
+        }
+    })
+    
+    # 9. 停止气源 - 修复版本
+    if gas_source_id:
+        # 先关闭电磁阀
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
+        if gas_solenoid:
+            print(f"HYDROGENATE: 关闭气源电磁阀 {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {
+                    "command": "CLOSED"
+                }
+            })
+        
+        # 再关闭气源
+        action_sequence.append({
+            "device_id": gas_source_id,
+            "action_name": "set_status",  # 修改为 set_status
+            "action_kwargs": {
+                "string": "OFF"  # 修改参数格式
+            }
+        })
+    
+    # 10. 停止搅拌
+    if stirrer_id:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {
+                "vessel": vessel,
+                "purpose": "氢化反应完成，停止搅拌"
+            }
+        })
+    
+    print(f"HYDROGENATE: 协议生成完成，共 {len(action_sequence)} 个动作")
+    print(f"HYDROGENATE: 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
+    
+    return action_sequence
+
+
+# 测试函数
+def test_hydrogenate_protocol():
+    """测试氢化反应协议"""
+    print("=== HYDROGENATE PROTOCOL 测试 ===")
+    
+    # 测试温度解析
+    test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
+    for temp in test_temps:
+        parsed = parse_temperature(temp)
+        print(f"温度 '{temp}' -> {parsed}°C")
+    
+    # 测试时间解析
+    test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
+    for time in test_times:
+        parsed = parse_time(time)
+        print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
+    
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_hydrogenate_protocol()

unilabos/compile/recrystallize_protocol.py

@@ -0,0 +1,281 @@
+import networkx as nx
+from typing import List, Dict, Any, Tuple
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+
+def parse_ratio(ratio_str: str) -> Tuple[float, float]:
+    """
+    解析比例字符串，支持多种格式
+    
+    Args:
+        ratio_str: 比例字符串（如 "1:1", "3:7", "50:50"）
+    
+    Returns:
+        Tuple[float, float]: 比例元组 (ratio1, ratio2)
+    """
+    try:
+        # 处理 "1:1", "3:7", "50:50" 等格式
+        if ":" in ratio_str:
+            parts = ratio_str.split(":")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                return ratio1, ratio2
+        
+        # 处理 "1-1", "3-7" 等格式
+        if "-" in ratio_str:
+            parts = ratio_str.split("-")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                return ratio1, ratio2
+        
+        # 处理 "1,1", "3,7" 等格式
+        if "," in ratio_str:
+            parts = ratio_str.split(",")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                return ratio1, ratio2
+        
+        # 默认 1:1
+        print(f"RECRYSTALLIZE: 无法解析比例 '{ratio_str}'，使用默认比例 1:1")
+        return 1.0, 1.0
+    
+    except ValueError:
+        print(f"RECRYSTALLIZE: 比例解析错误 '{ratio_str}'，使用默认比例 1:1")
+        return 1.0, 1.0
+
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器
+    
+    Args:
+        G: 网络图
+        solvent: 溶剂名称
+    
+    Returns:
+        str: 溶剂容器ID
+    """
+    print(f"RECRYSTALLIZE: 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",
+        f"bottle_{solvent}",
+        f"reagent_{solvent}",
+        f"reagent_bottle_{solvent}",
+        f"{solvent}_flask",
+        f"{solvent}_bottle",
+        f"{solvent}",
+        f"vessel_{solvent}",
+    ]
+    
+    # 第一步：通过容器名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"RECRYSTALLIZE: 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    
+    # 第二步：通过模糊匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                print(f"RECRYSTALLIZE: 通过模糊匹配找到容器: {node_id}")
+                return node_id
+    
+    # 第三步：通过液体类型匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
+                        print(f"RECRYSTALLIZE: 通过液体类型匹配找到容器: {node_id}")
+                        return node_id
+    
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
+
+
+def generate_recrystallize_protocol(
+    G: nx.DiGraph,
+    ratio: str,
+    solvent1: str,
+    solvent2: str,
+    vessel: str,
+    volume: float,
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成重结晶协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        ratio: 溶剂比例（如 "1:1", "3:7"）
+        solvent1: 第一种溶剂名称
+        solvent2: 第二种溶剂名称
+        vessel: 目标容器
+        volume: 总体积 (mL)
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    print(f"RECRYSTALLIZE: 开始生成重结晶协议")
+    print(f"  - 比例: {ratio}")
+    print(f"  - 溶剂1: {solvent1}")
+    print(f"  - 溶剂2: {solvent2}")
+    print(f"  - 容器: {vessel}")
+    print(f"  - 总体积: {volume} mL")
+    
+    # 1. 验证目标容器存在
+    if vessel not in G.nodes():
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
+    
+    # 2. 解析比例
+    ratio1, ratio2 = parse_ratio(ratio)
+    total_ratio = ratio1 + ratio2
+    
+    # 3. 计算各溶剂体积
+    volume1 = volume * (ratio1 / total_ratio)
+    volume2 = volume * (ratio2 / total_ratio)
+    
+    print(f"RECRYSTALLIZE: 解析比例: {ratio1}:{ratio2}")
+    print(f"RECRYSTALLIZE: {solvent1} 体积: {volume1:.2f} mL")
+    print(f"RECRYSTALLIZE: {solvent2} 体积: {volume2:.2f} mL")
+    
+    # 4. 查找溶剂容器
+    try:
+        solvent1_vessel = find_solvent_vessel(G, solvent1)
+        print(f"RECRYSTALLIZE: 找到溶剂1容器: {solvent1_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
+    
+    try:
+        solvent2_vessel = find_solvent_vessel(G, solvent2)
+        print(f"RECRYSTALLIZE: 找到溶剂2容器: {solvent2_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
+    
+    # 5. 验证路径存在
+    try:
+        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel)
+        print(f"RECRYSTALLIZE: 溶剂1路径: {' → '.join(path1)}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel}' 没有可用路径")
+    
+    try:
+        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel)
+        print(f"RECRYSTALLIZE: 溶剂2路径: {' → '.join(path2)}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel}' 没有可用路径")
+    
+    # 6. 添加第一种溶剂
+    print(f"RECRYSTALLIZE: 开始添加溶剂1 {volume1:.2f} mL")
+    
+    try:
+        pump_actions1 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent1_vessel,
+            to_vessel=vessel,
+            volume=volume1,
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.0,  # 正常流速
+            transfer_flowrate=0.5
+        )
+        
+        action_sequence.extend(pump_actions1)
+        
+    except Exception as e:
+        raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
+    
+    # 7. 等待溶剂1稳定
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 10.0,
+            "description": f"等待溶剂1 {solvent1} 稳定"
+        }
+    })
+    
+    # 8. 添加第二种溶剂
+    print(f"RECRYSTALLIZE: 开始添加溶剂2 {volume2:.2f} mL")
+    
+    try:
+        pump_actions2 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent2_vessel,
+            to_vessel=vessel,
+            volume=volume2,
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.0,  # 正常流速
+            transfer_flowrate=0.5
+        )
+        
+        action_sequence.extend(pump_actions2)
+        
+    except Exception as e:
+        raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
+    
+    # 9. 等待溶剂2稳定
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 10.0,
+            "description": f"等待溶剂2 {solvent2} 稳定"
+        }
+    })
+    
+    # 10. 等待重结晶完成
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 600.0,  # 等待10分钟进行重结晶
+            "description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}）"
+        }
+    })
+    
+    print(f"RECRYSTALLIZE: 协议生成完成，共 {len(action_sequence)} 个动作")
+    print(f"RECRYSTALLIZE: 预计总时间: {620/60:.1f} 分钟")
+    
+    return action_sequence
+
+
+# 测试函数
+def test_recrystallize_protocol():
+    """测试重结晶协议"""
+    print("=== RECRYSTALLIZE PROTOCOL 测试 ===")
+    
+    # 测试比例解析
+    test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
+    for ratio in test_ratios:
+        r1, r2 = parse_ratio(ratio)
+        print(f"比例 '{ratio}' -> {r1}:{r2}")
+    
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_recrystallize_protocol()

unilabos/compile/reset_handling_protocol.py

@@ -0,0 +1,180 @@
+import networkx as nx
+from typing import List, Dict, Any
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器，支持多种匹配模式
+    
+    Args:
+        G: 网络图
+        solvent: 溶剂名称（如 "methanol", "ethanol", "water"）
+    
+    Returns:
+        str: 溶剂容器ID
+    """
+    print(f"RESET_HANDLING: 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",           # flask_methanol
+        f"bottle_{solvent}",          # bottle_methanol
+        f"reagent_{solvent}",         # reagent_methanol
+        f"reagent_bottle_{solvent}",  # reagent_bottle_methanol
+        f"{solvent}_flask",           # methanol_flask
+        f"{solvent}_bottle",          # methanol_bottle
+        f"{solvent}",                 # methanol
+        f"vessel_{solvent}",          # vessel_methanol
+    ]
+    
+    # 第一步：通过容器名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"RESET_HANDLING: 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    
+    # 第二步：通过模糊匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                print(f"RESET_HANDLING: 通过模糊匹配找到容器: {node_id}")
+                return node_id
+    
+    # 第三步：通过液体类型匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
+                        print(f"RESET_HANDLING: 通过液体类型匹配找到容器: {node_id}")
+                        return node_id
+    
+    # 列出可用容器帮助调试
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    print(f"RESET_HANDLING: 可用容器列表:")
+    for container in available_containers:
+        print(f"  - {container['id']}: {container['name']}")
+        print(f"    液体: {container['liquids']}")
+        print(f"    试剂: {container['reagent_name']}")
+    
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names}")
+
+
+def generate_reset_handling_protocol(
+    G: nx.DiGraph,
+    solvent: str,
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成重置处理协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        solvent: 溶剂名称（从XDL传入）
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 固定参数
+    target_vessel = "main_reactor"  # 默认目标容器
+    volume = 100.0  # 默认体积 100 mL
+    
+    print(f"RESET_HANDLING: 开始生成重置处理协议")
+    print(f"  - 溶剂: {solvent}")
+    print(f"  - 目标容器: {target_vessel}")
+    print(f"  - 体积: {volume} mL")
+    
+    # 1. 验证目标容器存在
+    if target_vessel not in G.nodes():
+        raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
+    
+    # 2. 查找溶剂容器
+    try:
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        print(f"RESET_HANDLING: 找到溶剂容器: {solvent_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
+    
+    # 3. 验证路径存在
+    try:
+        path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
+        print(f"RESET_HANDLING: 找到路径: {' → '.join(path)}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
+    
+    # 4. 使用pump_protocol转移溶剂
+    print(f"RESET_HANDLING: 开始转移溶剂 {volume} mL")
+    
+    try:
+        pump_actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent_vessel,
+            to_vessel=target_vessel,
+            volume=volume,
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重置处理不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.5,  # 正常流速
+            transfer_flowrate=0.5  # 正常转移流速
+        )
+        
+        action_sequence.extend(pump_actions)
+        
+    except Exception as e:
+        raise ValueError(f"生成泵协议时出错: {str(e)}")
+    
+    # 5. 等待溶剂稳定
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 10.0,
+            "description": f"等待溶剂 {solvent} 稳定"
+        }
+    })
+    
+    print(f"RESET_HANDLING: 协议生成完成，共 {len(action_sequence)} 个动作")
+    print(f"RESET_HANDLING: 已添加 {volume} mL {solvent} 到 {target_vessel}")
+    
+    return action_sequence
+
+
+# 测试函数
+def test_reset_handling_protocol():
+    """测试重置处理协议"""
+    print("=== RESET HANDLING PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_reset_handling_protocol()

unilabos/compile/run_column_protocol.py

@@ -1,5 +1,87 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .pump_protocol import generate_pump_protocol
+
+
+def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的液体体积"""
+    if vessel not in G.nodes():
+        return 0.0
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    total_volume = 0.0
+    for liquid in liquids:
+        if isinstance(liquid, dict):
+            # 支持两种格式：新格式 (name, volume) 和旧格式 (liquid_type, liquid_volume)
+            volume = liquid.get('volume') or liquid.get('liquid_volume', 0.0)
+            total_volume += volume
+    
+    return total_volume
+
+
+def find_column_device(G: nx.DiGraph, column: str) -> str:
+    """查找柱层析设备"""
+    # 首先检查是否有虚拟柱设备
+    column_nodes = [node for node in G.nodes() 
+                   if (G.nodes[node].get('class') or '') == 'virtual_column']
+    
+    if column_nodes:
+        return column_nodes[0]
+    
+    # 如果没有虚拟柱设备，抛出异常
+    raise ValueError(f"系统中未找到柱层析设备。请确保配置了 virtual_column 设备")
+
+
+def find_column_vessel(G: nx.DiGraph, column: str) -> str:
+    """查找柱容器"""
+    # 直接使用 column 参数作为容器名称
+    if column in G.nodes():
+        return column
+    
+    # 尝试常见的柱容器命名规则
+    possible_names = [
+        f"column_{column}",
+        f"{column}_column",
+        f"vessel_{column}",
+        f"{column}_vessel",
+        "column_vessel",
+        "chromatography_column",
+        "silica_column",
+        "preparative_column"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到柱容器 '{column}'。尝试了以下名称: {[column] + possible_names}")
+
+
+def find_eluting_solvent_vessel(G: nx.DiGraph, eluting_solvent: str) -> str:
+    """查找洗脱溶剂容器"""
+    if not eluting_solvent:
+        return ""
+    
+    # 按照命名规则查找溶剂瓶
+    solvent_vessel_id = f"flask_{eluting_solvent}"
+    
+    if solvent_vessel_id in G.nodes():
+        return solvent_vessel_id
+    
+    # 如果直接匹配失败，尝试模糊匹配
+    for node in G.nodes():
+        if node.startswith('flask_') and eluting_solvent.lower() in node.lower():
+            return node
+    
+    # 如果还是找不到，列出所有可用的溶剂瓶
+    available_flasks = [node for node in G.nodes() 
+                       if node.startswith('flask_') 
+                       and G.nodes[node].get('type') == 'container']
+    
+    raise ValueError(f"找不到洗脱溶剂 '{eluting_solvent}' 对应的溶剂瓶。可用溶剂瓶: {available_flasks}")
+
 
 def generate_run_column_protocol(
     G: nx.DiGraph,
@@ -11,92 +93,220 @@ def generate_run_column_protocol(
     生成柱层析分离的协议序列
     
     Args:
-        G: 有向图，节点为设备和容器
+        G: 有向图，节点为设备和容器，边为流体管道
         from_vessel: 源容器的名称，即样品起始所在的容器
         to_vessel: 目标容器的名称，分离后的样品要到达的容器
         column: 所使用的柱子的名称
     
     Returns:
         List[Dict[str, Any]]: 柱层析分离操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的设备时抛出异常
-    
-    Examples:
-        run_column_protocol = generate_run_column_protocol(G, "reactor", "collection_flask", "silica_column")
     """
     action_sequence = []
     
-    # 验证容器是否存在
+    print(f"RUN_COLUMN: 开始生成柱层析协议")
+    print(f"  - 源容器: {from_vessel}")
+    print(f"  - 目标容器: {to_vessel}")
+    print(f"  - 柱子: {column}")
+    
+    # 验证源容器和目标容器存在
     if from_vessel not in G.nodes():
-        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
+        raise ValueError(f"源容器 '{from_vessel}' 不存在于系统中")
     
     if to_vessel not in G.nodes():
-        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
-    
-    # 查找转移泵设备（用于样品转移）
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
-    
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备")
-    
-    pump_id = pump_nodes[0]
+        raise ValueError(f"目标容器 '{to_vessel}' 不存在于系统中")
     
     # 查找柱层析设备
+    column_device_id = None
     column_nodes = [node for node in G.nodes() 
-                   if G.nodes[node].get('class') == 'virtual_column']
+                   if (G.nodes[node].get('class') or '') == 'virtual_column']
     
-    if not column_nodes:
-        raise ValueError("没有找到可用的柱层析设备")
+    if column_nodes:
+        column_device_id = column_nodes[0]
+        print(f"RUN_COLUMN: 找到柱层析设备: {column_device_id}")
+    else:
+        print(f"RUN_COLUMN: 警告 - 未找到柱层析设备")
     
-    column_id = column_nodes[0]
+    # 获取源容器中的液体体积
+    source_volume = get_vessel_liquid_volume(G, from_vessel)
+    print(f"RUN_COLUMN: 源容器 {from_vessel} 中有 {source_volume} mL 液体")
     
-    # 步骤1：将样品从源容器转移到柱子上
-    action_sequence.append({
-        "device_id": pump_id,
-        "action_name": "transfer",
-        "action_kwargs": {
-            "from_vessel": from_vessel,
-            "to_vessel": column_id,  # 将样品转移到柱子设备
-            "volume": 0.0,  # 转移所有液体，体积由系统确定
-            "amount": f"样品上柱 - 使用 {column}",
-            "time": 0.0,
-            "viscous": False,
-            "rinsing_solvent": "",
-            "rinsing_volume": 0.0,
-            "rinsing_repeats": 0,
-            "solid": False
+    # === 第一步：样品转移到柱子（如果柱子是容器） ===
+    if column in G.nodes() and G.nodes[column].get('type') == 'container':
+        print(f"RUN_COLUMN: 样品转移 - {source_volume} mL 从 {from_vessel} 到 {column}")
+        
+        try:
+            sample_transfer_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=from_vessel,
+                to_vessel=column,
+                volume=source_volume if source_volume > 0 else 100.0,
+                flowrate=2.0
+            )
+            action_sequence.extend(sample_transfer_actions)
+        except Exception as e:
+            print(f"RUN_COLUMN: 样品转移失败: {str(e)}")
+    
+    # === 第二步：使用柱层析设备执行分离 ===
+    if column_device_id:
+        print(f"RUN_COLUMN: 使用柱层析设备执行分离")
+        
+        column_separation_action = {
+            "device_id": column_device_id,
+            "action_name": "run_column",
+            "action_kwargs": {
+                "from_vessel": from_vessel,
+                "to_vessel": to_vessel,
+                "column": column
+            }
         }
-    })
+        action_sequence.append(column_separation_action)
+        
+        # 等待柱层析设备完成分离
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 60}
+        })
     
-    # 步骤2：运行柱层析分离
-    action_sequence.append({
-        "device_id": column_id,
-        "action_name": "run_column",
-        "action_kwargs": {
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "column": column
-        }
-    })
+    # === 第三步：从柱子转移到目标容器（如果需要） ===
+    if column in G.nodes() and column != to_vessel:
+        print(f"RUN_COLUMN: 产物转移 - 从 {column} 到 {to_vessel}")
+        
+        try:
+            product_transfer_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=column,
+                to_vessel=to_vessel,
+                volume=source_volume * 0.8 if source_volume > 0 else 80.0,  # 假设有一些损失
+                flowrate=1.5
+            )
+            action_sequence.extend(product_transfer_actions)
+        except Exception as e:
+            print(f"RUN_COLUMN: 产物转移失败: {str(e)}")
     
-    # 步骤3：将分离后的产物从柱子转移到目标容器
-    action_sequence.append({
-        "device_id": pump_id,
-        "action_name": "transfer",
-        "action_kwargs": {
-            "from_vessel": column_id,  # 从柱子设备转移
-            "to_vessel": to_vessel,
-            "volume": 0.0,  # 转移所有液体，体积由系统确定
-            "amount": f"收集分离产物 - 来自 {column}",
-            "time": 0.0,
-            "viscous": False,
-            "rinsing_solvent": "",
-            "rinsing_volume": 0.0,
-            "rinsing_repeats": 0,
-            "solid": False
-        }
-    })
+    print(f"RUN_COLUMN: 生成了 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 便捷函数：常用柱层析方案
+def generate_flash_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "silica_gel",
+    mobile_phase: str = "ethyl_acetate",
+    mobile_phase_volume: float = 100.0
+) -> List[Dict[str, Any]]:
+    """快速柱层析：高流速分离"""
+    return generate_run_column_protocol(
+        G, from_vessel, to_vessel, column_material, 
+        mobile_phase, mobile_phase_volume, 1, "", 0.0, 3.0
+    )
+
+
+def generate_preparative_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "silica_gel",
+    equilibration_solvent: str = "hexane",
+    eluting_solvent: str = "ethyl_acetate",
+    eluting_volume: float = 50.0,
+    eluting_repeats: int = 3
+) -> List[Dict[str, Any]]:
+    """制备柱层析：带平衡和多次洗脱"""
+    return generate_run_column_protocol(
+        G, from_vessel, to_vessel, column_material,
+        eluting_solvent, eluting_volume, eluting_repeats,
+        equilibration_solvent, 30.0, 1.5
+    )
+
+
+def generate_gradient_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "silica_gel",
+    gradient_solvents: List[str] = None,
+    gradient_volumes: List[float] = None
+) -> List[Dict[str, Any]]:
+    """梯度洗脱柱层析：多种溶剂系统"""
+    if gradient_solvents is None:
+        gradient_solvents = ["hexane", "ethyl_acetate", "methanol"]
+    if gradient_volumes is None:
+        gradient_volumes = [50.0, 50.0, 30.0]
     
-    return action_sequence
+    action_sequence = []
+    
+    # 每种溶剂单独执行一次柱层析
+    for i, (solvent, volume) in enumerate(zip(gradient_solvents, gradient_volumes)):
+        print(f"RUN_COLUMN: 梯度洗脱第 {i+1}/{len(gradient_solvents)} 步: {volume} mL {solvent}")
+        
+        # 第一步使用源容器，后续步骤使用柱子作为源
+        step_from_vessel = from_vessel if i == 0 else column_material
+        # 最后一步使用目标容器，其他步骤使用柱子作为目标
+        step_to_vessel = to_vessel if i == len(gradient_solvents) - 1 else column_material
+        
+        step_actions = generate_run_column_protocol(
+            G, step_from_vessel, step_to_vessel, column_material,
+            solvent, volume, 1, "", 0.0, 1.0
+        )
+        action_sequence.extend(step_actions)
+        
+        # 在梯度步骤之间加入等待时间
+        if i < len(gradient_solvents) - 1:
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": 20}
+            })
+    
+    return action_sequence
+
+
+def generate_reverse_phase_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "C18",
+    aqueous_phase: str = "water",
+    organic_phase: str = "methanol",
+    gradient_ratio: float = 0.5
+) -> List[Dict[str, Any]]:
+    """反相柱层析：C18柱，水-有机相梯度"""
+    # 先用水相平衡
+    equilibration_volume = 20.0
+    # 然后用有机相洗脱
+    eluting_volume = 30.0 * gradient_ratio
+    
+    return generate_run_column_protocol(
+        G, from_vessel, to_vessel, column_material,
+        organic_phase, eluting_volume, 2,
+        aqueous_phase, equilibration_volume, 0.8
+    )
+
+
+def generate_ion_exchange_column_protocol(
+    G: nx.DiGraph,
+    from_vessel: str,
+    to_vessel: str,
+    column_material: str = "ion_exchange",
+    buffer_solution: str = "buffer",
+    salt_solution: str = "NaCl_solution",
+    salt_volume: float = 40.0
+) -> List[Dict[str, Any]]:
+    """离子交换柱层析：缓冲液平衡，盐溶液洗脱"""
+    return generate_run_column_protocol(
+        G, from_vessel, to_vessel, column_material,
+        salt_solution, salt_volume, 1,
+        buffer_solution, 25.0, 0.5
+    )
+
+
+# 测试函数
+def test_run_column_protocol():
+    """测试柱层析协议的示例"""
+    print("=== RUN COLUMN PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_run_column_protocol()

unilabos/compile/stir_protocol.py

@@ -1,44 +1,129 @@
 from typing import List, Dict, Any
 import networkx as nx
+import logging
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    print(f"[STIR] {message}", flush=True)
+    logger.info(f"[STIR] {message}")
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
+    """
+    查找与指定容器相连的搅拌设备，或查找可用的搅拌设备
+    """
+    debug_print(f"查找搅拌设备，目标容器: {vessel}")
+    
+    # 查找所有搅拌设备节点
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'stirrer' in node_class.lower() or 'virtual_stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"找到搅拌设备: {node}")
+    
+    if vessel:
+        # 检查哪个搅拌设备与目标容器相连（机械连接）
+        for stirrer in stirrer_nodes:
+            if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+                debug_print(f"搅拌设备 '{stirrer}' 与容器 '{vessel}' 相连")
+                return stirrer
+    
+    # 如果没有指定容器或没有直接连接，返回第一个可用的搅拌设备
+    if stirrer_nodes:
+        debug_print(f"使用第一个搅拌设备: {stirrer_nodes[0]}")
+        return stirrer_nodes[0]
+    
+    debug_print("未找到搅拌设备，使用默认设备")
+    return "stirrer_1"  # 默认设备
 
 def generate_stir_protocol(
     G: nx.DiGraph,
-    stir_time: float,
-    stir_speed: float,
-    settling_time: float
+    vessel: str,
+    stir_time: float = 300.0,
+    stir_speed: float = 200.0,
+    settling_time: float = 60.0,
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
-    生成搅拌操作的协议序列
+    生成搅拌操作的协议序列 - 定时搅拌 + 沉降
     
     Args:
-        G: 有向图，节点为设备和容器
-        stir_time: 搅拌时间 (秒)
-        stir_speed: 搅拌速度 (rpm)
-        settling_time: 沉降时间 (秒)
+        G: 设备图
+        vessel: 搅拌容器名称（必需）
+        stir_time: 搅拌时间 (秒)，默认300s
+        stir_speed: 搅拌速度 (RPM)，默认200 RPM
+        settling_time: 沉降时间 (秒)，默认60s
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 搅拌操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到搅拌设备时抛出异常
-    
-    Examples:
-        stir_protocol = generate_stir_protocol(G, 300.0, 500.0, 60.0)
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成搅拌协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - stir_time: {stir_time}s ({stir_time/60:.1f}分钟)")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - settling_time: {settling_time}s ({settling_time/60:.1f}分钟)")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 查找搅拌设备
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
     
-    if not stirrer_nodes:
-        raise ValueError("没有找到可用的搅拌设备")
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
-    # 使用第一个可用的搅拌器
-    stirrer_id = stirrer_nodes[0]
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    # 执行搅拌操作
-    action_sequence.append({
+    # 修正参数范围
+    if stir_time < 0:
+        debug_print(f"搅拌时间 {stir_time}s 无效，修正为 300s")
+        stir_time = 300.0
+    elif stir_time > 7200:
+        debug_print(f"搅拌时间 {stir_time}s 过长，修正为 3600s")
+        stir_time = 3600.0
+    
+    if stir_speed < 10.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 过低，修正为 100 RPM")
+        stir_speed = 100.0
+    elif stir_speed > 1500.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 过高，修正为 1000 RPM")
+        stir_speed = 1000.0
+    
+    if settling_time < 0:
+        debug_print(f"沉降时间 {settling_time}s 无效，修正为 60s")
+        settling_time = 60.0
+    elif settling_time > 1800:
+        debug_print(f"沉降时间 {settling_time}s 过长，修正为 600s")
+        settling_time = 600.0
+    
+    debug_print(f"✅ 参数验证通过")
+    
+    # === 查找搅拌设备 ===
+    debug_print("步骤2: 查找搅拌设备...")
+    
+    try:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        debug_print(f"设备配置: 搅拌设备 = {stirrer_id}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    
+    # === 执行搅拌操作 ===
+    debug_print("步骤3: 执行搅拌操作...")
+    
+    stir_action = {
         "device_id": stirrer_id,
         "action_name": "stir",
         "action_kwargs": {
@@ -46,45 +131,87 @@ def generate_stir_protocol(
             "stir_speed": stir_speed,
             "settling_time": settling_time
         }
-    })
+    }
+    
+    action_sequence.append(stir_action)
+    
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"搅拌协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"搅拌容器: {vessel}")
+    debug_print(f"搅拌参数: {stir_speed} RPM, {stir_time}s, 沉降 {settling_time}s")
+    debug_print("=" * 50)
     
     return action_sequence
 
-
 def generate_start_stir_protocol(
     G: nx.DiGraph,
     vessel: str,
-    stir_speed: float,
-    purpose: str
+    stir_speed: float = 200.0,
+    purpose: str = "",
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
-    生成开始搅拌操作的协议序列
+    生成开始搅拌操作的协议序列 - 持续搅拌
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 搅拌容器
-        stir_speed: 搅拌速度 (rpm)
-        purpose: 搅拌目的
+        G: 设备图
+        vessel: 搅拌容器名称（必需）
+        stir_speed: 搅拌速度 (RPM)，默认200 RPM
+        purpose: 搅拌目的（可选）
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 开始搅拌操作的动作序列
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成启动搅拌协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - purpose: {purpose}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 查找搅拌设备
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
     
-    if not stirrer_nodes:
-        raise ValueError("没有找到可用的搅拌设备")
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
-    stirrer_id = stirrer_nodes[0]
-    
-    # 验证容器是否存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 修正参数范围
+    if stir_speed < 10.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 过低，修正为 100 RPM")
+        stir_speed = 100.0
+    elif stir_speed > 1500.0:
+        debug_print(f"搅拌速度 {stir_speed} RPM 过高，修正为 1000 RPM")
+        stir_speed = 1000.0
+    
+    debug_print(f"✅ 参数验证通过")
+    
+    # === 查找搅拌设备 ===
+    debug_print("步骤2: 查找搅拌设备...")
+    
+    try:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        debug_print(f"设备配置: 搅拌设备 = {stirrer_id}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    
+    # === 执行开始搅拌操作 ===
+    debug_print("步骤3: 执行开始搅拌操作...")
+    
+    start_stir_action = {
         "device_id": stirrer_id,
         "action_name": "start_stir",
         "action_kwargs": {
@@ -92,46 +219,141 @@ def generate_start_stir_protocol(
             "stir_speed": stir_speed,
             "purpose": purpose
         }
-    })
+    }
+    
+    action_sequence.append(start_stir_action)
+    
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"启动搅拌协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"搅拌容器: {vessel}")
+    debug_print(f"搅拌速度: {stir_speed} RPM")
+    debug_print(f"搅拌目的: {purpose}")
+    debug_print("=" * 50)
     
     return action_sequence
 
-
 def generate_stop_stir_protocol(
     G: nx.DiGraph,
-    vessel: str
+    vessel: str,
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
     生成停止搅拌操作的协议序列
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 搅拌容器
+        G: 设备图
+        vessel: 搅拌容器名称（必需）
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 停止搅拌操作的动作序列
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成停止搅拌协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 查找搅拌设备
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
     
-    if not stirrer_nodes:
-        raise ValueError("没有找到可用的搅拌设备")
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
     
-    stirrer_id = stirrer_nodes[0]
-    
-    # 验证容器是否存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    debug_print(f"✅ 参数验证通过")
+    
+    # === 查找搅拌设备 ===
+    debug_print("步骤2: 查找搅拌设备...")
+    
+    try:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        debug_print(f"设备配置: 搅拌设备 = {stirrer_id}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    
+    # === 执行停止搅拌操作 ===
+    debug_print("步骤3: 执行停止搅拌操作...")
+    
+    stop_stir_action = {
         "device_id": stirrer_id,
         "action_name": "stop_stir",
         "action_kwargs": {
             "vessel": vessel
         }
-    })
+    }
     
-    return action_sequence
+    action_sequence.append(stop_stir_action)
+    
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"停止搅拌协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"搅拌容器: {vessel}")
+    debug_print("=" * 50)
+    
+    return action_sequence
+
+# === 便捷函数 ===
+
+def generate_fast_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """快速搅拌：高速短时间"""
+    return generate_stir_protocol(
+        G, vessel, 
+        stir_time=300.0, 
+        stir_speed=800.0, 
+        settling_time=60.0,
+        **kwargs
+    )
+
+def generate_gentle_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """温和搅拌：低速长时间"""
+    return generate_stir_protocol(
+        G, vessel, 
+        stir_time=900.0, 
+        stir_speed=150.0, 
+        settling_time=120.0,
+        **kwargs
+    )
+
+def generate_thorough_stir_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """彻底搅拌：中速长时间"""
+    return generate_stir_protocol(
+        G, vessel, 
+        stir_time=1800.0, 
+        stir_speed=400.0, 
+        settling_time=300.0,
+        **kwargs
+    )
+
+# 测试函数
+def test_stir_protocol():
+    """测试搅拌协议"""
+    debug_print("=== STIR PROTOCOL 测试 ===")
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_stir_protocol()

unilabos/compile/wash_solid_protocol.py

@@ -1,5 +1,119 @@
 from typing import List, Dict, Any
 import networkx as nx
+import logging
+import sys
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    print(f"[WASH_SOLID] {message}", flush=True)
+    logger.info(f"[WASH_SOLID] {message}")
+
+def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
+    """查找溶剂源容器"""
+    debug_print(f"查找溶剂 '{solvent}' 的源容器...")
+    
+    # 可能的溶剂容器名称
+    possible_names = [
+        f"flask_{solvent}",
+        f"reagent_bottle_{solvent}",
+        f"bottle_{solvent}",
+        f"container_{solvent}",
+        f"source_{solvent}"
+    ]
+    
+    for name in possible_names:
+        if name in G.nodes():
+            debug_print(f"找到溶剂容器: {name}")
+            return name
+    
+    # 查找通用容器
+    generic_containers = [
+        "reagent_bottle_1",
+        "reagent_bottle_2", 
+        "flask_1",
+        "flask_2",
+        "solvent_bottle"
+    ]
+    
+    for container in generic_containers:
+        if container in G.nodes():
+            debug_print(f"使用通用容器: {container}")
+            return container
+    
+    debug_print("未找到溶剂容器，使用默认容器")
+    return f"flask_{solvent}"
+
+def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
+    """查找滤液收集容器"""
+    debug_print(f"查找滤液收集容器，指定容器: '{filtrate_vessel}'")
+    
+    # 如果指定了容器且存在，直接使用
+    if filtrate_vessel and filtrate_vessel.strip():
+        if filtrate_vessel in G.nodes():
+            debug_print(f"使用指定的滤液容器: {filtrate_vessel}")
+            return filtrate_vessel
+        else:
+            debug_print(f"指定的滤液容器 '{filtrate_vessel}' 不存在，查找默认容器")
+    
+    # 自动查找滤液容器
+    possible_names = [
+        "waste_workup",         # 废液收集
+        "filtrate_vessel",      # 标准滤液容器
+        "collection_bottle_1",  # 收集瓶
+        "collection_bottle_2",  # 收集瓶
+        "rotavap",              # 旋蒸仪
+        "waste_flask",          # 废液瓶
+        "flask_1",              # 通用烧瓶
+        "flask_2"               # 通用烧瓶
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"找到滤液收集容器: {vessel_name}")
+            return vessel_name
+    
+    debug_print("未找到滤液收集容器，使用默认容器")
+    return "waste_workup"
+
+def find_pump_device(G: nx.DiGraph) -> str:
+    """查找转移泵设备"""
+    debug_print("查找转移泵设备...")
+    
+    pump_devices = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'transfer_pump' in node_class or 'virtual_transfer_pump' in node_class:
+            pump_devices.append(node)
+            debug_print(f"找到转移泵设备: {node}")
+    
+    if pump_devices:
+        return pump_devices[0]
+    
+    debug_print("未找到转移泵设备，使用默认设备")
+    return "transfer_pump_1"
+
+def find_filter_device(G: nx.DiGraph) -> str:
+    """查找过滤器设备"""
+    debug_print("查找过滤器设备...")
+    
+    filter_devices = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'filter' in node_class.lower() or 'virtual_filter' in node_class:
+            filter_devices.append(node)
+            debug_print(f"找到过滤器设备: {node}")
+    
+    if filter_devices:
+        return filter_devices[0]
+    
+    debug_print("未找到过滤器设备，使用默认设备")
+    return "filter_1"
 
 def generate_wash_solid_protocol(
     G: nx.DiGraph,
@@ -11,206 +125,193 @@ def generate_wash_solid_protocol(
     stir: bool = False,
     stir_speed: float = 0.0,
     time: float = 0.0,
-    repeats: int = 1
+    repeats: int = 1,
+    **kwargs  # 🔧 接受额外参数，增强兼容性
 ) -> List[Dict[str, Any]]:
     """
-    生成固体清洗的协议序列
+    生成固体清洗操作的协议序列 - 简化版本
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 装有固体物质的容器名称
-        solvent: 用于清洗固体的溶剂名称
-        volume: 清洗溶剂的体积
-        filtrate_vessel: 滤液要收集到的容器名称，可选参数
-        temp: 清洗时的温度，可选参数
-        stir: 是否在清洗过程中搅拌，默认为 False
-        stir_speed: 搅拌速度，可选参数
-        time: 清洗的时间，可选参数
-        repeats: 清洗操作的重复次数，默认为 1
+        G: 设备图
+        vessel: 装有固体的容器名称（必需）
+        solvent: 清洗溶剂名称（必需）
+        volume: 清洗溶剂体积（必需）
+        filtrate_vessel: 滤液收集容器（可选，自动查找）
+        temp: 清洗温度，默认25°C
+        stir: 是否搅拌，默认False
+        stir_speed: 搅拌速度，默认0
+        time: 清洗时间，默认0
+        repeats: 重复次数，默认1
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 固体清洗操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的设备时抛出异常
-    
-    Examples:
-        wash_solid_protocol = generate_wash_solid_protocol(
-            G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
-        )
     """
+    
+    debug_print("=" * 50)
+    debug_print("开始生成固体清洗协议")
+    debug_print(f"输入参数:")
+    debug_print(f"  - vessel: {vessel}")
+    debug_print(f"  - solvent: {solvent}")
+    debug_print(f"  - volume: {volume}mL")
+    debug_print(f"  - filtrate_vessel: {filtrate_vessel}")
+    debug_print(f"  - temp: {temp}°C")
+    debug_print(f"  - stir: {stir}")
+    debug_print(f"  - stir_speed: {stir_speed} RPM")
+    debug_print(f"  - time: {time}s")
+    debug_print(f"  - repeats: {repeats}")
+    debug_print(f"  - 其他参数: {kwargs}")
+    debug_print("=" * 50)
+    
     action_sequence = []
     
-    # 验证容器是否存在
+    # === 参数验证 ===
+    debug_print("步骤1: 参数验证...")
+    
+    # 验证必需参数
+    if not vessel:
+        raise ValueError("vessel 参数不能为空")
+    
+    if not solvent:
+        raise ValueError("solvent 参数不能为空")
+    
+    if volume <= 0:
+        raise ValueError("volume 必须大于0")
+    
     if vessel not in G.nodes():
-        raise ValueError(f"固体容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    if filtrate_vessel and filtrate_vessel not in G.nodes():
-        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    # 修正参数范围
+    if temp < 0 or temp > 200:
+        debug_print(f"温度 {temp}°C 超出范围，修正为 25°C")
+        temp = 25.0
     
-    # 查找转移泵设备（用于添加溶剂和转移滤液）
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    if stir_speed < 0 or stir_speed > 500:
+        debug_print(f"搅拌速度 {stir_speed} RPM 超出范围，修正为 0")
+        stir_speed = 0.0
     
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备")
+    if time < 0:
+        debug_print(f"时间 {time}s 无效，修正为 0")
+        time = 0.0
     
-    pump_id = pump_nodes[0]
+    if repeats < 1:
+        debug_print(f"重复次数 {repeats} 无效，修正为 1")
+        repeats = 1
+    elif repeats > 10:
+        debug_print(f"重复次数 {repeats} 过多，修正为 10")
+        repeats = 10
     
-    # 查找加热设备（如果需要加热）
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    debug_print(f"✅ 参数验证通过")
     
-    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+    # === 查找设备 ===
+    debug_print("步骤2: 查找设备...")
     
-    # 查找搅拌设备（如果需要搅拌）
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
-    
-    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
-    
-    # 查找过滤设备（用于分离固体和滤液）
-    filter_nodes = [node for node in G.nodes() 
-                   if G.nodes[node].get('class') == 'virtual_filter']
-    
-    filter_id = filter_nodes[0] if filter_nodes else None
-    
-    # 查找溶剂容器
-    solvent_vessel = f"flask_{solvent}"
-    if solvent_vessel not in G.nodes():
-        # 如果没有找到特定溶剂容器，查找可用的源容器
-        available_vessels = [node for node in G.nodes() 
-                           if node.startswith('flask_') and 
-                           G.nodes[node].get('type') == 'container']
-        if available_vessels:
-            solvent_vessel = available_vessels[0]
-        else:
-            raise ValueError(f"没有找到溶剂容器 {solvent}")
-    
-    # 如果没有指定滤液容器，使用废液容器
-    if not filtrate_vessel:
-        waste_vessels = [node for node in G.nodes() 
-                        if 'waste' in node.lower() and 
-                        G.nodes[node].get('type') == 'container']
-        filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
-    
-    # 重复清洗操作
-    for repeat in range(repeats):
-        repeat_num = repeat + 1
+    try:
+        solvent_source = find_solvent_source(G, solvent)
+        actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel)
+        pump_device = find_pump_device(G)
+        filter_device = find_filter_device(G)
         
-        # 步骤1：如果需要加热，先设置温度
-        if temp > 25.0 and heatchill_id:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_start",
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "temp": temp,
-                    "purpose": f"固体清洗 - 第 {repeat_num} 次"
-                }
-            })
+        debug_print(f"设备配置:")
+        debug_print(f"  - 溶剂源: {solvent_source}")
+        debug_print(f"  - 滤液容器: {actual_filtrate_vessel}")
+        debug_print(f"  - 转移泵: {pump_device}")
+        debug_print(f"  - 过滤器: {filter_device}")
         
-        # 步骤2：添加清洗溶剂到固体容器
-        action_sequence.append({
-            "device_id": pump_id,
-            "action_name": "transfer",
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        raise ValueError(f"设备查找失败: {str(e)}")
+    
+    # === 执行清洗循环 ===
+    debug_print("步骤3: 执行清洗循环...")
+    
+    for cycle in range(repeats):
+        debug_print(f"=== 第 {cycle+1}/{repeats} 次清洗 ===")
+        
+        # 添加清洗溶剂
+        debug_print(f"添加清洗溶剂: {solvent_source} -> {vessel}")
+        
+        wash_action = {
+            "device_id": filter_device,
+            "action_name": "wash_solid",
             "action_kwargs": {
-                "from_vessel": solvent_vessel,
-                "to_vessel": vessel,
+                "vessel": vessel,
+                "solvent": solvent,
                 "volume": volume,
-                "amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
-                "time": 0.0,
-                "viscous": False,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "solid": False
+                "filtrate_vessel": actual_filtrate_vessel,
+                "temp": temp,
+                "stir": stir,
+                "stir_speed": stir_speed,
+                "time": time,
+                "repeats": 1  # 每次循环只做1次
             }
+        }
+        action_sequence.append(wash_action)
+        
+        # 等待清洗完成
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": max(10.0, time * 0.1)}
         })
-        
-        # 步骤3：如果需要搅拌，开始搅拌
-        if stir and stir_speed > 0 and stirrer_id:
-            if time > 0:
-                # 定时搅拌
-                action_sequence.append({
-                    "device_id": stirrer_id,
-                    "action_name": "stir",
-                    "action_kwargs": {
-                        "stir_time": time,
-                        "stir_speed": stir_speed,
-                        "settling_time": 30.0  # 搅拌后静置30秒
-                    }
-                })
-            else:
-                # 开始搅拌（需要手动停止）
-                action_sequence.append({
-                    "device_id": stirrer_id,
-                    "action_name": "start_stir",
-                    "action_kwargs": {
-                        "vessel": vessel,
-                        "stir_speed": stir_speed,
-                        "purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
-                    }
-                })
-        
-        # 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
-        if time > 0 and (not stir or stir_speed == 0):
-            # 这里可以添加等待操作，暂时跳过
-            pass
-        
-        # 步骤5：如果有搅拌且没有定时，停止搅拌
-        if stir and stir_speed > 0 and time == 0 and stirrer_id:
-            action_sequence.append({
-                "device_id": stirrer_id,
-                "action_name": "stop_stir",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
-        
-        # 步骤6：过滤分离固体和滤液
-        if filter_id:
-            action_sequence.append({
-                "device_id": filter_id,
-                "action_name": "filter_sample",
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "filtrate_vessel": filtrate_vessel,
-                    "stir": False,
-                    "stir_speed": 0.0,
-                    "temp": temp,
-                    "continue_heatchill": temp > 25.0,
-                    "volume": volume
-                }
-            })
-        else:
-            # 没有专门的过滤设备，使用转移泵模拟过滤过程
-            # 将滤液转移到滤液容器
-            action_sequence.append({
-                "device_id": pump_id,
-                "action_name": "transfer",
-                "action_kwargs": {
-                    "from_vessel": vessel,
-                    "to_vessel": filtrate_vessel,
-                    "volume": volume,
-                    "amount": f"转移滤液 - 第 {repeat_num} 次清洗",
-                    "time": 0.0,
-                    "viscous": False,
-                    "rinsing_solvent": "",
-                    "rinsing_volume": 0.0,
-                    "rinsing_repeats": 0,
-                    "solid": False
-                }
-            })
-        
-        # 步骤7：如果加热了，停止加热（在最后一次清洗后）
-        if temp > 25.0 and heatchill_id and repeat_num == repeats:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_stop",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
     
-    return action_sequence
+    # === 总结 ===
+    debug_print("=" * 50)
+    debug_print(f"固体清洗协议生成完成")
+    debug_print(f"总动作数: {len(action_sequence)}")
+    debug_print(f"清洗容器: {vessel}")
+    debug_print(f"使用溶剂: {solvent}")
+    debug_print(f"清洗体积: {volume}mL")
+    debug_print(f"重复次数: {repeats}")
+    debug_print("=" * 50)
+    
+    return action_sequence
+
+# === 便捷函数 ===
+
+def generate_quick_wash_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """快速清洗：1次，室温，不搅拌"""
+    return generate_wash_solid_protocol(
+        G, vessel, solvent, volume, 
+        repeats=1, temp=25.0, stir=False, **kwargs
+    )
+
+def generate_thorough_wash_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """彻底清洗：3次，加热，搅拌"""
+    return generate_wash_solid_protocol(
+        G, vessel, solvent, volume, 
+        repeats=3, temp=50.0, stir=True, stir_speed=200.0, time=300.0, **kwargs
+    )
+
+def generate_gentle_wash_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """温和清洗：2次，室温，轻搅拌"""
+    return generate_wash_solid_protocol(
+        G, vessel, solvent, volume, 
+        repeats=2, temp=25.0, stir=True, stir_speed=100.0, time=180.0, **kwargs
+    )
+
+# 测试函数
+def test_wash_solid_protocol():
+    """测试固体清洗协议"""
+    debug_print("=== WASH SOLID PROTOCOL 测试 ===")
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_wash_solid_protocol()

unilabos/config/config.py

@@ -10,8 +10,9 @@ from unilabos.utils import logger
 class BasicConfig:
     ENV = "pro"  # 'test'
     config_path = ""
-    is_host_mode = True  # 从registry.py移动过来
+    is_host_mode = True
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
 

unilabos/devices/agv/ur_arm_task.py

@@ -1,9 +1,12 @@
-import rtde_control
-import dashboard_client
+try:
+    import rtde_control
+    import dashboard_client
+    import rtde_receive
+except ImportError as ex:
+    print("Import Error, Please Install Packages in ur_arm_task.py First!", ex)
 import time
 import json
 from unilabos.devices.agv.robotiq_gripper import RobotiqGripper
-import rtde_receive
 from std_msgs.msg import Float64MultiArray
 from pydantic import BaseModel
 

unilabos/devices/laiyu_add_solid/laiyu.py

@@ -234,71 +234,71 @@ class Laiyu:
         resp_reset = self.reset()
         return actual_mass_mg
 
+if __name__ == "__main__":
+
+    '''
+    样例：对单个粉筒进行称量
+    '''
+
+    modbus = Laiyu(port="COM25")
+
+    mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
+    print(f"实际出料质量：{mass_test}mg")
 
 
-'''
-样例：对单个粉筒进行称量
-'''
+    '''
+    样例: 对一份excel文件记录的化合物进行称量
+    '''
 
-modbus = Laiyu(port="COM25") 
+    excel_file = r"C:\auto\laiyu\test1.xlsx"
+    # 定义输出文件路径，用于记录实际加样多少
+    output_file = r"C:\auto\laiyu\test_output.xlsx"
 
-mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
-print(f"实际出料质量：{mass_test}mg")
+    # 定义物料名称和料筒位置关系
+    compound_positions = {
+        'XPhos': '1',
+        'Cu(OTf)2': '2',
+        'CuSO4': '3',
+        'PPh3': '4',
+    }
 
+    # read excel file
+    # excel_file = r"C:\auto\laiyu\test.xlsx"
+    df = pd.read_excel(excel_file, sheet_name='Sheet1')
+    # 读取Excel文件中的数据
+    # 遍历每一行数据
+    for index, row in df.iterrows():
+        # 获取物料名称和质量
+        copper_name = row['copper']
+        copper_mass = row['copper_mass']
+        ligand_name = row['ligand']
+        ligand_mass = row['ligand_mass']
+        target_tube_position = row['position']
+        # 获取物料位置 from compound_positions
+        copper_position = compound_positions.get(copper_name)
+        ligand_position = compound_positions.get(ligand_name)
+        # 判断物料位置是否存在
+        if copper_position is None:
+            print(f"物料位置不存在：{copper_name}")
+            continue
+        if ligand_position is None:
+            print(f"物料位置不存在：{ligand_name}")
+            continue
+        # 加铜
+        copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
+        time.sleep(1)
+        # 加配体
+        ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
+        time.sleep(1)
+        # 保存至df
+        df.at[index, 'copper_actual_mass'] = copper_actual_mass
+        df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
 
-'''
-样例: 对一份excel文件记录的化合物进行称量
-'''
+    # 保存修改后的数据到新的Excel文件
+    df.to_excel(output_file, index=False)
+    print(f"已保存到文件：{output_file}")
 
-excel_file = r"C:\auto\laiyu\test1.xlsx"
-# 定义输出文件路径，用于记录实际加样多少
-output_file = r"C:\auto\laiyu\test_output.xlsx"
-
-# 定义物料名称和料筒位置关系
-compound_positions = {
-    'XPhos': '1',
-    'Cu(OTf)2': '2',
-    'CuSO4': '3',
-    'PPh3': '4',
-}
-
-# read excel file
-# excel_file = r"C:\auto\laiyu\test.xlsx"
-df = pd.read_excel(excel_file, sheet_name='Sheet1')
-# 读取Excel文件中的数据
-# 遍历每一行数据
-for index, row in df.iterrows():
-    # 获取物料名称和质量
-    copper_name = row['copper']
-    copper_mass = row['copper_mass']
-    ligand_name = row['ligand']
-    ligand_mass = row['ligand_mass']
-    target_tube_position = row['position']
-    # 获取物料位置 from compound_positions
-    copper_position = compound_positions.get(copper_name)
-    ligand_position = compound_positions.get(ligand_name)
-    # 判断物料位置是否存在
-    if copper_position is None:
-        print(f"物料位置不存在：{copper_name}")
-        continue
-    if ligand_position is None:
-        print(f"物料位置不存在：{ligand_name}")
-        continue
-    # 加铜
-    copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
-    time.sleep(1)
-    # 加配体
-    ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
-    time.sleep(1)
-    # 保存至df
-    df.at[index, 'copper_actual_mass'] = copper_actual_mass
-    df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
-
-# 保存修改后的数据到新的Excel文件
-df.to_excel(output_file, index=False)
-print(f"已保存到文件：{output_file}")
-
-# 关闭串口
-modbus.ser.close()
-print("串口已关闭")
+    # 关闭串口
+    modbus.ser.close()
+    print("串口已关闭")
 

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -0,0 +1,328 @@
+import socket, json, contextlib
+from typing import Any, List, Dict, Optional
+
+
+class PRCXIError(RuntimeError):
+    """Lilith 返回 Success=false 时抛出的业务异常"""
+
+
+class PRCXI9300:
+
+    def __init__(self, host: str = "127.0.0.1", port: int = 9999,
+                 timeout: float = 10.0) -> None:
+        self.host, self.port, self.timeout = host, port, timeout
+
+
+    @staticmethod
+    def _len_prefix(n: int) -> bytes:
+        return bytes.fromhex(format(n, "016x"))
+
+    def _raw_request(self, payload: str) -> str:
+        with contextlib.closing(socket.socket()) as sock:
+            sock.settimeout(self.timeout)
+            sock.connect((self.host, self.port))
+            data = payload.encode()
+            sock.sendall(self._len_prefix(len(data)) + data)
+
+            chunks, first = [], True
+            while True:
+                chunk = sock.recv(4096)
+                if not chunk:
+                    break
+                if first:
+                    chunk, first = chunk[8:], False  
+                chunks.append(chunk)
+            return b"".join(chunks).decode()
+
+    def _call(self, service: str, method: str,
+              params: Optional[list] = None) -> Any:
+        payload = json.dumps(
+            {"ServiceName": service,
+             "MethodName": method,
+             "Paramters": params or []},
+            separators=(",", ":")
+        )
+        resp = json.loads(self._raw_request(payload))
+        if not resp.get("Success", False):
+            raise PRCXIError(resp.get("Msg", "Unknown error"))
+        data = resp.get("Data")
+        try:
+            return json.loads(data)
+        except (TypeError, json.JSONDecodeError):
+            return data
+
+    # ---------------------------------------------------- 方案相关（ISolution）
+    def list_solutions(self) -> List[Dict[str, Any]]:
+        """GetSolutionList"""
+        return self._call("ISolution", "GetSolutionList")
+
+    def load_solution(self, solution_id: str) -> bool:
+        """LoadSolution"""
+        return self._call("ISolution", "LoadSolution", [solution_id])
+
+    def add_solution(self, name: str, matrix_id: str,
+                     steps: List[Dict[str, Any]]) -> str:
+        """AddSolution → 返回新方案 GUID"""
+        return self._call("ISolution", "AddSolution",
+                          [name, matrix_id, steps])
+
+    # ---------------------------------------------------- 自动化控制（IAutomation）
+    def start(self) -> bool:
+        return self._call("IAutomation", "Start")
+
+    def stop(self) -> bool:
+        """Stop"""
+        return self._call("IAutomation", "Stop")
+
+    def reset(self) -> bool:
+        """Reset"""
+        return self._call("IAutomation", "Reset")
+
+    def pause(self) -> bool:
+        """Pause"""
+        return self._call("IAutomation", "Pause")
+
+    def resume(self) -> bool:
+        """Resume"""
+        return self._call("IAutomation", "Resume")
+
+    def get_error_code(self) -> Optional[str]:
+        """GetErrorCode"""
+        return self._call("IAutomation", "GetErrorCode")
+
+    def clear_error_code(self) -> bool:
+        """RemoveErrorCodet"""
+        return self._call("IAutomation", "RemoveErrorCodet")
+
+    # ---------------------------------------------------- 运行状态（IMachineState）
+    def step_state_list(self) -> List[Dict[str, Any]]:
+        """GetStepStateList"""
+        return self._call("IMachineState", "GetStepStateList")
+
+    def step_status(self, seq_num: int) -> Dict[str, Any]:
+        """GetStepStatus"""
+        return self._call("IMachineState", "GetStepStatus", [seq_num])
+
+    def step_state(self, seq_num: int) -> Dict[str, Any]:
+        """GetStepState"""
+        return self._call("IMachineState", "GetStepState", [seq_num])
+
+    def axis_location(self, axis_num: int = 1) -> Dict[str, Any]:
+        """GetLocation"""
+        return self._call("IMachineState", "GetLocation", [axis_num])
+
+    # ---------------------------------------------------- 版位矩阵（IMatrix）
+    def list_matrices(self) -> List[Dict[str, Any]]:
+        """GetWorkTabletMatrices"""
+        return self._call("IMatrix", "GetWorkTabletMatrices")
+
+    def matrix_by_id(self, matrix_id: str) -> Dict[str, Any]:
+        """GetWorkTabletMatrixById"""
+        return self._call("IMatrix", "GetWorkTabletMatrixById", [matrix_id])
+    
+    def add_WorkTablet_Matrix(self,matrix):
+        return self._call("IMatrix", "AddWorkTabletMatrix", [matrix])
+
+    # ---------------------------------------------------- 一键运行
+    def run_solution(self, solution_id: str, channel_idx: int = 1) -> None:
+        self.load_solution(solution_id)
+        self.start(channel_idx)
+
+# ---------------------------------------------------- 单点动作
+
+    def Load(
+        self, 
+        axis: str,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense"
+    ) -> Dict[str, Any]:
+        return {
+            "StepAxis": axis,
+            "Function": "Load",
+            "DosageNum": dosage,
+            "PlateNo": plate_no,
+            "IsWholePlate": is_whole_plate,
+            "HoleRow": hole_row,
+            "HoleCol": hole_col,
+            "BlendingTimes": blending_times,
+            "BalanceHeight": balance_height,
+            "PlateOrHoleNum": plate_or_hole,
+            "AssistFun1": assist_fun1,
+            "AssistFun2": assist_fun2,
+            "AssistFun3": assist_fun3,
+            "AssistFun4": assist_fun4,
+            "AssistFun5": assist_fun5,
+            "HoleNumbers": hole_numbers,
+            "LiquidDispensingMethod": liquid_method
+        }
+
+    def Imbibing(
+        self, 
+        axis: str,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense"
+    ) -> Dict[str, Any]:
+        return {
+            "StepAxis": axis,
+            "Function": "Imbibing",
+            "DosageNum": dosage,
+            "PlateNo": plate_no,
+            "IsWholePlate": is_whole_plate,
+            "HoleRow": hole_row,
+            "HoleCol": hole_col,
+            "BlendingTimes": blending_times,
+            "BalanceHeight": balance_height,
+            "PlateOrHoleNum": plate_or_hole,
+            "AssistFun1": assist_fun1,
+            "AssistFun2": assist_fun2,
+            "AssistFun3": assist_fun3,
+            "AssistFun4": assist_fun4,
+            "AssistFun5": assist_fun5,
+            "HoleNumbers": hole_numbers,
+            "LiquidDispensingMethod": liquid_method
+        }
+
+
+    def Tapping(
+        self, 
+        axis: str,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense"
+    ) -> Dict[str, Any]:
+        return {
+            "StepAxis": axis,
+            "Function": "Tapping",
+            "DosageNum": dosage,
+            "PlateNo": plate_no,
+            "IsWholePlate": is_whole_plate,
+            "HoleRow": hole_row,
+            "HoleCol": hole_col,
+            "BlendingTimes": blending_times,
+            "BalanceHeight": balance_height,
+            "PlateOrHoleNum": plate_or_hole,
+            "AssistFun1": assist_fun1,
+            "AssistFun2": assist_fun2,
+            "AssistFun3": assist_fun3,
+            "AssistFun4": assist_fun4,
+            "AssistFun5": assist_fun5,
+            "HoleNumbers": hole_numbers,
+            "LiquidDispensingMethod": liquid_method
+        }
+
+
+    def Blending(
+        self, 
+        axis: str,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense"
+    ) -> Dict[str, Any]:
+        return {
+            "StepAxis": axis,
+            "Function": "Blending",
+            "DosageNum": dosage,
+            "PlateNo": plate_no,
+            "IsWholePlate": is_whole_plate,
+            "HoleRow": hole_row,
+            "HoleCol": hole_col,
+            "BlendingTimes": blending_times,
+            "BalanceHeight": balance_height,
+            "PlateOrHoleNum": plate_or_hole,
+            "AssistFun1": assist_fun1,
+            "AssistFun2": assist_fun2,
+            "AssistFun3": assist_fun3,
+            "AssistFun4": assist_fun4,
+            "AssistFun5": assist_fun5,
+            "HoleNumbers": hole_numbers,
+            "LiquidDispensingMethod": liquid_method
+        }
+
+    def UnLoad(
+        self, 
+        axis: str,
+        dosage: int,
+        plate_no: int,
+        is_whole_plate: bool,
+        hole_row: int,
+        hole_col: int,
+        blending_times: int,
+        balance_height: int,
+        plate_or_hole: str,
+        hole_numbers: str,
+        assist_fun1: str = "",
+        assist_fun2: str = "",
+        assist_fun3: str = "",
+        assist_fun4: str = "",
+        assist_fun5: str = "",
+        liquid_method: str = "NormalDispense"
+    ) -> Dict[str, Any]:
+        return {
+            "StepAxis": axis,
+            "Function": "UnLoad",
+            "DosageNum": dosage,
+            "PlateNo": plate_no,
+            "IsWholePlate": is_whole_plate,
+            "HoleRow": hole_row,
+            "HoleCol": hole_col,
+            "BlendingTimes": blending_times,
+            "BalanceHeight": balance_height,
+            "PlateOrHoleNum": plate_or_hole,
+            "AssistFun1": assist_fun1,
+            "AssistFun2": assist_fun2,
+            "AssistFun3": assist_fun3,
+            "AssistFun4": assist_fun4,
+            "AssistFun5": assist_fun5,
+            "HoleNumbers": hole_numbers,
+            "LiquidDispensingMethod": liquid_method
+        }

unilabos/devices/liquid_handling/revvity.py

@@ -3,7 +3,11 @@ import sys
 import io
 # sys.path.insert(0, r'C:\kui\winprep_cli\winprep_c_Uni-lab\x64\Debug')
 
-import winprep_c
+try:
+    import winprep_c
+except ImportError as e:
+    print("Error importing winprep_c:", e)
+    print("Please ensure that the winprep_c module is correctly installed and accessible.")
 from queue import Queue
 
 

unilabos/devices/motor/iCL42.py

@@ -21,7 +21,7 @@ except Exception as e:
     sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..", "..")))
     from unilabos.utils.pywinauto_util import connect_application, get_process_pid_by_name, get_ui_path_with_window_specification, print_wrapper_identifiers
     from unilabos.device_comms.universal_driver import UniversalDriver, SingleRunningExecutor
-    from unilabos.devices.template_driver import universal_driver as ud
+    from unilabos.device_comms import universal_driver as ud
     print(f"使用文件DEBUG运行: {e}")
 
 

unilabos/devices/raman_uv/home_made_raman.py

@@ -9,7 +9,7 @@ from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
 import time
 
 class RamanObj:
-    def __init__(self, port_laser,port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
+    def __init__(self, port_laser, port_ccd, baudrate_laser=9600, baudrate_ccd=921600):
         self.port_laser = port_laser
         self.port_ccd = port_ccd
 

unilabos/devices/virtual/virtual_centrifuge.py

@@ -1,158 +1,213 @@
 import asyncio
 import logging
-from typing import Dict, Any
+import time as time_module
+from typing import Dict, Any, Optional
+
 
 class VirtualCentrifuge:
-    """Virtual centrifuge device for CentrifugeProtocol testing"""
-    
-    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+    """Virtual centrifuge device - 简化版，只保留核心功能"""
+
+    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')
-        
+        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")
+
         # 设置默认值
         self.device_id = device_id or "unknown_centrifuge"
         self.config = config or {}
-        
+
         self.logger = logging.getLogger(f"VirtualCentrifuge.{self.device_id}")
         self.data = {}
-        
-        # 添加调试信息
-        print(f"=== VirtualCentrifuge {self.device_id} is being created! ===")
-        print(f"=== Config: {self.config} ===")
-        print(f"=== Kwargs: {kwargs} ===")
-        
+
         # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 15000.0)
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 40.0)
-        self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', 4.0)
-        
-        # 处理其他kwargs参数，但跳过已知的配置参数
-        skip_keys = {'port', 'max_speed', 'max_temp', 'min_temp'}
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_speed = self.config.get("max_speed") or kwargs.get("max_speed", 15000.0)
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 40.0)
+        self._min_temp = self.config.get("min_temp") or kwargs.get("min_temp", 4.0)
+
+        # 处理其他kwargs参数
+        skip_keys = {"port", "max_speed", "max_temp", "min_temp"}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
-    
+
     async def initialize(self) -> bool:
         """Initialize virtual centrifuge"""
-        print(f"=== VirtualCentrifuge {self.device_id} initialize() called! ===")
         self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
+        
+        # 只保留核心状态
         self.data.update({
             "status": "Idle",
+            "centrifuge_state": "Stopped",  # Stopped, Running, Completed, Error
             "current_speed": 0.0,
             "target_speed": 0.0,
             "current_temp": 25.0,
             "target_temp": 25.0,
-            "max_speed": self._max_speed,
-            "max_temp": self._max_temp,
-            "min_temp": self._min_temp,
-            "centrifuge_state": "Stopped",
             "time_remaining": 0.0,
             "progress": 0.0,
-            "message": ""
+            "message": "Ready for centrifugation"
         })
         return True
-    
+
     async def cleanup(self) -> bool:
         """Cleanup virtual centrifuge"""
         self.logger.info(f"Cleaning up virtual centrifuge {self.device_id}")
+        
+        self.data.update({
+            "status": "Offline",
+            "centrifuge_state": "Offline",
+            "current_speed": 0.0,
+            "current_temp": 25.0,
+            "message": "System offline"
+        })
         return True
-    
-    async def centrifuge(self, vessel: str, speed: float, time: float, temp: float = 25.0) -> bool:
-        """Execute centrifuge action - matches Centrifuge action"""
-        self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} RPM, time={time}s, temp={temp}°C")
-        
+
+    async def centrifuge(
+        self, 
+        vessel: str, 
+        speed: float, 
+        time: float, 
+        temp: float = 25.0
+    ) -> bool:
+        """Execute centrifuge action - 简化的离心流程"""
+        self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} rpm, time={time}s, temp={temp}°C")
+
         # 验证参数
-        if speed > self._max_speed:
-            self.logger.error(f"Speed {speed} exceeds maximum {self._max_speed}")
-            self.data["message"] = f"速度 {speed} 超过最大值 {self._max_speed}"
+        if speed > self._max_speed or speed < 100.0:
+            error_msg = f"离心速度 {speed} rpm 超出范围 (100-{self._max_speed} rpm)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "centrifuge_state": "Error",
+                "message": error_msg
+            })
             return False
-        
+
         if temp > self._max_temp or temp < self._min_temp:
-            self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
-            self.data["message"] = f"温度 {temp} 超出范围 {self._min_temp}-{self._max_temp}"
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}-{self._max_temp}°C)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "centrifuge_state": "Error",
+                "message": error_msg
+            })
             return False
-        
+
         # 开始离心
         self.data.update({
-            "status": "Running",
-            "centrifuge_state": "Centrifuging",
-            "target_speed": speed,
+            "status": f"离心中: {vessel}",
+            "centrifuge_state": "Running",
             "current_speed": speed,
-            "target_temp": temp,
+            "target_speed": speed,
             "current_temp": temp,
+            "target_temp": temp,
             "time_remaining": time,
-            "vessel": vessel,
             "progress": 0.0,
-            "message": f"离心中: {vessel} at {speed} RPM"
+            "message": f"Centrifuging {vessel} at {speed} rpm, {temp}°C"
         })
-        
-        # 模拟离心过程
-        simulation_time = min(time, 5.0)  # 最多等待5秒用于测试
-        await asyncio.sleep(simulation_time)
-        
-        # 离心完成
-        self.data.update({
-            "status": "Idle",
-            "centrifuge_state": "Stopped",
-            "current_speed": 0.0,
-            "target_speed": 0.0,
-            "time_remaining": 0.0,
-            "progress": 100.0,
-            "message": f"离心完成: {vessel}"
-        })
-        
-        self.logger.info(f"Centrifuge completed for vessel {vessel}")
-        return True
-    
-    # 状态属性
+
+        try:
+            # 离心过程 - 实时更新进度
+            start_time = time_module.time()
+            total_time = time
+            
+            while True:
+                current_time = time_module.time()
+                elapsed = current_time - start_time
+                remaining = max(0, total_time - elapsed)
+                progress = min(100.0, (elapsed / total_time) * 100)
+                
+                # 更新状态
+                self.data.update({
+                    "time_remaining": remaining,
+                    "progress": progress,
+                    "status": f"离心中: {vessel} | {speed} rpm | {temp}°C | {progress:.1f}% | 剩余: {remaining:.0f}s",
+                    "message": f"Centrifuging: {progress:.1f}% complete, {remaining:.0f}s remaining"
+                })
+                
+                # 时间到了，退出循环
+                if remaining <= 0:
+                    break
+                
+                # 每秒更新一次
+                await asyncio.sleep(1.0)
+            
+            # 离心完成
+            self.data.update({
+                "status": f"离心完成: {vessel} | {speed} rpm | {time}s",
+                "centrifuge_state": "Completed",
+                "progress": 100.0,
+                "time_remaining": 0.0,
+                "current_speed": 0.0,  # 停止旋转
+                "current_temp": 25.0,  # 恢复室温
+                "message": f"Centrifugation completed: {vessel} at {speed} rpm for {time}s"
+            })
+
+            self.logger.info(f"Centrifugation completed: {vessel} at {speed} rpm for {time}s")
+            return True
+
+        except Exception as e:
+            # 出错处理
+            self.logger.error(f"Error during centrifugation: {str(e)}")
+            
+            self.data.update({
+                "status": f"离心错误: {str(e)}",
+                "centrifuge_state": "Error",
+                "current_speed": 0.0,
+                "current_temp": 25.0,
+                "progress": 0.0,
+                "time_remaining": 0.0,
+                "message": f"Centrifugation failed: {str(e)}"
+            })
+            return False
+
+    # === 核心状态属性 ===
     @property
     def status(self) -> str:
         return self.data.get("status", "Unknown")
-    
-    @property
-    def current_speed(self) -> float:
-        return self.data.get("current_speed", 0.0)
-    
-    @property
-    def target_speed(self) -> float:
-        return self.data.get("target_speed", 0.0)
-    
-    @property
-    def current_temp(self) -> float:
-        return self.data.get("current_temp", 25.0)
-    
-    @property
-    def target_temp(self) -> float:
-        return self.data.get("target_temp", 25.0)
-    
-    @property
-    def max_speed(self) -> float:
-        return self.data.get("max_speed", self._max_speed)
-    
-    @property
-    def max_temp(self) -> float:
-        return self.data.get("max_temp", self._max_temp)
-    
-    @property
-    def min_temp(self) -> float:
-        return self.data.get("min_temp", self._min_temp)
-    
+
     @property
     def centrifuge_state(self) -> str:
         return self.data.get("centrifuge_state", "Unknown")
-    
+
+    @property
+    def current_speed(self) -> float:
+        return self.data.get("current_speed", 0.0)
+
+    @property
+    def target_speed(self) -> float:
+        return self.data.get("target_speed", 0.0)
+
+    @property
+    def current_temp(self) -> float:
+        return self.data.get("current_temp", 25.0)
+
+    @property
+    def target_temp(self) -> float:
+        return self.data.get("target_temp", 25.0)
+
+    @property
+    def max_speed(self) -> float:
+        return self._max_speed
+
+    @property
+    def max_temp(self) -> float:
+        return self._max_temp
+
+    @property
+    def min_temp(self) -> float:
+        return self._min_temp
+
     @property
     def time_remaining(self) -> float:
         return self.data.get("time_remaining", 0.0)
-    
+
     @property
     def progress(self) -> float:
         return self.data.get("progress", 0.0)
-    
+
     @property
     def message(self) -> str:
         return self.data.get("message", "")

unilabos/devices/virtual/virtual_filter.py

@@ -1,151 +1,221 @@
 import asyncio
 import logging
-from typing import Dict, Any
+import time as time_module
+from typing import Dict, Any, Optional
+
 
 class VirtualFilter:
-    """Virtual filter device for FilterProtocol testing"""
+    """Virtual filter device - 完全按照 Filter.action 规范"""
     
-    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
-        # 处理可能的不同调用方式
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
         if device_id is None and 'id' in kwargs:
             device_id = kwargs.pop('id')
         if config is None and 'config' in kwargs:
             config = kwargs.pop('config')
         
-        # 设置默认值
         self.device_id = device_id or "unknown_filter"
         self.config = config or {}
-        
         self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
         self.data = {}
         
-        # 添加调试信息
-        print(f"=== VirtualFilter {self.device_id} is being created! ===")
-        print(f"=== Config: {self.config} ===")
-        print(f"=== Kwargs: {kwargs} ===")
-        
         # 从config或kwargs中获取配置参数
         self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
         self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
         self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
+        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
         
-        # 处理其他kwargs参数，但跳过已知的配置参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed'}
+        # 处理其他kwargs参数
+        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
     
     async def initialize(self) -> bool:
         """Initialize virtual filter"""
-        print(f"=== VirtualFilter {self.device_id} initialize() called! ===")
         self.logger.info(f"Initializing virtual filter {self.device_id}")
+        
+        # 按照 Filter.action 的 feedback 字段初始化
         self.data.update({
             "status": "Idle",
-            "filter_state": "Ready",
-            "current_temp": 25.0,
-            "target_temp": 25.0,
-            "max_temp": self._max_temp,
-            "stir_speed": 0.0,
-            "max_stir_speed": self._max_stir_speed,
-            "filtered_volume": 0.0,
-            "progress": 0.0,
-            "message": ""
+            "progress": 0.0,           # Filter.action feedback
+            "current_temp": 25.0,      # Filter.action feedback
+            "filtered_volume": 0.0,    # Filter.action feedback
+            "current_status": "Ready for filtration",  # Filter.action feedback
+            "message": "Ready for filtration"
         })
         return True
     
     async def cleanup(self) -> bool:
         """Cleanup virtual filter"""
         self.logger.info(f"Cleaning up virtual filter {self.device_id}")
+        
+        self.data.update({
+            "status": "Offline",
+            "current_status": "System offline",
+            "message": "System offline"
+        })
         return True
     
-    async def filter_sample(self, vessel: str, filtrate_vessel: str = "", stir: bool = False, 
-                           stir_speed: float = 300.0, temp: float = 25.0, 
-                           continue_heatchill: bool = False, volume: float = 0.0) -> bool:
-        """Execute filter action - matches Filter action"""
-        self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}, stir={stir}, volume={volume}")
+    async def filter(
+        self, 
+        vessel: str, 
+        filtrate_vessel: str = "", 
+        stir: bool = False, 
+        stir_speed: float = 300.0, 
+        temp: float = 25.0, 
+        continue_heatchill: bool = False, 
+        volume: float = 0.0
+    ) -> bool:
+        """Execute filter action - 完全按照 Filter.action 参数"""
+        self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}")
+        self.logger.info(f"  stir={stir}, stir_speed={stir_speed}, temp={temp}")
+        self.logger.info(f"  continue_heatchill={continue_heatchill}, volume={volume}")
         
         # 验证参数
-        if temp > self._max_temp:
-            self.logger.error(f"Temperature {temp} exceeds maximum {self._max_temp}")
-            self.data["message"] = f"温度 {temp} 超过最大值 {self._max_temp}"
+        if temp > self._max_temp or temp < 4.0:
+            error_msg = f"温度 {temp}°C 超出范围 (4-{self._max_temp}°C)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "current_status": f"Error: {error_msg}",
+                "message": error_msg
+            })
             return False
         
         if stir and stir_speed > self._max_stir_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
-            self.data["message"] = f"搅拌速度 {stir_speed} 超过最大值 {self._max_stir_speed}"
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "current_status": f"Error: {error_msg}",
+                "message": error_msg
+            })
+            return False
+        
+        if volume > self._max_volume:
+            error_msg = f"过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "current_status": f"Error: {error_msg}",
+                "message": error_msg
+            })
             return False
         
         # 开始过滤
+        filter_volume = volume if volume > 0 else 50.0
+        
         self.data.update({
-            "status": "Running",
-            "filter_state": "Filtering",
-            "target_temp": temp,
+            "status": f"过滤中: {vessel}",
             "current_temp": temp,
-            "stir_speed": stir_speed if stir else 0.0,
-            "vessel": vessel,
-            "filtrate_vessel": filtrate_vessel,
-            "target_volume": volume,
+            "filtered_volume": 0.0,
             "progress": 0.0,
-            "message": f"过滤中: {vessel}"
+            "current_status": f"Filtering {vessel} → {filtrate_vessel}",
+            "message": f"Starting filtration: {vessel} → {filtrate_vessel}"
         })
         
-        # 模拟过滤过程
-        simulation_time = min(volume / 10.0 if volume > 0 else 5.0, 10.0)
-        await asyncio.sleep(simulation_time)
-        
-        # 过滤完成
-        filtered_vol = volume if volume > 0 else 50.0  # 默认过滤量
-        self.data.update({
-            "status": "Idle",
-            "filter_state": "Ready",
-            "current_temp": 25.0 if not continue_heatchill else temp,
-            "target_temp": 25.0 if not continue_heatchill else temp,
-            "stir_speed": 0.0 if not stir else stir_speed,
-            "filtered_volume": filtered_vol,
-            "progress": 100.0,
-            "message": f"过滤完成: {filtered_vol}mL"
-        })
-        
-        self.logger.info(f"Filter completed: {filtered_vol}mL from {vessel}")
-        return True
+        try:
+            # 过滤过程 - 实时更新进度
+            start_time = time_module.time()
+            # 根据体积和搅拌估算过滤时间
+            base_time = filter_volume / 5.0  # 5mL/s 基础速度
+            if stir:
+                base_time *= 0.8  # 搅拌加速过滤
+            if temp > 50.0:
+                base_time *= 0.7  # 高温加速过滤
+            filter_time = max(base_time, 10.0)  # 最少10秒
+            
+            while True:
+                current_time = time_module.time()
+                elapsed = current_time - start_time
+                remaining = max(0, filter_time - elapsed)
+                progress = min(100.0, (elapsed / filter_time) * 100)
+                current_filtered = (progress / 100.0) * filter_volume
+                
+                # 更新状态 - 按照 Filter.action feedback 字段
+                status_msg = f"过滤中: {vessel}"
+                if stir:
+                    status_msg += f" | 搅拌: {stir_speed} RPM"
+                status_msg += f" | {temp}°C | {progress:.1f}% | 已过滤: {current_filtered:.1f}mL"
+                
+                self.data.update({
+                    "progress": progress,               # Filter.action feedback
+                    "current_temp": temp,              # Filter.action feedback
+                    "filtered_volume": current_filtered, # Filter.action feedback
+                    "current_status": f"Filtering: {progress:.1f}% complete", # Filter.action feedback
+                    "status": status_msg,
+                    "message": f"Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
+                })
+                
+                if remaining <= 0:
+                    break
+                
+                await asyncio.sleep(1.0)
+            
+            # 过滤完成
+            final_temp = temp if continue_heatchill else 25.0
+            final_status = f"过滤完成: {vessel} | {filter_volume}mL → {filtrate_vessel}"
+            if continue_heatchill:
+                final_status += " | 继续加热搅拌"
+            
+            self.data.update({
+                "status": final_status,
+                "progress": 100.0,                    # Filter.action feedback
+                "current_temp": final_temp,           # Filter.action feedback
+                "filtered_volume": filter_volume,     # Filter.action feedback
+                "current_status": f"Filtration completed: {filter_volume}mL", # Filter.action feedback
+                "message": f"Filtration completed: {filter_volume}mL filtered from {vessel}"
+            })
+            
+            self.logger.info(f"Filtration completed: {filter_volume}mL from {vessel} to {filtrate_vessel}")
+            return True
+            
+        except Exception as e:
+            self.logger.error(f"Error during filtration: {str(e)}")
+            self.data.update({
+                "status": f"过滤错误: {str(e)}",
+                "current_status": f"Filtration failed: {str(e)}",
+                "message": f"Filtration failed: {str(e)}"
+            })
+            return False
     
-    # 状态属性
+    # === 核心状态属性 - 按照 Filter.action feedback 字段 ===
     @property
     def status(self) -> str:
         return self.data.get("status", "Unknown")
     
-    @property
-    def filter_state(self) -> str:
-        return self.data.get("filter_state", "Unknown")
-    
-    @property
-    def current_temp(self) -> float:
-        return self.data.get("current_temp", 25.0)
-    
-    @property
-    def target_temp(self) -> float:
-        return self.data.get("target_temp", 25.0)
-    
-    @property
-    def max_temp(self) -> float:
-        return self.data.get("max_temp", self._max_temp)
-    
-    @property
-    def stir_speed(self) -> float:
-        return self.data.get("stir_speed", 0.0)
-    
-    @property
-    def max_stir_speed(self) -> float:
-        return self.data.get("max_stir_speed", self._max_stir_speed)
-    
-    @property
-    def filtered_volume(self) -> float:
-        return self.data.get("filtered_volume", 0.0)
-    
     @property
     def progress(self) -> float:
+        """Filter.action feedback 字段"""
         return self.data.get("progress", 0.0)
     
+    @property
+    def current_temp(self) -> float:
+        """Filter.action feedback 字段"""
+        return self.data.get("current_temp", 25.0)
+    
+    @property
+    def filtered_volume(self) -> float:
+        """Filter.action feedback 字段"""
+        return self.data.get("filtered_volume", 0.0)
+    
+    @property
+    def current_status(self) -> str:
+        """Filter.action feedback 字段"""
+        return self.data.get("current_status", "")
+    
     @property
     def message(self) -> str:
-        return self.data.get("message", "")
+        return self.data.get("message", "")
+    
+    @property
+    def max_temp(self) -> float:
+        return self._max_temp
+    
+    @property
+    def max_stir_speed(self) -> float:
+        return self._max_stir_speed
+    
+    @property
+    def max_volume(self) -> float:
+        return self._max_volume

unilabos/devices/virtual/virtual_gas_source.py

@@ -0,0 +1,46 @@
+import time
+from typing import Dict, Any, Optional
+
+
+class VirtualGasSource:
+    """Virtual gas source for testing"""
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        self.device_id = device_id or "unknown_gas_source"
+        self.config = config or {}
+        self.data = {}
+        self._status = "OPEN"
+
+    async def initialize(self) -> bool:
+        """Initialize virtual gas source"""
+        self.data.update({
+            "status": self._status
+        })
+        return True
+
+    async def cleanup(self) -> bool:
+        """Cleanup virtual gas source"""
+        return True
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    def get_status(self) -> str:
+        return self._status
+
+    def set_status(self, string):
+        self._status = string
+        time.sleep(5)
+
+    def open(self):
+        self._status = "OPEN"
+
+    def close(self):
+        self._status = "CLOSED"
+
+    def is_open(self):
+        return self._status
+
+    def is_closed(self):
+        return not self._status

unilabos/devices/virtual/virtual_heatchill.py

@@ -1,5 +1,6 @@
 import asyncio
 import logging
+import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any
 
 class VirtualHeatChill:
@@ -19,18 +20,13 @@ class VirtualHeatChill:
         self.logger = logging.getLogger(f"VirtualHeatChill.{self.device_id}")
         self.data = {}
         
-        # 添加调试信息
-        print(f"=== VirtualHeatChill {self.device_id} is being created! ===")
-        print(f"=== Config: {self.config} ===")
-        print(f"=== Kwargs: {kwargs} ===")
-        
         # 从config或kwargs中获取配置参数
         self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
         self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 200.0)
         self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', -80.0)
         self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
         
-        # 处理其他kwargs参数，但跳过已知的配置参数
+        # 处理其他kwargs参数
         skip_keys = {'port', 'max_temp', 'min_temp', 'max_stir_speed'}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
@@ -38,70 +34,177 @@ class VirtualHeatChill:
     
     async def initialize(self) -> bool:
         """Initialize virtual heat chill"""
-        print(f"=== VirtualHeatChill {self.device_id} initialize() called! ===")
         self.logger.info(f"Initializing virtual heat chill {self.device_id}")
+        
+        # 初始化状态信息
         self.data.update({
-            "status": "Idle"
+            "status": "Idle",
+            "operation_mode": "Idle",
+            "is_stirring": False,
+            "stir_speed": 0.0,
+            "remaining_time": 0.0,
         })
         return True
     
     async def cleanup(self) -> bool:
         """Cleanup virtual heat chill"""
         self.logger.info(f"Cleaning up virtual heat chill {self.device_id}")
+        self.data.update({
+            "status": "Offline",
+            "operation_mode": "Offline",
+            "is_stirring": False,
+            "stir_speed": 0.0,
+            "remaining_time": 0.0
+        })
         return True
     
     async def heat_chill(self, vessel: str, temp: float, time: float, stir: bool, 
                         stir_speed: float, purpose: str) -> bool:
-        """Execute heat chill action - matches HeatChill action exactly"""
-        self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}, purpose={purpose}")
+        """Execute heat chill action - 按实际时间运行，实时更新剩余时间"""
+        self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}")
         
         # 验证参数
         if temp > self._max_temp or temp < self._min_temp:
-            self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
-            self.data["status"] = f"温度 {temp} 超出范围"
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
         if stir and stir_speed > self._max_stir_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出最大值 {self._max_stir_speed} RPM"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
-        # 开始加热/冷却
+        # 确定操作模式
+        if temp > 25.0:
+            operation_mode = "Heating"
+            status_action = "加热"
+        elif temp < 25.0:
+            operation_mode = "Cooling"
+            status_action = "冷却"
+        else:
+            operation_mode = "Maintaining"
+            status_action = "保温"
+        
+        # **修复**: 使用重命名的time模块
+        start_time = time_module.time()
+        total_time = time
+        
+        # 开始操作
+        stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
         self.data.update({
-            "status": f"加热/冷却中: {vessel} 至 {temp}°C"
+            "status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {total_time:.0f}s{stir_info}",
+            "operation_mode": operation_mode,
+            "is_stirring": stir,
+            "stir_speed": stir_speed if stir else 0.0,
+            "remaining_time": total_time,
         })
         
-        # 模拟加热/冷却时间
-        simulation_time = min(time, 10.0)  # 最多等待10秒用于测试
-        await asyncio.sleep(simulation_time)
+        # **修复**: 在等待过程中每秒更新剩余时间
+        while True:
+            current_time = time_module.time()  # 使用重命名的time模块
+            elapsed = current_time - start_time
+            remaining = max(0, total_time - elapsed)
+            
+            # 更新剩余时间和状态
+            self.data.update({
+                "remaining_time": remaining,
+                "status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {remaining:.0f}s{stir_info}"
+            })
+            
+            # 如果时间到了，退出循环
+            if remaining <= 0:
+                break
+            
+            # 等待1秒后再次检查
+            await asyncio.sleep(1.0)
         
-        # 加热/冷却完成
-        self.data["status"] = f"完成: {vessel} 已达到 {temp}°C"
+        # 操作完成
+        final_stir_info = f" | 搅拌: {stir_speed} RPM" if stir else ""
+        self.data.update({
+            "status": f"完成: {vessel} 已达到 {temp}°C | 用时: {total_time:.0f}s{final_stir_info}",
+            "operation_mode": "Completed",
+            "remaining_time": 0.0,
+            "is_stirring": False,
+            "stir_speed": 0.0
+        })
         
-        self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C")
+        self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C after {total_time}s")
         return True
     
     async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
-        """Start heat chill - matches HeatChillStart action exactly"""
-        self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C, purpose={purpose}")
+        """Start continuous heat chill"""
+        self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C")
         
         # 验证参数
         if temp > self._max_temp or temp < self._min_temp:
-            self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
-            self.data["status"] = f"温度 {temp} 超出范围"
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
-        self.data["status"] = f"开始加热/冷却: {vessel} 至 {temp}°C"
+        # 确定操作模式
+        if temp > 25.0:
+            operation_mode = "Heating"
+            status_action = "持续加热"
+        elif temp < 25.0:
+            operation_mode = "Cooling"
+            status_action = "持续冷却"
+        else:
+            operation_mode = "Maintaining"
+            status_action = "恒温保持"
+        
+        self.data.update({
+            "status": f"启动: {status_action} {vessel} 至 {temp}°C | 持续运行",
+            "operation_mode": operation_mode,
+            "is_stirring": False,
+            "stir_speed": 0.0,
+            "remaining_time": -1.0,  # -1 表示持续运行
+        })
+        
         return True
     
     async def heat_chill_stop(self, vessel: str) -> bool:
-        """Stop heat chill - matches HeatChillStop action exactly"""
+        """Stop heat chill"""
         self.logger.info(f"HeatChillStop: vessel={vessel}")
         
-        self.data["status"] = f"停止加热/冷却: {vessel}"
+        self.data.update({
+            "status": f"已停止: {vessel} 温控停止",
+            "operation_mode": "Stopped",
+            "is_stirring": False,
+            "stir_speed": 0.0,
+            "remaining_time": 0.0,
+        })
+        
         return True
     
-    # 状态属性 - 只保留 action 中定义的 feedback
+    # 状态属性
     @property
     def status(self) -> str:
-        return self.data.get("status", "Idle")
+        return self.data.get("status", "Idle")
+    
+    @property
+    def operation_mode(self) -> str:
+        return self.data.get("operation_mode", "Idle")
+    
+    @property
+    def is_stirring(self) -> bool:
+        return self.data.get("is_stirring", False)
+    
+    @property
+    def stir_speed(self) -> float:
+        return self.data.get("stir_speed", 0.0)
+    
+    @property
+    def remaining_time(self) -> float:
+        return self.data.get("remaining_time", 0.0)

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -0,0 +1,231 @@
+import time
+from typing import Union, Dict, Optional
+
+
+class VirtualMultiwayValve:
+    """
+    虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备
+    """
+    def __init__(self, port: str = "VIRTUAL", positions: int = 8):
+        self.port = port
+        self.max_positions = positions  # 1-8号位
+        self.total_positions = positions + 1  # 0-8号位，共9个位置
+        
+        # 状态属性
+        self._status = "Idle"
+        self._valve_state = "Ready"
+        self._current_position = 0  # 默认在0号位（transfer pump位置）
+        self._target_position = 0
+        
+        # 位置映射说明
+        self.position_map = {
+            0: "transfer_pump",  # 0号位连接转移泵
+            1: "port_1",         # 1号位
+            2: "port_2",         # 2号位
+            3: "port_3",         # 3号位
+            4: "port_4",         # 4号位
+            5: "port_5",         # 5号位
+            6: "port_6",         # 6号位
+            7: "port_7",         # 7号位
+            8: "port_8"          # 8号位
+        }
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def valve_state(self) -> str:
+        return self._valve_state
+
+    @property
+    def current_position(self) -> int:
+        return self._current_position
+
+    @property
+    def target_position(self) -> int:
+        return self._target_position
+
+    def get_current_position(self) -> int:
+        """获取当前阀门位置"""
+        return self._current_position
+
+    def get_current_port(self) -> str:
+        """获取当前连接的端口名称"""
+        return self.position_map.get(self._current_position, "unknown")
+
+    def set_position(self, command: Union[int, str]):
+        """
+        设置阀门位置 - 支持0-8位置
+        
+        Args:
+            command: 目标位置 (0-8) 或位置字符串
+                    0: transfer pump位置
+                    1-8: 其他设备位置
+        """
+        try:
+            # 如果是字符串形式的位置，先转换为数字
+            if isinstance(command, str):
+                pos = int(command)
+            else:
+                pos = int(command)
+                
+            if pos < 0 or pos > self.max_positions:
+                raise ValueError(f"Position must be between 0 and {self.max_positions}")
+            
+            self._status = "Busy"
+            self._valve_state = "Moving"
+            self._target_position = pos
+            
+            # 模拟阀门切换时间
+            switch_time = abs(self._current_position - pos) * 0.5  # 每个位置0.5秒
+            time.sleep(switch_time)
+            
+            self._current_position = pos
+            self._status = "Idle"
+            self._valve_state = "Ready"
+            
+            current_port = self.get_current_port()
+            return f"Position set to {pos} ({current_port})"
+            
+        except ValueError as e:
+            self._status = "Error"
+            self._valve_state = "Error"
+            return f"Error: {str(e)}"
+
+    def set_to_pump_position(self):
+        """切换到transfer pump位置（0号位）"""
+        return self.set_position(0)
+
+    def set_to_port(self, port_number: int):
+        """
+        切换到指定端口位置
+        
+        Args:
+            port_number: 端口号 (1-8)
+        """
+        if port_number < 1 or port_number > self.max_positions:
+            raise ValueError(f"Port number must be between 1 and {self.max_positions}")
+        return self.set_position(port_number)
+
+    def open(self):
+        """打开阀门 - 设置到transfer pump位置（0号位）"""
+        return self.set_to_pump_position()
+
+    def close(self):
+        """关闭阀门 - 对于多通阀门，设置到一个"关闭"状态"""
+        self._status = "Busy"
+        self._valve_state = "Closing"
+        time.sleep(0.5)
+        
+        # 可以选择保持当前位置或设置特殊关闭状态
+        self._status = "Idle"
+        self._valve_state = "Closed"
+        
+        return f"Valve closed at position {self._current_position}"
+
+    def get_valve_position(self) -> int:
+        """获取阀门位置 - 兼容性方法"""
+        return self._current_position
+
+    def is_at_position(self, position: int) -> bool:
+        """检查是否在指定位置"""
+        return self._current_position == position
+
+    def is_at_pump_position(self) -> bool:
+        """检查是否在transfer pump位置"""
+        return self._current_position == 0
+
+    def is_at_port(self, port_number: int) -> bool:
+        """检查是否在指定端口位置"""
+        return self._current_position == port_number
+
+    def get_available_positions(self) -> list:
+        """获取可用位置列表"""
+        return list(range(0, self.max_positions + 1))
+
+    def get_available_ports(self) -> Dict[int, str]:
+        """获取可用端口映射"""
+        return self.position_map.copy()
+
+    def reset(self):
+        """重置阀门到transfer pump位置（0号位）"""
+        return self.set_position(0)
+
+    def switch_between_pump_and_port(self, port_number: int):
+        """
+        在transfer pump位置和指定端口之间切换
+        
+        Args:
+            port_number: 目标端口号 (1-8)
+        """
+        if self._current_position == 0:
+            # 当前在pump位置，切换到指定端口
+            return self.set_to_port(port_number)
+        else:
+            # 当前在某个端口，切换到pump位置
+            return self.set_to_pump_position()
+
+    def get_flow_path(self) -> str:
+        """获取当前流路路径描述"""
+        current_port = self.get_current_port()
+        if self._current_position == 0:
+            return f"Transfer pump connected (position {self._current_position})"
+        else:
+            return f"Port {self._current_position} connected ({current_port})"
+
+    def get_info(self) -> dict:
+        """获取阀门详细信息"""
+        return {
+            "port": self.port,
+            "max_positions": self.max_positions,
+            "total_positions": self.total_positions,
+            "current_position": self._current_position,
+            "current_port": self.get_current_port(),
+            "target_position": self._target_position,
+            "status": self._status,
+            "valve_state": self._valve_state,
+            "flow_path": self.get_flow_path(),
+            "position_map": self.position_map
+        }
+
+    def __str__(self):
+        return f"VirtualMultiwayValve(Position: {self._current_position}/{self.max_positions}, Port: {self.get_current_port()}, Status: {self._status})"
+
+    def set_valve_position(self, command: Union[int, str]):
+        """
+        设置阀门位置 - 兼容pump_protocol调用
+        这是set_position的别名方法，用于兼容pump_protocol.py
+        
+        Args:
+            command: 目标位置 (0-8) 或位置字符串
+        """
+        return self.set_position(command)
+
+
+# 使用示例
+if __name__ == "__main__":
+    valve = VirtualMultiwayValve()
+    
+    print("=== 虚拟九通阀门测试 ===")
+    print(f"初始状态: {valve}")
+    print(f"当前流路: {valve.get_flow_path()}")
+    
+    # 切换到试剂瓶1（1号位）
+    print(f"\n切换到1号位: {valve.set_position(1)}")
+    print(f"当前状态: {valve}")
+    
+    # 切换到transfer pump位置（0号位）
+    print(f"\n切换到pump位置: {valve.set_to_pump_position()}")
+    print(f"当前状态: {valve}")
+    
+    # 切换到试剂瓶2（2号位）
+    print(f"\n切换到2号位: {valve.set_to_port(2)}")
+    print(f"当前状态: {valve}")
+    
+    # 显示所有可用位置
+    print(f"\n可用位置: {valve.get_available_positions()}")
+    print(f"端口映射: {valve.get_available_ports()}")
+    
+    # 获取详细信息
+    print(f"\n详细信息: {valve.get_info()}")

unilabos/devices/virtual/virtual_rotavap.py

@@ -0,0 +1,241 @@
+import asyncio
+import logging
+import time as time_module
+from typing import Dict, Any, Optional
+
+
+class VirtualRotavap:
+    """Virtual rotary evaporator device - 简化版，只保留核心功能"""
+
+    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")
+
+        # 设置默认值
+        self.device_id = device_id or "unknown_rotavap"
+        self.config = config or {}
+
+        self.logger = logging.getLogger(f"VirtualRotavap.{self.device_id}")
+        self.data = {}
+
+        # 从config或kwargs中获取配置参数
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 180.0)
+        self._max_rotation_speed = self.config.get("max_rotation_speed") or kwargs.get("max_rotation_speed", 280.0)
+
+        # 处理其他kwargs参数
+        skip_keys = {"port", "max_temp", "max_rotation_speed"}
+        for key, value in kwargs.items():
+            if key not in skip_keys and not hasattr(self, key):
+                setattr(self, key, value)
+
+    async def initialize(self) -> bool:
+        """Initialize virtual rotary evaporator"""
+        self.logger.info(f"Initializing virtual rotary evaporator {self.device_id}")
+        
+        # 只保留核心状态
+        self.data.update({
+            "status": "Idle",
+            "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
+            "current_temp": 25.0,
+            "target_temp": 25.0,
+            "rotation_speed": 0.0,
+            "vacuum_pressure": 1.0,  # 大气压
+            "evaporated_volume": 0.0,
+            "progress": 0.0,
+            "remaining_time": 0.0,
+            "message": "Ready for evaporation"
+        })
+        return True
+
+    async def cleanup(self) -> bool:
+        """Cleanup virtual rotary evaporator"""
+        self.logger.info(f"Cleaning up virtual rotary evaporator {self.device_id}")
+        
+        self.data.update({
+            "status": "Offline",
+            "rotavap_state": "Offline",
+            "current_temp": 25.0,
+            "rotation_speed": 0.0,
+            "vacuum_pressure": 1.0,
+            "message": "System offline"
+        })
+        return True
+
+    async def evaporate(
+        self, 
+        vessel: str, 
+        pressure: float = 0.1, 
+        temp: float = 60.0, 
+        time: float = 1800.0,  # 30分钟默认
+        stir_speed: float = 100.0,
+        solvent: str = "",  # 🔧 新增参数
+        **kwargs  # 🔧 接受额外参数
+    ) -> bool:
+        """Execute evaporate action - 兼容性增强版"""
+        
+        # 参数预处理
+        if solvent:
+            self.logger.info(f"识别到溶剂: {solvent}")
+            # 根据溶剂调整参数
+            solvent_lower = solvent.lower()
+            if any(s in solvent_lower for s in ['water', 'aqueous']):
+                temp = max(temp, 80.0)
+                pressure = max(pressure, 0.2)
+                self.logger.info("水系溶剂：调整参数")
+        
+        self.logger.info(f"Evaporate: vessel={vessel}, pressure={pressure} bar, temp={temp}°C, time={time}s, rotation={stir_speed} RPM, solvent={solvent}")
+        
+        # 验证参数
+        if temp > self._max_temp or temp < 10.0:
+            error_msg = f"温度 {temp}°C 超出范围 (10-{self._max_temp}°C)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "rotavap_state": "Error",
+                "message": error_msg
+            })
+            return False
+
+        if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
+            error_msg = f"旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "rotavap_state": "Error",
+                "message": error_msg
+            })
+            return False
+
+        if pressure < 0.01 or pressure > 1.0:
+            error_msg = f"真空度 {pressure} bar 超出范围 (0.01-1.0 bar)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "rotavap_state": "Error",
+                "message": error_msg
+            })
+            return False
+
+        # 开始蒸发
+        self.data.update({
+            "status": f"蒸发中: {vessel}",
+            "rotavap_state": "Evaporating",
+            "current_temp": temp,
+            "target_temp": temp,
+            "rotation_speed": stir_speed,
+            "vacuum_pressure": pressure,
+            "remaining_time": time,
+            "progress": 0.0,
+            "evaporated_volume": 0.0,
+            "message": f"Evaporating {vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
+        })
+
+        try:
+            # 蒸发过程 - 实时更新进度
+            start_time = time_module.time()
+            total_time = time
+            
+            while True:
+                current_time = time_module.time()
+                elapsed = current_time - start_time
+                remaining = max(0, total_time - elapsed)
+                progress = min(100.0, (elapsed / total_time) * 100)
+                
+                # 模拟蒸发体积
+                evaporated_vol = progress * 0.8  # 假设最多蒸发80mL
+                
+                # 更新状态
+                self.data.update({
+                    "remaining_time": remaining,
+                    "progress": progress,
+                    "evaporated_volume": evaporated_vol,
+                    "status": f"蒸发中: {vessel} | {temp}°C | {pressure} bar | {progress:.1f}% | 剩余: {remaining:.0f}s",
+                    "message": f"Evaporating: {progress:.1f}% complete, {remaining:.0f}s remaining"
+                })
+                
+                # 时间到了，退出循环
+                if remaining <= 0:
+                    break
+                
+                # 每秒更新一次
+                await asyncio.sleep(1.0)
+            
+            # 蒸发完成
+            final_evaporated = 80.0
+            self.data.update({
+                "status": f"蒸发完成: {vessel} | 蒸发量: {final_evaporated:.1f}mL",
+                "rotavap_state": "Completed",
+                "evaporated_volume": final_evaporated,
+                "progress": 100.0,
+                "remaining_time": 0.0,
+                "current_temp": 25.0,  # 冷却下来
+                "rotation_speed": 0.0,  # 停止旋转
+                "vacuum_pressure": 1.0,  # 恢复大气压
+                "message": f"Evaporation completed: {final_evaporated}mL evaporated from {vessel}"
+            })
+
+            self.logger.info(f"Evaporation completed: {final_evaporated}mL evaporated from {vessel}")
+            return True
+
+        except Exception as e:
+            # 出错处理
+            self.logger.error(f"Error during evaporation: {str(e)}")
+            
+            self.data.update({
+                "status": f"蒸发错误: {str(e)}",
+                "rotavap_state": "Error",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0,
+                "vacuum_pressure": 1.0,
+                "message": f"Evaporation failed: {str(e)}"
+            })
+            return False
+
+    # === 核心状态属性 ===
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Unknown")
+
+    @property
+    def rotavap_state(self) -> str:
+        return self.data.get("rotavap_state", "Unknown")
+
+    @property
+    def current_temp(self) -> float:
+        return self.data.get("current_temp", 25.0)
+
+    @property
+    def rotation_speed(self) -> float:
+        return self.data.get("rotation_speed", 0.0)
+
+    @property
+    def vacuum_pressure(self) -> float:
+        return self.data.get("vacuum_pressure", 1.0)
+
+    @property
+    def evaporated_volume(self) -> float:
+        return self.data.get("evaporated_volume", 0.0)
+
+    @property
+    def progress(self) -> float:
+        return self.data.get("progress", 0.0)
+
+    @property
+    def message(self) -> str:
+        return self.data.get("message", "")
+
+    @property
+    def max_temp(self) -> float:
+        return self._max_temp
+
+    @property
+    def max_rotation_speed(self) -> float:
+        return self._max_rotation_speed
+
+    @property
+    def remaining_time(self) -> float:
+        return self.data.get("remaining_time", 0.0)

unilabos/devices/virtual/virtual_separator.py

@@ -0,0 +1,184 @@
+import asyncio
+import logging
+from typing import Dict, Any, Optional
+
+
+class VirtualSeparator:
+    """Virtual separator device for SeparateProtocol testing"""
+
+    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")
+
+        # 设置默认值
+        self.device_id = device_id or "unknown_separator"
+        self.config = config or {}
+
+        self.logger = logging.getLogger(f"VirtualSeparator.{self.device_id}")
+        self.data = {}
+
+        # 添加调试信息
+        print(f"=== VirtualSeparator {self.device_id} is being created! ===")
+        print(f"=== Config: {self.config} ===")
+        print(f"=== Kwargs: {kwargs} ===")
+
+        # 从config或kwargs中获取配置参数
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
+        self._volume = self.config.get("volume") or kwargs.get("volume", 250.0)
+        self._has_phases = self.config.get("has_phases") or kwargs.get("has_phases", True)
+
+        # 处理其他kwargs参数，但跳过已知的配置参数
+        skip_keys = {"port", "volume", "has_phases"}
+        for key, value in kwargs.items():
+            if key not in skip_keys and not hasattr(self, key):
+                setattr(self, key, value)
+
+    async def initialize(self) -> bool:
+        """Initialize virtual separator"""
+        print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
+        self.logger.info(f"Initializing virtual separator {self.device_id}")
+        self.data.update(
+            {
+                "status": "Ready",
+                "separator_state": "Ready",
+                "volume": self._volume,
+                "has_phases": self._has_phases,
+                "phase_separation": False,
+                "stir_speed": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "message": "",
+            }
+        )
+        return True
+
+    async def cleanup(self) -> bool:
+        """Cleanup virtual separator"""
+        self.logger.info(f"Cleaning up virtual separator {self.device_id}")
+        return True
+
+    async def separate(
+        self,
+        purpose: str,
+        product_phase: str,
+        from_vessel: str,
+        separation_vessel: str,
+        to_vessel: str,
+        waste_phase_to_vessel: str = "",
+        solvent: str = "",
+        solvent_volume: float = 50.0,
+        through: str = "",
+        repeats: int = 1,
+        stir_time: float = 30.0,
+        stir_speed: float = 300.0,
+        settling_time: float = 300.0,
+    ) -> bool:
+        """Execute separate action - matches Separate action"""
+        self.logger.info(f"Separate: purpose={purpose}, product_phase={product_phase}, from_vessel={from_vessel}")
+
+        # 验证参数
+        if product_phase not in ["top", "bottom"]:
+            self.logger.error(f"Invalid product_phase {product_phase}, must be 'top' or 'bottom'")
+            self.data["message"] = f"产物相位 {product_phase} 无效，必须是 'top' 或 'bottom'"
+            return False
+
+        if purpose not in ["wash", "extract"]:
+            self.logger.error(f"Invalid purpose {purpose}, must be 'wash' or 'extract'")
+            self.data["message"] = f"分离目的 {purpose} 无效，必须是 'wash' 或 'extract'"
+            return False
+
+        # 开始分离
+        self.data.update(
+            {
+                "status": "Running",
+                "separator_state": "Separating",
+                "purpose": purpose,
+                "product_phase": product_phase,
+                "from_vessel": from_vessel,
+                "separation_vessel": separation_vessel,
+                "to_vessel": to_vessel,
+                "waste_phase_to_vessel": waste_phase_to_vessel,
+                "solvent": solvent,
+                "solvent_volume": solvent_volume,
+                "repeats": repeats,
+                "stir_speed": stir_speed,
+                "settling_time": settling_time,
+                "phase_separation": True,
+                "progress": 0.0,
+                "message": f"正在分离: {from_vessel} -> {to_vessel}",
+            }
+        )
+
+        # 模拟分离过程
+        total_time = (stir_time + settling_time) * repeats
+        simulation_time = min(total_time / 60.0, 15.0)  # 最多模拟15秒
+
+        for repeat in range(repeats):
+            # 搅拌阶段
+            for progress in range(0, 51, 10):
+                await asyncio.sleep(simulation_time / (repeats * 10))
+                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
+                self.data["progress"] = overall_progress
+                self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
+
+            # 静置分相阶段
+            for progress in range(50, 101, 10):
+                await asyncio.sleep(simulation_time / (repeats * 10))
+                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
+                self.data["progress"] = overall_progress
+                self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
+
+        # 分离完成
+        self.data.update(
+            {
+                "status": "Ready",
+                "separator_state": "Ready",
+                "phase_separation": False,
+                "stir_speed": 0.0,
+                "progress": 100.0,
+                "message": f"分离完成: {repeats}次分离操作",
+            }
+        )
+
+        self.logger.info(f"Separation completed: {repeats} cycles from {from_vessel} to {to_vessel}")
+        return True
+
+    # 状态属性
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "Unknown")
+
+    @property
+    def separator_state(self) -> str:
+        return self.data.get("separator_state", "Unknown")
+
+    @property
+    def volume(self) -> float:
+        return self.data.get("volume", self._volume)
+
+    @property
+    def has_phases(self) -> bool:
+        return self.data.get("has_phases", self._has_phases)
+
+    @property
+    def phase_separation(self) -> bool:
+        return self.data.get("phase_separation", False)
+
+    @property
+    def stir_speed(self) -> float:
+        return self.data.get("stir_speed", 0.0)
+
+    @property
+    def settling_time(self) -> float:
+        return self.data.get("settling_time", 0.0)
+
+    @property
+    def progress(self) -> float:
+        return self.data.get("progress", 0.0)
+
+    @property
+    def message(self) -> str:
+        return self.data.get("message", "")

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -0,0 +1,147 @@
+import time
+import asyncio
+from typing import Union
+
+
+class VirtualSolenoidValve:
+    """
+    虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
+    """
+    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
+        # 从配置中获取参数，提供默认值
+        if config is None:
+            config = {}
+        
+        self.device_id = device_id
+        self.port = config.get("port", "VIRTUAL")
+        self.voltage = config.get("voltage", 12.0)
+        self.response_time = config.get("response_time", 0.1)
+        
+        # 状态属性
+        self._status = "Idle"
+        self._valve_state = "Closed"  # "Open" or "Closed"
+        self._is_open = False
+
+    async def initialize(self) -> bool:
+        """初始化设备"""
+        self._status = "Idle"
+        return True
+
+    async def cleanup(self) -> bool:
+        """清理资源"""
+        return True
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    @property
+    def valve_state(self) -> str:
+        return self._valve_state
+
+    @property
+    def is_open(self) -> bool:
+        return self._is_open
+
+    def get_valve_position(self) -> str:
+        """获取阀门位置状态"""
+        return "OPEN" if self._is_open else "CLOSED"
+
+    async def set_valve_position(self, command: str = None, **kwargs):
+        """
+        设置阀门位置 - ROS动作接口
+        
+        Args:
+            command: "OPEN"/"CLOSED" 或其他控制命令
+        """
+        if command is None:
+            return {"success": False, "message": "Missing command parameter"}
+        
+        print(f"SOLENOID_VALVE: {self.device_id} 接收到命令: {command}")
+        
+        self._status = "Busy"
+        
+        # 模拟阀门响应时间
+        await asyncio.sleep(self.response_time)
+        
+        # 处理不同的命令格式
+        if isinstance(command, str):
+            cmd_upper = command.upper()
+            if cmd_upper in ["OPEN", "ON", "TRUE", "1"]:
+                self._is_open = True
+                self._valve_state = "Open"
+                result_msg = f"Valve {self.device_id} opened"
+            elif cmd_upper in ["CLOSED", "CLOSE", "OFF", "FALSE", "0"]:
+                self._is_open = False
+                self._valve_state = "Closed"
+                result_msg = f"Valve {self.device_id} closed"
+            else:
+                # 可能是端口名称，处理路径设置
+                # 对于简单电磁阀，任何非关闭命令都视为开启
+                self._is_open = True
+                self._valve_state = "Open"
+                result_msg = f"Valve {self.device_id} set to position: {command}"
+        else:
+            self._status = "Error"
+            return {"success": False, "message": "Invalid command type"}
+        
+        self._status = "Idle"
+        print(f"SOLENOID_VALVE: {result_msg}")
+        
+        return {
+            "success": True, 
+            "message": result_msg,
+            "valve_position": self.get_valve_position()
+        }
+
+    async def open(self, **kwargs):
+        """打开电磁阀 - ROS动作接口"""
+        return await self.set_valve_position(command="OPEN")
+
+    async def close(self, **kwargs):
+        """关闭电磁阀 - ROS动作接口"""
+        return await self.set_valve_position(command="CLOSED")
+
+    async def set_state(self, command: Union[bool, str], **kwargs):
+        """
+        设置阀门状态 - 兼容 SendCmd 类型
+    
+        Args:
+            command: True/False 或 "open"/"close"
+        """
+        if isinstance(command, bool):
+            cmd_str = "OPEN" if command else "CLOSED"
+        elif isinstance(command, str):
+            cmd_str = command
+        else:
+            return {"success": False, "message": "Invalid command type"}
+        
+        return await self.set_valve_position(command=cmd_str)
+
+    def toggle(self):
+        """切换阀门状态"""
+        if self._is_open:
+            return self.close()
+        else:
+            return self.open()
+
+    def is_closed(self) -> bool:
+        """检查阀门是否关闭"""
+        return not self._is_open
+
+    def get_state(self) -> dict:
+        """获取阀门完整状态"""
+        return {
+            "device_id": self.device_id,
+            "port": self.port,
+            "voltage": self.voltage,
+            "response_time": self.response_time,
+            "is_open": self._is_open,
+            "valve_state": self._valve_state,
+            "status": self._status,
+            "position": self.get_valve_position()
+        }
+
+    async def reset(self):
+        """重置阀门到关闭状态"""
+        return await self.close()

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -0,0 +1,335 @@
+import asyncio
+import logging
+import re
+from typing import Dict, Any, Optional
+
+class VirtualSolidDispenser:
+    """
+    虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加
+    
+    特点：
+    - 高兼容性：缺少参数不报错
+    - 智能识别：自动查找固体试剂瓶
+    - 简单反馈：成功/失败 + 消息
+    """
+    
+    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+        self.device_id = device_id or "virtual_solid_dispenser"
+        self.config = config or {}
+        
+        # 设备参数
+        self.max_capacity = float(self.config.get('max_capacity', 100.0))  # 最大加样量 (g)
+        self.precision = float(self.config.get('precision', 0.001))  # 精度 (g)
+        
+        # 状态变量
+        self._status = "Idle"
+        self._current_reagent = ""
+        self._dispensed_amount = 0.0
+        self._total_operations = 0
+        
+        self.logger = logging.getLogger(f"VirtualSolidDispenser.{self.device_id}")
+        
+        print(f"=== VirtualSolidDispenser {self.device_id} 创建成功! ===")
+        print(f"=== 最大容量: {self.max_capacity}g, 精度: {self.precision}g ===")
+    
+    async def initialize(self) -> bool:
+        """初始化固体加样器"""
+        self.logger.info(f"初始化固体加样器 {self.device_id}")
+        self._status = "Ready"
+        self._current_reagent = ""
+        self._dispensed_amount = 0.0
+        return True
+    
+    async def cleanup(self) -> bool:
+        """清理固体加样器"""
+        self.logger.info(f"清理固体加样器 {self.device_id}")
+        self._status = "Idle"
+        return True
+    
+    def parse_mass_string(self, mass_str: str) -> float:
+        """
+        解析质量字符串为数值 (g)
+        
+        支持格式: "2.9 g", "19.3g", "4.5 mg", "1.2 kg" 等
+        """
+        if not mass_str or not isinstance(mass_str, str):
+            return 0.0
+        
+        # 移除空格并转小写
+        mass_clean = mass_str.strip().lower()
+        
+        # 正则匹配数字和单位
+        pattern = r'(\d+(?:\.\d+)?)\s*([a-z]*)'
+        match = re.search(pattern, mass_clean)
+        
+        if not match:
+            return 0.0
+        
+        try:
+            value = float(match.group(1))
+            unit = match.group(2) or 'g'  # 默认单位 g
+            
+            # 单位转换为 g
+            unit_multipliers = {
+                'g': 1.0,
+                'gram': 1.0,
+                'grams': 1.0,
+                'mg': 0.001,
+                'milligram': 0.001,
+                'milligrams': 0.001,
+                'kg': 1000.0,
+                'kilogram': 1000.0,
+                'kilograms': 1000.0,
+                'μg': 0.000001,
+                'ug': 0.000001,
+                'microgram': 0.000001,
+                'micrograms': 0.000001,
+            }
+            
+            multiplier = unit_multipliers.get(unit, 1.0)
+            return value * multiplier
+        
+        except (ValueError, TypeError):
+            self.logger.warning(f"无法解析质量字符串: {mass_str}")
+            return 0.0
+    
+    def parse_mol_string(self, mol_str: str) -> float:
+        """
+        解析摩尔数字符串为数值 (mol)
+        
+        支持格式: "0.12 mol", "16.2 mmol", "25.2mmol" 等
+        """
+        if not mol_str or not isinstance(mol_str, str):
+            return 0.0
+        
+        # 移除空格并转小写
+        mol_clean = mol_str.strip().lower()
+        
+        # 正则匹配数字和单位
+        pattern = r'(\d+(?:\.\d+)?)\s*(m?mol)'
+        match = re.search(pattern, mol_clean)
+        
+        if not match:
+            return 0.0
+        
+        try:
+            value = float(match.group(1))
+            unit = match.group(2)
+            
+            # 单位转换为 mol
+            if unit == 'mmol':
+                return value * 0.001
+            else:  # mol
+                return value
+        
+        except (ValueError, TypeError):
+            self.logger.warning(f"无法解析摩尔数字符串: {mol_str}")
+            return 0.0
+    
+    def find_solid_reagent_bottle(self, reagent_name: str) -> str:
+        """
+        查找固体试剂瓶
+        
+        这是一个简化版本，实际使用时应该连接到系统的设备图
+        """
+        if not reagent_name:
+            return "unknown_solid_bottle"
+        
+        # 可能的固体试剂瓶命名模式
+        possible_names = [
+            f"solid_bottle_{reagent_name}",
+            f"reagent_solid_{reagent_name}",
+            f"powder_{reagent_name}",
+            f"{reagent_name}_solid",
+            f"{reagent_name}_powder",
+            f"solid_{reagent_name}",
+        ]
+        
+        # 这里简化处理，实际应该查询设备图
+        return possible_names[0]
+    
+    async def add_solid(
+        self,
+        vessel: str,
+        reagent: str,
+        mass: str = "",
+        mol: str = "",
+        purpose: str = "",
+        **kwargs  # 兼容额外参数
+    ) -> Dict[str, Any]:
+        """
+        添加固体试剂的主要方法
+        
+        Args:
+            vessel: 目标容器
+            reagent: 试剂名称
+            mass: 质量字符串 (如 "2.9 g")
+            mol: 摩尔数字符串 (如 "0.12 mol")
+            purpose: 添加目的
+            **kwargs: 其他兼容参数
+        
+        Returns:
+            Dict: 操作结果
+        """
+        try:
+            self.logger.info(f"=== 开始固体加样操作 ===")
+            self.logger.info(f"目标容器: {vessel}")
+            self.logger.info(f"试剂: {reagent}")
+            self.logger.info(f"质量: {mass}")
+            self.logger.info(f"摩尔数: {mol}")
+            self.logger.info(f"目的: {purpose}")
+            
+            # 参数验证 - 宽松处理
+            if not vessel:
+                vessel = "main_reactor"  # 默认容器
+                self.logger.warning(f"未指定容器，使用默认容器: {vessel}")
+            
+            if not reagent:
+                return {
+                    "success": False,
+                    "message": "错误: 必须指定试剂名称",
+                    "return_info": "missing_reagent"
+                }
+            
+            # 解析质量和摩尔数
+            mass_value = self.parse_mass_string(mass)
+            mol_value = self.parse_mol_string(mol)
+            
+            self.logger.info(f"解析后 - 质量: {mass_value}g, 摩尔数: {mol_value}mol")
+            
+            # 确定实际加样量
+            if mass_value > 0:
+                actual_amount = mass_value
+                amount_unit = "g"
+                self.logger.info(f"按质量加样: {actual_amount} {amount_unit}")
+            elif mol_value > 0:
+                # 简化处理：假设分子量为100 g/mol
+                assumed_mw = 100.0
+                actual_amount = mol_value * assumed_mw
+                amount_unit = "g (from mol)"
+                self.logger.info(f"按摩尔数加样: {mol_value} mol → {actual_amount} g (假设分子量 {assumed_mw})")
+            else:
+                # 没有指定量，使用默认值
+                actual_amount = 1.0
+                amount_unit = "g (default)"
+                self.logger.warning(f"未指定质量或摩尔数，使用默认值: {actual_amount} {amount_unit}")
+            
+            # 检查容量限制
+            if actual_amount > self.max_capacity:
+                return {
+                    "success": False,
+                    "message": f"错误: 请求量 {actual_amount}g 超过最大容量 {self.max_capacity}g",
+                    "return_info": "exceeds_capacity"
+                }
+            
+            # 查找试剂瓶
+            reagent_bottle = self.find_solid_reagent_bottle(reagent)
+            self.logger.info(f"使用试剂瓶: {reagent_bottle}")
+            
+            # 模拟加样过程
+            self._status = "Dispensing"
+            self._current_reagent = reagent
+            
+            # 计算操作时间 (基于质量)
+            operation_time = max(0.5, actual_amount * 0.1)  # 每克0.1秒，最少0.5秒
+            
+            self.logger.info(f"开始加样，预计时间: {operation_time:.1f}秒")
+            await asyncio.sleep(operation_time)
+            
+            # 更新状态
+            self._dispensed_amount = actual_amount
+            self._total_operations += 1
+            self._status = "Ready"
+            
+            # 成功结果
+            success_message = f"成功添加 {reagent} {actual_amount:.3f} {amount_unit} 到 {vessel}"
+            
+            self.logger.info(f"=== 固体加样完成 ===")
+            self.logger.info(success_message)
+            
+            return {
+                "success": True,
+                "message": success_message,
+                "return_info": f"dispensed_{actual_amount:.3f}g"
+            }
+            
+        except Exception as e:
+            error_message = f"固体加样失败: {str(e)}"
+            self.logger.error(error_message)
+            self._status = "Error"
+            
+            return {
+                "success": False,
+                "message": error_message,
+                "return_info": "operation_failed"
+            }
+    
+    # 状态属性
+    @property
+    def status(self) -> str:
+        return self._status
+    
+    @property
+    def current_reagent(self) -> str:
+        return self._current_reagent
+    
+    @property
+    def dispensed_amount(self) -> float:
+        return self._dispensed_amount
+    
+    @property
+    def total_operations(self) -> int:
+        return self._total_operations
+    
+    def get_device_info(self) -> Dict[str, Any]:
+        """获取设备状态信息"""
+        return {
+            "device_id": self.device_id,
+            "status": self._status,
+            "current_reagent": self._current_reagent,
+            "last_dispensed_amount": self._dispensed_amount,
+            "total_operations": self._total_operations,
+            "max_capacity": self.max_capacity,
+            "precision": self.precision
+        }
+    
+    def __str__(self):
+        return f"VirtualSolidDispenser({self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
+
+
+# 测试函数
+async def test_solid_dispenser():
+    """测试固体加样器"""
+    print("=== 固体加样器测试 ===")
+    
+    dispenser = VirtualSolidDispenser("test_dispenser")
+    await dispenser.initialize()
+    
+    # 测试1: 按质量加样
+    result1 = await dispenser.add_solid(
+        vessel="main_reactor",
+        reagent="magnesium",
+        mass="2.9 g"
+    )
+    print(f"测试1结果: {result1}")
+    
+    # 测试2: 按摩尔数加样
+    result2 = await dispenser.add_solid(
+        vessel="main_reactor",
+        reagent="sodium_nitrite",
+        mol="0.28 mol"
+    )
+    print(f"测试2结果: {result2}")
+    
+    # 测试3: 缺少参数
+    result3 = await dispenser.add_solid(
+        reagent="test_compound"
+    )
+    print(f"测试3结果: {result3}")
+    
+    print(f"设备信息: {dispenser.get_device_info()}")
+    print("=== 测试完成 ===")
+
+
+if __name__ == "__main__":
+    asyncio.run(test_solid_dispenser())

unilabos/devices/virtual/virtual_stirrer.py

@@ -1,9 +1,10 @@
 import asyncio
 import logging
+import time as time_module
 from typing import Dict, Any
 
 class VirtualStirrer:
-    """Virtual stirrer device for StirProtocol testing"""
+    """Virtual stirrer device for StirProtocol testing - 功能完整版"""
     
     def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
         # 处理可能的不同调用方式
@@ -19,86 +20,196 @@ class VirtualStirrer:
         self.logger = logging.getLogger(f"VirtualStirrer.{self.device_id}")
         self.data = {}
         
-        # 添加调试信息
-        print(f"=== VirtualStirrer {self.device_id} is being created! ===")
-        print(f"=== Config: {self.config} ===")
-        print(f"=== Kwargs: {kwargs} ===")
-        
         # 从config或kwargs中获取配置参数
         self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
-        self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1000.0)
+        self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1500.0)
+        self._min_speed = self.config.get('min_speed') or kwargs.get('min_speed', 50.0)
         
-        # 处理其他kwargs参数，但跳过已知的配置参数
-        skip_keys = {'port', 'max_temp', 'max_speed'}
+        # 处理其他kwargs参数
+        skip_keys = {'port', 'max_speed', 'min_speed'}
         for key, value in kwargs.items():
             if key not in skip_keys and not hasattr(self, key):
                 setattr(self, key, value)
     
     async def initialize(self) -> bool:
         """Initialize virtual stirrer"""
-        print(f"=== VirtualStirrer {self.device_id} initialize() called! ===")
         self.logger.info(f"Initializing virtual stirrer {self.device_id}")
+        
+        # 初始化状态信息
         self.data.update({
-            "status": "Idle"
+            "status": "Idle",
+            "operation_mode": "Idle",          # 操作模式: Idle, Stirring, Settling, Completed, Error
+            "current_vessel": "",              # 当前搅拌的容器
+            "current_speed": 0.0,              # 当前搅拌速度
+            "is_stirring": False,              # 是否正在搅拌
+            "remaining_time": 0.0,             # 剩余时间
         })
         return True
     
     async def cleanup(self) -> bool:
         """Cleanup virtual stirrer"""
         self.logger.info(f"Cleaning up virtual stirrer {self.device_id}")
+        self.data.update({
+            "status": "Offline",
+            "operation_mode": "Offline",
+            "current_vessel": "",
+            "current_speed": 0.0,
+            "is_stirring": False,
+            "remaining_time": 0.0,
+        })
         return True
     
     async def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> bool:
-        """Execute stir action - matches Stir action exactly"""
+        """Execute stir action - 定时搅拌 + 沉降"""
         self.logger.info(f"Stir: speed={stir_speed} RPM, time={stir_time}s, settling={settling_time}s")
         
         # 验证参数
-        if stir_speed > self._max_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+        if stir_speed > self._max_speed or stir_speed < self._min_speed:
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
-        # 开始搅拌
-        self.data["status"] = f"搅拌中: {stir_speed} RPM, {stir_time}s"
+        # === 第一阶段：搅拌 ===
+        start_time = time_module.time()
+        total_stir_time = stir_time
         
-        # 模拟搅拌时间
-        simulation_time = min(stir_time, 10.0)  # 最多等待10秒用于测试
-        await asyncio.sleep(simulation_time)
+        self.data.update({
+            "status": f"搅拌中: {stir_speed} RPM | 剩余: {total_stir_time:.0f}s",
+            "operation_mode": "Stirring",
+            "current_speed": stir_speed,
+            "is_stirring": True,
+            "remaining_time": total_stir_time,
+        })
         
-        # 搅拌完成，开始沉降
+        # 搅拌过程 - 实时更新剩余时间
+        while True:
+            current_time = time_module.time()
+            elapsed = current_time - start_time
+            remaining = max(0, total_stir_time - elapsed)
+            
+            # 更新状态
+            self.data.update({
+                "remaining_time": remaining,
+                "status": f"搅拌中: {stir_speed} RPM | 剩余: {remaining:.0f}s"
+            })
+            
+            # 搅拌时间到了
+            if remaining <= 0:
+                break
+            
+            await asyncio.sleep(1.0)
+        
+        # === 第二阶段：沉降（如果需要）===
         if settling_time > 0:
-            self.data["status"] = f"沉降中: {settling_time}s"
-            settling_simulation = min(settling_time, 5.0)  # 最多等待5秒
-            await asyncio.sleep(settling_simulation)
+            start_settling_time = time_module.time()
+            total_settling_time = settling_time
+            
+            self.data.update({
+                "status": f"沉降中: 停止搅拌 | 剩余: {total_settling_time:.0f}s",
+                "operation_mode": "Settling",
+                "current_speed": 0.0,
+                "is_stirring": False,
+                "remaining_time": total_settling_time,
+            })
+            
+            # 沉降过程 - 实时更新剩余时间
+            while True:
+                current_time = time_module.time()
+                elapsed = current_time - start_settling_time
+                remaining = max(0, total_settling_time - elapsed)
+                
+                # 更新状态
+                self.data.update({
+                    "remaining_time": remaining,
+                    "status": f"沉降中: 停止搅拌 | 剩余: {remaining:.0f}s"
+                })
+                
+                # 沉降时间到了
+                if remaining <= 0:
+                    break
+                
+                await asyncio.sleep(1.0)
         
-        # 操作完成
-        self.data["status"] = "搅拌完成"
+        # === 操作完成 ===
+        settling_info = f" | 沉降: {settling_time:.0f}s" if settling_time > 0 else ""
+        self.data.update({
+            "status": f"完成: 搅拌 {stir_speed} RPM, {stir_time:.0f}s{settling_info}",
+            "operation_mode": "Completed",
+            "current_speed": 0.0,
+            "is_stirring": False,
+            "remaining_time": 0.0,
+        })
         
-        self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s")
+        self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s + settling {settling_time}s")
         return True
     
     async def start_stir(self, vessel: str, stir_speed: float, purpose: str) -> bool:
-        """Start stir action - matches StartStir action exactly"""
+        """Start stir action - 开始持续搅拌"""
         self.logger.info(f"StartStir: vessel={vessel}, speed={stir_speed} RPM, purpose={purpose}")
         
         # 验证参数
-        if stir_speed > self._max_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+        if stir_speed > self._max_speed or stir_speed < self._min_speed:
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
-        self.data["status"] = f"开始搅拌: {vessel} at {stir_speed} RPM"
+        self.data.update({
+            "status": f"启动: 持续搅拌 {vessel} at {stir_speed} RPM | {purpose}",
+            "operation_mode": "Stirring",
+            "current_vessel": vessel,
+            "current_speed": stir_speed,
+            "is_stirring": True,
+            "remaining_time": -1.0,  # -1 表示持续运行
+        })
+        
         return True
     
     async def stop_stir(self, vessel: str) -> bool:
-        """Stop stir action - matches StopStir action exactly"""
+        """Stop stir action - 停止搅拌"""
         self.logger.info(f"StopStir: vessel={vessel}")
         
-        self.data["status"] = f"停止搅拌: {vessel}"
+        current_speed = self.data.get("current_speed", 0.0)
+        
+        self.data.update({
+            "status": f"已停止: {vessel} 搅拌停止 | 之前速度: {current_speed} RPM",
+            "operation_mode": "Stopped",
+            "current_vessel": "",
+            "current_speed": 0.0,
+            "is_stirring": False,
+            "remaining_time": 0.0,
+        })
+        
         return True
     
-    # 状态属性 - 只保留 action 中定义的 feedback
+    # 状态属性
     @property
     def status(self) -> str:
-        return self.data.get("status", "Idle")
+        return self.data.get("status", "Idle")
+    
+    @property
+    def operation_mode(self) -> str:
+        return self.data.get("operation_mode", "Idle")
+    
+    @property
+    def current_vessel(self) -> str:
+        return self.data.get("current_vessel", "")
+    
+    @property
+    def current_speed(self) -> float:
+        return self.data.get("current_speed", 0.0)
+    
+    @property
+    def is_stirring(self) -> bool:
+        return self.data.get("is_stirring", False)
+    
+    @property
+    def remaining_time(self) -> float:
+        return self.data.get("remaining_time", 0.0)

unilabos/devices/virtual/virtual_transferpump.py

@@ -1,149 +1,328 @@
 import asyncio
+import time
+from enum import Enum
+from typing import Union, Optional
 import logging
-from typing import Dict, Any, Optional
+
+
+class VirtualPumpMode(Enum):
+    Normal = 0
+    AccuratePos = 1
+    AccuratePosVel = 2
+
 
 class VirtualTransferPump:
-    """Virtual pump device specifically for Transfer protocol"""
+    """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件"""
     
-    def __init__(self, device_id: str = None, config: 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')
+    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
+        """
+        初始化虚拟转移泵
         
-        # 设置默认值
-        self.device_id = device_id or "unknown_transfer_pump"
-        self.config = config or {}
+        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')
+        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)
+        
+        # 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._current_volume = 0.0  # float
+
         self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-        self.data = {}
-        
-        # 添加调试信息
-        print(f"=== VirtualTransferPump {self.device_id} is being created! ===")
-        print(f"=== Config: {self.config} ===")
-        print(f"=== Kwargs: {kwargs} ===")
-        
-        # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
-        self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 5.0)
-        self._current_volume = 0.0
-        self.is_running = False
     
     async def initialize(self) -> bool:
-        """Initialize virtual transfer pump"""
-        print(f"=== VirtualTransferPump {self.device_id} initialize() called! ===")
-        self.logger.info(f"Initializing virtual transfer pump {self.device_id}")
-        self.data.update({
-            "status": "Idle",
-            "current_volume": 0.0,
-            "max_volume": self._max_volume,
-            "transfer_rate": self._transfer_rate,
-            "from_vessel": "",
-            "to_vessel": "",
-            "progress": 0.0,
-            "transferred_volume": 0.0,
-            "current_status": "Ready"
-        })
+        """初始化虚拟泵"""
+        self.logger.info(f"Initializing virtual pump {self.device_id}")
+        self._status = "Idle"
+        self._position = 0.0
+        self._current_volume = 0.0
         return True
     
     async def cleanup(self) -> bool:
-        """Cleanup virtual transfer pump"""
-        self.logger.info(f"Cleaning up virtual transfer pump {self.device_id}")
+        """清理虚拟泵"""
+        self.logger.info(f"Cleaning up virtual pump {self.device_id}")
+        self._status = "Idle"
         return True
     
-    async def transfer(self, from_vessel: str, to_vessel: str, volume: float, 
-                      amount: str = "", time: float = 0, viscous: bool = False,
-                      rinsing_solvent: str = "", rinsing_volume: float = 0.0,
-                      rinsing_repeats: int = 0, solid: bool = False) -> bool:
-        """Execute liquid transfer - matches Transfer action"""
-        self.logger.info(f"Transfer: {volume}mL from {from_vessel} to {to_vessel}")
-        
-        # 计算转移时间
-        if time > 0:
-            transfer_time = time
-        else:
-            # 如果是粘性液体，降低转移速率
-            rate = self._transfer_rate * 0.5 if viscous else self._transfer_rate
-            transfer_time = volume / rate
-        
-        self.data.update({
-            "status": "Running",
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "current_status": "Transferring",
-            "progress": 0.0,
-            "transferred_volume": 0.0
-        })
-        
-        # 模拟转移过程
-        steps = 10
-        step_time = transfer_time / steps
-        step_volume = volume / steps
-        
-        for i in range(steps):
-            await asyncio.sleep(step_time)
-            progress = (i + 1) / steps * 100
-            transferred = (i + 1) * step_volume
-            
-            self.data.update({
-                "progress": progress,
-                "transferred_volume": transferred,
-                "current_status": f"Transferring {progress:.1f}%"
-            })
-            
-            self.logger.info(f"Transfer progress: {progress:.1f}% ({transferred:.1f}/{volume}mL)")
-        
-        # 如果需要冲洗
-        if rinsing_solvent and rinsing_volume > 0 and rinsing_repeats > 0:
-            self.data["current_status"] = "Rinsing"
-            for repeat in range(rinsing_repeats):
-                self.logger.info(f"Rinsing cycle {repeat + 1}/{rinsing_repeats} with {rinsing_solvent}")
-                await asyncio.sleep(1)  # 模拟冲洗时间
-        
-        self.data.update({
-            "status": "Idle",
-            "current_status": "Transfer completed",
-            "progress": 100.0,
-            "transferred_volume": volume
-        })
-        
-        return True
-    
-    # 添加所有在virtual_device.yaml中定义的状态属性
+    # 基本属性
     @property
     def status(self) -> str:
-        return self.data.get("status", "Unknown")
+        return self._status
+    
+    @property
+    def position(self) -> float:
+        """当前柱塞位置 (ml)"""
+        return self._position
     
     @property
     def current_volume(self) -> float:
-        return self.data.get("current_volume", 0.0)
+        """当前注射器中的体积 (ml)"""
+        return self._current_volume
     
     @property
-    def max_volume(self) -> float:
-        return self.data.get("max_volume", self._max_volume)
+    def max_velocity(self) -> float:
+        return self._max_velocity
     
     @property
     def transfer_rate(self) -> float:
-        return self.data.get("transfer_rate", self._transfer_rate)
+        return self._transfer_rate
+
+    def set_max_velocity(self, velocity: float):
+        """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"Set max velocity to {self._max_velocity} ml/s")
     
-    @property
-    def from_vessel(self) -> str:
-        return self.data.get("from_vessel", "")
+    def get_status(self) -> str:
+        """获取泵状态"""
+        return self._status
     
-    @property
-    def to_vessel(self) -> str:
-        return self.data.get("to_vessel", "")
+    async def _simulate_operation(self, duration: float):
+        """模拟操作延时"""
+        self._status = "Busy"
+        await asyncio.sleep(duration)
+        self._status = "Idle"
     
-    @property
-    def progress(self) -> float:
-        return self.data.get("progress", 0.0)
+    def _calculate_duration(self, volume: float, velocity: float = None) -> float:
+        """计算操作持续时间"""
+        if velocity is None:
+            velocity = self._max_velocity
+        return abs(volume) / velocity
     
-    @property
-    def transferred_volume(self) -> float:
-        return self.data.get("transferred_volume", 0.0)
+    # 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
+        """
+        try:
+            # 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))
+            
+            # 计算移动距离和时间
+            volume_to_move = abs(target_position - self._position)
+            duration = self._calculate_duration(volume_to_move, velocity)
+            
+            self.logger.info(f"SET_POSITION: Moving to {target_position} ml (current: {self._position} ml), velocity: {velocity} ml/s")
+            
+            # 模拟移动过程
+            start_position = self._position
+            steps = 10 if duration > 0.1 else 1  # 如果移动距离很小，只用1步
+            step_duration = duration / steps if steps > 1 else duration
+            
+            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
+                
+                # 更新状态
+                self._status = "Moving" if i < steps else "Idle"
+                self._position = current_pos
+                self._current_volume = current_pos
+                
+                # 等待一小步时间
+                if i < steps and step_duration > 0:
+                    await asyncio.sleep(step_duration)
+        
+            # 确保最终位置准确
+            self._position = target_position
+            self._current_volume = target_position
+            self._status = "Idle"
+            
+            self.logger.info(f"SET_POSITION: Reached position {self._position} ml, current volume: {self._current_volume} ml")
+            
+            # 返回符合action定义的结果
+            return {
+                "success": True,
+                "message": f"Successfully moved to position {self._position} ml"
+            }
+            
+        except Exception as e:
+            error_msg = f"Failed to set position: {str(e)}"
+            self.logger.error(error_msg)
+            return {
+                "success": False,
+                "message": error_msg
+            }
     
-    @property
-    def current_status(self) -> str:
-        return self.data.get("current_status", "Ready")
+    # 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("Cannot pull - already at maximum volume")
+            return
+        
+        duration = self._calculate_duration(actual_volume, velocity)
+        
+        self.logger.info(f"Pulling {actual_volume} ml (from {self._position} to {new_position})")
+        
+        await self._simulate_operation(duration)
+        
+        self._position = new_position
+        self._current_volume = new_position
+        
+        self.logger.info(f"Pulled {actual_volume} ml, current volume: {self._current_volume} 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("Cannot push - already at minimum volume")
+            return
+        
+        duration = self._calculate_duration(actual_volume, velocity)
+        
+        self.logger.info(f"Pushing {actual_volume} ml (from {self._position} to {new_position})")
+        
+        await self._simulate_operation(duration)
+        
+        self._position = new_position
+        self._current_volume = new_position
+        
+        self.logger.info(f"Pushed {actual_volume} ml, current volume: {self._current_volume} 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）"""
+        # 吸液
+        await self.aspirate(volume, aspirate_velocity)
+        
+        # 短暂停顿
+        await asyncio.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
+    
+    # 调试和状态信息
+    def get_pump_info(self) -> dict:
+        """获取泵的详细信息"""
+        return {
+            "device_id": self.device_id,
+            "status": self._status,
+            "position": self._position,
+            "current_volume": self._current_volume,
+            "max_volume": self.max_volume,
+            "max_velocity": self._max_velocity,
+            "mode": self.mode.name,
+            "is_empty": self.is_empty(),
+            "is_full": self.is_full(),
+            "remaining_capacity": self.get_remaining_capacity()
+        }
+    
+    def __str__(self):
+        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+    
+    def __repr__(self):
+        return self.__str__()
+
+
+# 使用示例
+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}")
+    print(f"After emptying: {pump}")
+    
+    print("\nPump info:", pump.get_pump_info())
+
+
+if __name__ == "__main__":
+    asyncio.run(demo())

unilabos/devices/virtual/virtual_vacuum_pump.py

@@ -0,0 +1,47 @@
+import asyncio
+import time
+from typing import Dict, Any, Optional
+
+
+class VirtualVacuumPump:
+    """Virtual vacuum pump for testing"""
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        self.device_id = device_id or "unknown_vacuum_pump"
+        self.config = config or {}
+        self.data = {}
+        self._status = "OPEN"
+
+    async def initialize(self) -> bool:
+        """Initialize virtual vacuum pump"""
+        self.data.update({
+            "status": self._status
+        })
+        return True
+
+    async def cleanup(self) -> bool:
+        """Cleanup virtual vacuum pump"""
+        return True
+
+    @property
+    def status(self) -> str:
+        return self._status
+
+    def get_status(self) -> str:
+        return self._status
+
+    def set_status(self, string):
+        self._status = string
+        time.sleep(5)
+
+    def open(self):
+        self._status = "OPEN"
+
+    def close(self):
+        self._status = "CLOSED"
+
+    def is_open(self):
+        return self._status
+
+    def is_closed(self):
+        return not self._status

unilabos/devices/zhida_hplc/zhida.py

@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
-import socket
-import json
 import base64
-import argparse
-import sys
+import json
+import socket
 import time
 
 
@@ -96,17 +94,20 @@ class ZhidaClient:
     def abort(self) -> dict:
         return self._send_command({"command": "abort"})
 
-"""
-a,b,c
-1,2,4
-2,4,5
-"""
 
-client = ZhidaClient()
-# 连接
-client.connect()
-# 获取状态
-print(client.status)
+if __name__ == "__main__":
+
+    """
+    a,b,c
+    1,2,4
+    2,4,5
+    """
+
+    client = ZhidaClient()
+    # 连接
+    client.connect()
+    # 获取状态
+    print(client.status)
 
 
-# 命令格式：python zhida.py <subcommand> [options]
+    # 命令格式：python zhida.py <subcommand> [options]

unilabos/messages/__init__.py

@@ -10,18 +10,88 @@ class Point3D(BaseModel):
 # Start Protocols
 
 class PumpTransferProtocol(BaseModel):
+    # === 核心参数（保持必需） ===
     from_vessel: str
     to_vessel: str
-    volume: float
+    
+    # === 所有其他参数都改为可选，添加默认值 ===
+    volume: float = 0.0  # 🔧 改为-1，表示转移全部体积
     amount: str = ""
-    time: float = 0
+    time: float = 0.0
     viscous: bool = False
-    rinsing_solvent: str = "air"
-    rinsing_volume: float = 5000
-    rinsing_repeats: int = 2
+    rinsing_solvent: str = ""
+    rinsing_volume: float = 0.0
+    rinsing_repeats: int = 0
     solid: bool = False
-    flowrate: float = 500
-    transfer_flowrate: float = 2500
+    flowrate: float = 2.5
+    transfer_flowrate: float = 0.5
+    
+    # === 新版XDL兼容参数（可选） ===
+    rate_spec: str = ""
+    event: str = ""
+    through: str = ""
+    
+    def model_post_init(self, __context):
+        """后处理：智能参数处理和兼容性调整"""
+            
+        # 如果指定了 amount 但volume是默认值，尝试解析 amount
+        if self.amount and self.volume == 0.0:
+            parsed_volume = self._parse_amount_to_volume(self.amount)
+            if parsed_volume > 0:
+                self.volume = parsed_volume
+        
+        # 如果指定了 time 但没有明确设置流速，根据时间计算流速
+        if self.time > 0 and self.volume > 0:
+            if self.flowrate == 2.5 and self.transfer_flowrate == 0.5:
+                calculated_flowrate = self.volume / self.time
+                self.flowrate = min(calculated_flowrate, 10.0)
+                self.transfer_flowrate = min(calculated_flowrate, 5.0)
+        
+        # 🔧 核心修复：如果flowrate为0（ROS2传入），使用默认值
+        if self.flowrate <= 0:
+            self.flowrate = 2.5
+        if self.transfer_flowrate <= 0:
+            self.transfer_flowrate = 0.5
+            
+        # 根据 rate_spec 调整流速
+        if self.rate_spec == "dropwise":
+            self.flowrate = min(self.flowrate, 0.1)
+            self.transfer_flowrate = min(self.transfer_flowrate, 0.1)
+        elif self.rate_spec == "slowly":
+            self.flowrate = min(self.flowrate, 0.5)
+            self.transfer_flowrate = min(self.transfer_flowrate, 0.3)
+        elif self.rate_spec == "quickly":
+            self.flowrate = max(self.flowrate, 5.0)
+            self.transfer_flowrate = max(self.transfer_flowrate, 2.0)
+    
+    def _parse_amount_to_volume(self, amount: str) -> float:
+        """解析 amount 字符串为体积"""
+        if not amount:
+            return 0.0
+        
+        amount = amount.lower().strip()
+        
+        # 处理特殊关键词
+        if amount == "all":
+            return 0.0  # 🔧 "all"也表示转移全部
+        
+        # 提取数字
+        import re
+        numbers = re.findall(r'[\d.]+', amount)
+        if numbers:
+            volume = float(numbers[0])
+            
+            # 单位转换
+            if 'ml' in amount or 'milliliter' in amount:
+                return volume
+            elif 'l' in amount and 'ml' not in amount:
+                return volume * 1000
+            elif 'μl' in amount or 'microliter' in amount:
+                return volume / 1000
+            else:
+                return volume
+        
+        return 0.0
 
 
 class CleanProtocol(BaseModel):
@@ -33,33 +103,112 @@ class CleanProtocol(BaseModel):
 
 
 class SeparateProtocol(BaseModel):
-    purpose: str  # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
-    product_phase: str # 'top' or 'bottom'. Phase that product will be in.
-    from_vessel: str #Contents of from_vessel are transferred to separation_vessel and separation is performed.
-    separation_vessel: str # Vessel in which separation of phases will be carried out.
-    to_vessel: str # Vessel to send product phase to.
-    waste_phase_to_vessel: str # Optional. Vessel to send waste phase to.
-    solvent: str # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
-    solvent_volume: float # Optional. Volume of solvent to add.
-    through: str # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
-    repeats: int # Optional. Number of separations to perform.
-    stir_time: float # Optional. Time stir for after adding solvent, before separation of phases.
-    stir_speed: float # Optional. Speed to stir at after adding solvent, before separation of phases.
-    settling_time: float # Optional. Time
+    purpose: str
+    product_phase: str
+    from_vessel: str
+    separation_vessel: str
+    to_vessel: str
+    waste_phase_to_vessel: str
+    solvent: str
+    solvent_volume: float
+    through: str
+    repeats: int
+    stir_time: float
+    stir_speed: float
+    settling_time: float
 
 
 class EvaporateProtocol(BaseModel):
-    vessel: str
-    pressure: float
-    temp: float
-    time: float
-    stir_speed: float
+    # === 核心参数（必需） ===
+    vessel: str = Field(..., description="蒸发容器名称")
+    
+    # === 所有其他参数都改为可选，添加默认值 ===
+    pressure: float = Field(0.1, description="真空度 (bar)，默认0.1 bar")
+    temp: float = Field(60.0, description="加热温度 (°C)，默认60°C")
+    time: float = Field(1800.0, description="蒸发时间 (秒)，默认1800s (30分钟)")
+    stir_speed: float = Field(100.0, description="旋转速度 (RPM)，默认100 RPM")
+    
+    # === 新版XDL兼容参数（可选） ===
+    solvent: str = Field("", description="溶剂名称（用于识别蒸发的溶剂类型）")
+    
+    def model_post_init(self, __context):
+        """后处理：智能参数处理和兼容性调整"""
+        
+        # 参数范围验证和修正
+        if self.pressure <= 0 or self.pressure > 1.0:
+            logger.warning(f"真空度 {self.pressure} bar 超出范围，修正为 0.1 bar")
+            self.pressure = 0.1
+        
+        if self.temp < 10.0 or self.temp > 200.0:
+            logger.warning(f"温度 {self.temp}°C 超出范围，修正为 60°C")
+            self.temp = 60.0
+        
+        if self.time <= 0:
+            logger.warning(f"时间 {self.time}s 无效，修正为 1800s")
+            self.time = 1800.0
+        
+        if self.stir_speed < 10.0 or self.stir_speed > 300.0:
+            logger.warning(f"旋转速度 {self.stir_speed} RPM 超出范围，修正为 100 RPM")
+            self.stir_speed = 100.0
+        
+        # 根据溶剂类型调整参数
+        if self.solvent:
+            self._adjust_parameters_by_solvent()
+    
+    def _adjust_parameters_by_solvent(self):
+        """根据溶剂类型调整蒸发参数"""
+        solvent_lower = self.solvent.lower()
+        
+        # 水系溶剂：较高温度，较低真空度
+        if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
+            if self.temp == 60.0:  # 如果是默认值，则调整
+                self.temp = 80.0
+            if self.pressure == 0.1:
+                self.pressure = 0.2
+        
+        # 有机溶剂：根据沸点调整
+        elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            if self.temp == 60.0:
+                self.temp = 50.0
+            if self.pressure == 0.1:
+                self.pressure = 0.05
+        
+        # 高沸点溶剂：更高温度
+        elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
+            if self.temp == 60.0:
+                self.temp = 100.0
+            if self.pressure == 0.1:
+                self.pressure = 0.01
 
 
 class EvacuateAndRefillProtocol(BaseModel):
-    vessel: str
-    gas: str
-    repeats: int
+    # === 必需参数 ===
+    vessel: str = Field(..., description="目标容器名称")
+    gas: str = Field(..., description="气体名称")
+    
+    # 🔧 删除 repeats 参数，直接在代码中硬编码为 3 次
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证和兼容性调整"""
+        
+        # 验证气体名称
+        if not self.gas.strip():
+            logger.warning("气体名称为空，使用默认值 'nitrogen'")
+            self.gas = "nitrogen"
+        
+        # 标准化气体名称
+        gas_aliases = {
+            'n2': 'nitrogen',
+            'ar': 'argon', 
+            'air': 'air',
+            'o2': 'oxygen',
+            'co2': 'carbon_dioxide',
+            'h2': 'hydrogen'
+        }
+        
+        gas_lower = self.gas.lower().strip()
+        if gas_lower in gas_aliases:
+            self.gas = gas_aliases[gas_lower]
 
 
 class AGVTransferProtocol(BaseModel):
@@ -67,6 +216,7 @@ class AGVTransferProtocol(BaseModel):
     to_repo: dict
     from_repo_position: str
     to_repo_position: str
+
 #=============新添加的新的协议================
 class AddProtocol(BaseModel):
     vessel: str
@@ -84,45 +234,285 @@ class CentrifugeProtocol(BaseModel):
     vessel: str
     speed: float
     time: float
-    temp: float  # 移除默认值
+    temp: float
 
 class FilterProtocol(BaseModel):
-    vessel: str
-    filtrate_vessel: str  # 移除默认值
-    stir: bool  # 移除默认值
-    stir_speed: float  # 移除默认值
-    temp: float  # 移除默认值
-    continue_heatchill: bool  # 移除默认值
-    volume: float  # 移除默认值
+    # === 必需参数 ===
+    vessel: str = Field(..., description="过滤容器名称")
+    
+    # === 可选参数 ===
+    filtrate_vessel: str = Field("", description="滤液容器名称（可选，自动查找）")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证"""
+        # 验证容器名称
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
 
 class HeatChillProtocol(BaseModel):
-    vessel: str
-    temp: float
-    time: float
-    stir: bool
-    stir_speed: float
-    purpose: str
+    # === 必需参数 ===
+    vessel: str = Field(..., description="加热容器名称")
+    
+    # === 可选参数 - 温度相关 ===
+    temp: float = Field(25.0, description="目标温度 (°C)")
+    temp_spec: str = Field("", description="温度规格（如 'room temperature', 'reflux'）")
+    
+    # === 可选参数 - 时间相关 ===
+    time: float = Field(300.0, description="加热时间 (秒)")
+    time_spec: str = Field("", description="时间规格（如 'overnight', '2 h'）")
+    
+    # === 可选参数 - 其他XDL参数 ===
+    pressure: str = Field("", description="压力规格（如 '1 mbar'），不做特殊处理")
+    reflux_solvent: str = Field("", description="回流溶剂名称，不做特殊处理")
+    
+    # === 可选参数 - 搅拌相关 ===
+    stir: bool = Field(False, description="是否搅拌")
+    stir_speed: float = Field(300.0, description="搅拌速度 (RPM)")
+    purpose: str = Field("", description="操作目的")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证和解析"""
+        
+        # 验证必需参数
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
+        
+        # 温度解析：优先使用 temp_spec，然后是 temp
+        if self.temp_spec:
+            self.temp = self._parse_temp_spec(self.temp_spec)
+        
+        # 时间解析：优先使用 time_spec，然后是 time
+        if self.time_spec:
+            self.time = self._parse_time_spec(self.time_spec)
+        
+        # 参数范围验证
+        if self.temp < -50.0 or self.temp > 300.0:
+            logger.warning(f"温度 {self.temp}°C 超出范围，修正为 25°C")
+            self.temp = 25.0
+        
+        if self.time < 0:
+            logger.warning(f"时间 {self.time}s 无效，修正为 300s")
+            self.time = 300.0
+        
+        if self.stir_speed < 0 or self.stir_speed > 1500.0:
+            logger.warning(f"搅拌速度 {self.stir_speed} RPM 超出范围，修正为 300 RPM")
+            self.stir_speed = 300.0
+    
+    def _parse_temp_spec(self, temp_spec: str) -> float:
+        """解析温度规格为具体温度"""
+        
+        temp_spec = temp_spec.strip().lower()
+        
+        # 特殊温度规格
+        special_temps = {
+            "room temperature": 25.0,      # 室温
+            "reflux": 78.0,                 # 默认回流温度（乙醇沸点）
+            "ice bath": 0.0,                # 冰浴
+            "boiling": 100.0,               # 沸腾
+            "hot": 60.0,                    # 热
+            "warm": 40.0,                   # 温热
+            "cold": 10.0,                   # 冷
+        }
+        
+        if temp_spec in special_temps:
+            return special_temps[temp_spec]
+        
+        # 解析带单位的温度（如 "256 °C"）
+        import re
+        temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
+        match = re.search(temp_pattern, temp_spec)
+        
+        if match:
+            return float(match.group(1))
+        
+        return 25.0  # 默认室温
+    
+    def _parse_time_spec(self, time_spec: str) -> float:
+        """解析时间规格为秒数"""
+        
+        time_spec = time_spec.strip().lower()
+        
+        # 特殊时间规格
+        special_times = {
+            "overnight": 43200.0,           # 12小时
+            "several hours": 10800.0,       # 3小时
+            "few hours": 7200.0,            # 2小时
+            "long time": 3600.0,            # 1小时
+            "short time": 300.0,            # 5分钟
+        }
+        
+        if time_spec in special_times:
+            return special_times[time_spec]
+        
+        # 解析带单位的时间（如 "2 h"）
+        import re
+        time_pattern = r'(\d+(?:\.\d+)?)\s*([a-zA-Z]+)'
+        match = re.search(time_pattern, time_spec)
+        
+        if match:
+            value = float(match.group(1))
+            unit = match.group(2).lower()
+            
+            unit_multipliers = {
+                's': 1.0,
+                'sec': 1.0,
+                'second': 1.0,
+                'seconds': 1.0,
+                'min': 60.0,
+                'minute': 60.0,
+                'minutes': 60.0,
+                'h': 3600.0,
+                'hr': 3600.0,
+                'hour': 3600.0,
+                'hours': 3600.0,
+            }
+            
+            multiplier = unit_multipliers.get(unit, 3600.0)  # 默认按小时计算
+            return value * multiplier
+        
+        return 300.0  # 默认5分钟
+
 
 class HeatChillStartProtocol(BaseModel):
-    vessel: str
-    temp: float
-    purpose: str
+    # === 必需参数 ===
+    vessel: str = Field(..., description="加热容器名称")
+
+    # === 可选参数 - 温度相关 ===
+    temp: float = Field(25.0, description="目标温度 (°C)")
+    temp_spec: str = Field("", description="温度规格（如 'room temperature', 'reflux'）")
+
+    # === 可选参数 - 其他XDL参数 ===
+    pressure: str = Field("", description="压力规格（如 '1 mbar'），不做特殊处理")
+    reflux_solvent: str = Field("", description="回流溶剂名称，不做特殊处理")
+
+    # === 可选参数 - 搅拌相关 ===
+    stir: bool = Field(False, description="是否搅拌")
+    stir_speed: float = Field(300.0, description="搅拌速度 (RPM)")
+    purpose: str = Field("", description="操作目的")
+
 
 class HeatChillStopProtocol(BaseModel):
-    vessel: str
+    # === 必需参数 ===
+    vessel: str = Field(..., description="加热容器名称")
+
 
 class StirProtocol(BaseModel):
-    stir_time: float
-    stir_speed: float
-    settling_time: float
+    # === 必需参数 ===
+    vessel: str = Field(..., description="搅拌容器名称")
+    
+    # === 可选参数 ===
+    time: str = Field("5 min", description="搅拌时间（如 '0.5 h', '30 min'）")
+    event: str = Field("", description="事件标识（如 'A', 'B'）")
+    time_spec: str = Field("", description="时间规格（如 'several minutes', 'overnight'）")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证和时间解析"""
+        
+        # 验证必需参数
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
+        
+        # 优先使用 time_spec，然后是 time
+        if self.time_spec:
+            self.time = self.time_spec
+        
+        # 时间解析和验证
+        if self.time:
+            try:
+                # 解析时间字符串为秒数
+                parsed_time = self._parse_time_string(self.time)
+                if parsed_time <= 0:
+                    logger.warning(f"时间 '{self.time}' 解析结果无效，使用默认值 300s")
+                    self.time = "5 min"
+            except Exception as e:
+                logger.warning(f"时间 '{self.time}' 解析失败: {e}，使用默认值 300s")
+                self.time = "5 min"
+    
+    def _parse_time_string(self, time_str: str) -> float:
+        """解析时间字符串为秒数"""
+        import re
+        
+        time_str = time_str.strip().lower()
+        
+        # 特殊时间规格
+        special_times = {
+            "several minutes": 300.0,    # 5分钟
+            "few minutes": 180.0,        # 3分钟
+            "overnight": 43200.0,        # 12小时
+            "room temperature": 300.0,   # 默认5分钟
+        }
+        
+        if time_str in special_times:
+            return special_times[time_str]
+        
+        # 正则表达式匹配数字和单位
+        pattern = r'(\d+\.?\d*)\s*([a-zA-Z]+)'
+        match = re.match(pattern, time_str)
+        
+        if not match:
+            return 300.0  # 默认5分钟
+        
+        value = float(match.group(1))
+        unit = match.group(2).lower()
+        
+        # 时间单位转换
+        unit_multipliers = {
+            's': 1.0,
+            'sec': 1.0,
+            'second': 1.0,
+            'seconds': 1.0,
+            'min': 60.0,
+            'minute': 60.0,
+            'minutes': 60.0,
+            'h': 3600.0,
+            'hr': 3600.0,
+            'hour': 3600.0,
+            'hours': 3600.0,
+            'd': 86400.0,
+            'day': 86400.0,
+            'days': 86400.0,
+        }
+        
+        multiplier = unit_multipliers.get(unit, 60.0)  # 默认按分钟计算
+        return value * multiplier
+    
+    def get_time_in_seconds(self) -> float:
+        """获取时间（秒）"""
+        return self._parse_time_string(self.time)
 
 class StartStirProtocol(BaseModel):
-    vessel: str
-    stir_speed: float
-    purpose: str
+    # === 必需参数 ===
+    vessel: str = Field(..., description="搅拌容器名称")
+    
+    # === 可选参数，添加默认值 ===
+    stir_speed: float = Field(200.0, description="搅拌速度 (RPM)，默认200 RPM")
+    purpose: str = Field("", description="搅拌目的（可选）")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证和修正"""
+        
+        # 验证必需参数
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
+        
+        # 修正参数范围
+        if self.stir_speed < 10.0:
+            logger.warning(f"搅拌速度 {self.stir_speed} RPM 过低，修正为 100 RPM")
+            self.stir_speed = 100.0
+        elif self.stir_speed > 1500.0:
+            logger.warning(f"搅拌速度 {self.stir_speed} RPM 过高，修正为 1000 RPM")
+            self.stir_speed = 1000.0
 
 class StopStirProtocol(BaseModel):
-    vessel: str
+    # === 必需参数 ===
+    vessel: str = Field(..., description="搅拌容器名称")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证"""
+        
+        # 验证必需参数
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
 
 class TransferProtocol(BaseModel):
     from_vessel: str
@@ -137,45 +527,117 @@ class TransferProtocol(BaseModel):
     solid: bool = False
 
 class CleanVesselProtocol(BaseModel):
-    vessel: str                 # 要清洗的容器名称
-    solvent: str               # 用于清洗容器的溶剂名称
-    volume: float              # 清洗溶剂的体积，可选参数
-    temp: float                # 清洗时的温度，可选参数
-    repeats: int = 1           # 清洗操作的重复次数，默认为 1
+    vessel: str
+    solvent: str
+    volume: float
+    temp: float
+    repeats: int = 1
 
 class DissolveProtocol(BaseModel):
-    vessel: str                 # 装有要溶解物质的容器名称
-    solvent: str               # 用于溶解物质的溶剂名称
-    volume: float              # 溶剂的体积，可选参数
-    amount: str = ""           # 要溶解物质的量，可选参数
-    temp: float = 25.0         # 溶解时的温度，可选参数
-    time: float = 0.0          # 溶解的时间，可选参数
-    stir_speed: float = 0.0    # 搅拌速度，可选参数
+    vessel: str
+    solvent: str
+    volume: float
+    amount: str = ""
+    temp: float = 25.0
+    time: float = 0.0
+    stir_speed: float = 0.0
 
 class FilterThroughProtocol(BaseModel):
-    from_vessel: str              # 源容器的名称，即物质起始所在的容器
-    to_vessel: str                # 目标容器的名称，物质过滤后要到达的容器
-    filter_through: str           # 过滤时所通过的介质，如滤纸、柱子等
-    eluting_solvent: str = ""     # 洗脱溶剂的名称，可选参数
-    eluting_volume: float = 0.0   # 洗脱溶剂的体积，可选参数
-    eluting_repeats: int = 0      # 洗脱操作的重复次数，默认为 0
-    residence_time: float = 0.0   # 物质在过滤介质中的停留时间，可选参数
+    from_vessel: str
+    to_vessel: str
+    filter_through: str
+    eluting_solvent: str = ""
+    eluting_volume: float = 0.0
+    eluting_repeats: int = 0
+    residence_time: float = 0.0
 
 class RunColumnProtocol(BaseModel):
-    from_vessel: str              # 源容器的名称，即样品起始所在的容器
-    to_vessel: str                # 目标容器的名称，分离后的样品要到达的容器
-    column: str                   # 所使用的柱子的名称
+    from_vessel: str
+    to_vessel: str
+    column: str
 
 class WashSolidProtocol(BaseModel):
-    vessel: str                   # 装有固体物质的容器名称
-    solvent: str                  # 用于清洗固体的溶剂名称
-    volume: float                 # 清洗溶剂的体积
-    filtrate_vessel: str = ""     # 滤液要收集到的容器名称，可选参数
-    temp: float = 25.0            # 清洗时的温度，可选参数
-    stir: bool = False            # 是否在清洗过程中搅拌，默认为 False
-    stir_speed: float = 0.0       # 搅拌速度，可选参数
-    time: float = 0.0             # 清洗的时间，可选参数
-    repeats: int = 1              # 清洗操作的重复次数，默认为 1
+    # === 必需参数 ===
+    vessel: str = Field(..., description="装有固体的容器名称")
+    solvent: str = Field(..., description="清洗溶剂名称")
+    volume: float = Field(..., description="清洗溶剂体积 (mL)")
+    
+    # === 可选参数，添加默认值 ===
+    filtrate_vessel: str = Field("", description="滤液收集容器（可选，自动查找）")
+    temp: float = Field(25.0, description="清洗温度 (°C)，默认25°C")
+    stir: bool = Field(False, description="是否搅拌，默认False")
+    stir_speed: float = Field(0.0, description="搅拌速度 (RPM)，默认0")
+    time: float = Field(0.0, description="清洗时间 (秒)，默认0")
+    repeats: int = Field(1, description="重复次数，默认1")
+    
+    def model_post_init(self, __context):
+        """后处理：参数验证和修正"""
+        
+        # 验证必需参数
+        if not self.vessel.strip():
+            raise ValueError("vessel 参数不能为空")
+        
+        if not self.solvent.strip():
+            raise ValueError("solvent 参数不能为空")
+        
+        if self.volume <= 0:
+            raise ValueError("volume 必须大于0")
+        
+        # 修正参数范围
+        if self.temp < 0 or self.temp > 200:
+            logger.warning(f"温度 {self.temp}°C 超出范围，修正为 25°C")
+            self.temp = 25.0
+        
+        if self.stir_speed < 0 or self.stir_speed > 500:
+            logger.warning(f"搅拌速度 {self.stir_speed} RPM 超出范围，修正为 0")
+            self.stir_speed = 0.0
+        
+        if self.time < 0:
+            logger.warning(f"时间 {self.time}s 无效，修正为 0")
+            self.time = 0.0
+        
+        if self.repeats < 1:
+            logger.warning(f"重复次数 {self.repeats} 无效，修正为 1")
+            self.repeats = 1
+        elif self.repeats > 10:
+            logger.warning(f"重复次数 {self.repeats} 过多，修正为 10")
+            self.repeats = 10
+            
+class AdjustPHProtocol(BaseModel):
+    vessel: str = Field(..., description="目标容器")
+    ph_value: float = Field(..., description="目标pH值")  # 改为 ph_value
+    reagent: str = Field(..., description="酸碱试剂名称")
+    # 移除其他可选参数，使用默认值
 
-__all__ = ["Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", "CentrifugeProtocol", "AddProtocol", "FilterProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol", "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol"]
+class ResetHandlingProtocol(BaseModel):
+    solvent: str = Field(..., description="溶剂名称")
+
+class DryProtocol(BaseModel):
+    compound: str = Field(..., description="化合物名称")
+    vessel: str = Field(..., description="目标容器")
+
+class RecrystallizeProtocol(BaseModel):
+    ratio: str = Field(..., description="溶剂比例（如 '1:1', '3:7'）")
+    solvent1: str = Field(..., description="第一种溶剂名称")
+    solvent2: str = Field(..., description="第二种溶剂名称")
+    vessel: str = Field(..., description="目标容器")
+    volume: float = Field(..., description="总体积 (mL)")
+
+class HydrogenateProtocol(BaseModel):
+    temp: str = Field(..., description="反应温度（如 '45 °C'）")
+    time: str = Field(..., description="反应时间（如 '2 h'）")
+    vessel: str = Field(..., description="反应容器")
+
+__all__ = [
+    "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", 
+    "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", 
+    "CentrifugeProtocol", "AddProtocol", "FilterProtocol", 
+    "HeatChillProtocol",
+    "HeatChillStartProtocol", "HeatChillStopProtocol",
+    "StirProtocol", "StartStirProtocol", "StopStirProtocol", 
+    "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", 
+    "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol",
+    "AdjustPHProtocol", "ResetHandlingProtocol", "DryProtocol", 
+    "RecrystallizeProtocol", "HydrogenateProtocol"
+]
 # End Protocols

unilabos/registry/device_comms/modbus_ioboard.yaml

@@ -1,10 +1,10 @@
-io_snrd:
-  description: IO Board with 16 IOs
-  class:
-    module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
-    type: python
-    hardware_interface:
-      name: modbus_client
-      extra_info: []
-      read: read_io_coil
-      write: write_io_coil
+#io_snrd:
+#  description: IO Board with 16 IOs
+#  class:
+#    module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
+#    type: python
+#    hardware_interface:
+#      name: modbus_client
+#      extra_info: []
+#      read: read_io_coil
+#      write: write_io_coil

unilabos/registry/device_comms/serial.yaml

@@ -1,7 +1,102 @@
 serial:
-  description: Serial communication interface, used when sharing same serial port for multiple devices
   class:
+    action_value_mappings:
+      auto-handle_serial_request:
+        feedback: {}
+        goal: {}
+        goal_default:
+          request: null
+          response: null
+        handles: []
+        result: {}
+        schema:
+          description: handle_serial_request的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                request:
+                  type: string
+                response:
+                  type: string
+              required:
+              - request
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: handle_serial_request参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: read_data的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
+    status_types: {}
     type: ros2
-  schema:
-    properties: {}
+  description: Serial communication interface, used when sharing same serial port
+    for multiple devices
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 9600
+          type: integer
+        device_id:
+          type: string
+        port:
+          type: string
+        resource_tracker:
+          type: string
+      required:
+      - device_id
+      - port
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object

unilabos/registry/devices/camera.yaml

@@ -0,0 +1,69 @@
+camera:
+  class:
+    action_value_mappings:
+      auto-destroy_node:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: destroy_node的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: destroy_node参数
+          type: object
+        type: UniLabJsonCommand
+      auto-timer_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: timer_callback的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: timer_callback参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.ros.nodes.presets.camera:VideoPublisher
+    status_types: {}
+    type: ros2
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        camera_index:
+          default: 0
+          type: string
+        device_id:
+          default: video_publisher
+          type: string
+        period:
+          default: 0.1
+          type: number
+        resource_tracker:
+          type: string
+      required: []
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object

unilabos/registry/devices/characterization_optic.yaml

@@ -1,67 +1,433 @@
-# 光学表征设备：红外、紫外可见、拉曼等
-raman_home_made:
-  description: Raman spectroscopy device
-  class:
-    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
-    type: python
-    status_types:
-      status: String
-    action_value_mappings:
-      raman_cmd:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: {}
-        result:
-          success: success
-  schema:
-    properties:
-      status:
-        type: string
-    required:
-    - status
-    additionalProperties: false
-    type: object
 hplc.agilent:
-  description: HPLC device
   class:
-    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
-    type: python
-    status_types:
-      device_status: String
-      could_run: Bool
-      driver_init_ok: Bool
-      is_running: Bool
-      finish_status: String
-      status_text: String
     action_value_mappings:
+      auto-check_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: check_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-extract_data_from_txt:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: []
+        result: {}
+        schema:
+          description: extract_data_from_txt的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: extract_data_from_txt参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: null
+          resource: null
+          wf_name: null
+        handles: []
+        result: {}
+        schema:
+          description: start_sequence的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                params:
+                  type: string
+                resource:
+                  type: object
+                wf_name:
+                  type: string
+              required:
+              - wf_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_sequence参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_close_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: try_close_sub_device的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_name:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_close_sub_device参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_open_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: try_open_sub_device的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_name:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_open_sub_device参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
-    properties:
-      device_status:
-        type: string
-      could_run:
-        type: boolean
-      driver_init_ok:
-        type: boolean
-      is_running:
-        type: boolean
-      finish_status:
-        type: string
-      status_text:
-        type: string
-    required:
-    - device_status
-    - could_run
-    - driver_init_ok
-    - is_running
-    - finish_status
-    - status_text
-    additionalProperties: false
-    type: object
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    status_types:
+      could_run: bool
+      data_file: list
+      device_status: str
+      driver_init_ok: bool
+      finish_status: str
+      is_running: bool
+      status_text: str
+      success: bool
+    type: python
+  description: HPLC device
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        driver_debug:
+          default: false
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        could_run:
+          type: boolean
+        data_file:
+          type: array
+        device_status:
+          type: string
+        driver_init_ok:
+          type: boolean
+        finish_status:
+          type: string
+        is_running:
+          type: boolean
+        status_text:
+          type: string
+        success:
+          type: boolean
+      required:
+      - status_text
+      - device_status
+      - could_run
+      - driver_init_ok
+      - is_running
+      - success
+      - finish_status
+      - data_file
+      type: object
+raman_home_made:
+  class:
+    action_value_mappings:
+      auto-ccd_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+        handles: []
+        result: {}
+        schema:
+          description: ccd_time的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                int_time:
+                  type: string
+              required:
+              - int_time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: ccd_time参数
+          type: object
+        type: UniLabJsonCommand
+      auto-laser_on_power:
+        feedback: {}
+        goal: {}
+        goal_default:
+          output_voltage_laser: null
+        handles: []
+        result: {}
+        schema:
+          description: laser_on_power的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                output_voltage_laser:
+                  type: string
+              required:
+              - output_voltage_laser
+              type: object
+            result: {}
+          required:
+          - goal
+          title: laser_on_power参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: raman_cmd的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_without_background:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+          laser_power: null
+        handles: []
+        result: {}
+        schema:
+          description: raman_without_background的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                int_time:
+                  type: string
+                laser_power:
+                  type: string
+              required:
+              - int_time
+              - laser_power
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_without_background_average:
+        feedback: {}
+        goal: {}
+        goal_default:
+          average: null
+          int_time: null
+          laser_power: null
+          sample_name: null
+        handles: []
+        result: {}
+        schema:
+          description: raman_without_background_average的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                average:
+                  type: string
+                int_time:
+                  type: string
+                laser_power:
+                  type: string
+                sample_name:
+                  type: string
+              required:
+              - sample_name
+              - int_time
+              - laser_power
+              - average
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background_average参数
+          type: object
+        type: UniLabJsonCommand
+      raman_cmd:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
+    status_types: {}
+    type: python
+  description: Raman spectroscopy device
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate_ccd:
+          default: 921600
+          type: string
+        baudrate_laser:
+          default: 9600
+          type: string
+        port_ccd:
+          type: string
+        port_laser:
+          type: string
+      required:
+      - port_laser
+      - port_ccd
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object

unilabos/registry/devices/hotel.yaml

@@ -1,9 +1,31 @@
 hotel.thermo_orbitor_rs2_hotel:
-  description: Thermo Orbitor RS2 Hotel
-  class: 
+  class:
+    action_value_mappings: {}
     module: unilabos.devices.resource_container.container:HotelContainer
+    status_types:
+      rotation: String
     type: python
+  description: Thermo Orbitor RS2 Hotel
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_config:
+          type: object
+        rotation:
+          type: object
+      required:
+      - rotation
+      - device_config
+      type: object
+    data:
+      properties:
+        rotation:
+          type: string
+      required:
+      - rotation
+      type: object
   model:
-    type: device
     mesh: thermo_orbitor_rs2_hotel
-
+    type: device

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -1,56 +1,582 @@
 laiyu_add_solid:
-  description: Laiyu Add Solid
   class:
-    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
-    type: python
-    status_types: {}
     action_value_mappings:
+      add_powder_tube:
+        feedback: {}
+        goal:
+          compound_mass: compound_mass
+          powder_tube_number: powder_tube_number
+          target_tube_position: target_tube_position
+        goal_default:
+          compound_mass: 0.0
+          powder_tube_number: 0
+          target_tube_position: ''
+        handles: []
+        result:
+          actual_mass_mg: actual_mass_mg
+        schema:
+          description: ROS Action SolidDispenseAddPowderTube 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: SolidDispenseAddPowderTube_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                compound_mass:
+                  type: number
+                powder_tube_number:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                target_tube_position:
+                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
+              title: SolidDispenseAddPowderTube_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                actual_mass_mg:
+                  type: number
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - actual_mass_mg
+              - success
+              title: SolidDispenseAddPowderTube_Result
+              type: object
+          required:
+          - goal
+          title: SolidDispenseAddPowderTube
+          type: object
+        type: SolidDispenseAddPowderTube
+      auto-add_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          compound_mass: null
+          powder_tube_number: null
+          target_tube_position: null
+        handles: []
+        result: {}
+        schema:
+          description: add_powder_tube的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                compound_mass:
+                  type: string
+                powder_tube_number:
+                  type: string
+                target_tube_position:
+                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_powder_tube参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: calculate_crc的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc参数
+          type: object
+        type: UniLabJsonCommand
+      auto-discharge:
+        feedback: {}
+        goal: {}
+        goal_default:
+          float_in: null
+        handles: []
+        result: {}
+        schema:
+          description: discharge的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                float_in:
+                  type: number
+              required:
+              - float_in
+              type: object
+            result: {}
+          required:
+          - goal
+          title: discharge参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: move_to_plate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_plate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_xyz:
+        feedback: {}
+        goal: {}
+        goal_default:
+          x: null
+          y: null
+          z: null
+        handles: []
+        result: {}
+        schema:
+          description: move_to_xyz的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                x:
+                  type: number
+                y:
+                  type: number
+                z:
+                  type: number
+              required:
+              - x
+              - y
+              - z
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_xyz参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: pick_powder_tube的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                int_input:
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_powder_tube参数
+          type: object
+        type: UniLabJsonCommand
+      auto-put_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: put_powder_tube的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                int_input:
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: put_powder_tube参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reset:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: reset的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      discharge:
+        feedback: {}
+        goal:
+          float_input: float_input
+        goal_default:
+          float_in: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action FloatSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: FloatSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                float_in:
+                  type: number
+              required:
+              - float_in
+              title: FloatSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: FloatSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: FloatSingleInput
+          type: object
+        type: FloatSingleInput
+      move_to_plate:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
       move_to_xyz:
-        type: Point3DSeparateInput
+        feedback: {}
         goal:
           x: x
           y: y
           z: z
-        feedback: {}
+        goal_default:
+          x: 0.0
+          y: 0.0
+          z: 0.0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action Point3DSeparateInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: Point3DSeparateInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                x:
+                  type: number
+                y:
+                  type: number
+                z:
+                  type: number
+              required:
+              - x
+              - y
+              - z
+              title: Point3DSeparateInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: Point3DSeparateInput_Result
+              type: object
+          required:
+          - goal
+          title: Point3DSeparateInput
+          type: object
+        type: Point3DSeparateInput
       pick_powder_tube:
-        type: IntSingleInput
+        feedback: {}
         goal:
           int_input: int_input
-        feedback: {}
+        goal_default:
+          int_input: 0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action IntSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: IntSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                int_input:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+              required:
+              - int_input
+              title: IntSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: IntSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: IntSingleInput
+          type: object
+        type: IntSingleInput
       put_powder_tube:
-        type: IntSingleInput
+        feedback: {}
         goal:
           int_input: int_input
-        feedback: {}
+        goal_default:
+          int_input: 0
+        handles: []
         result: {}
+        schema:
+          description: ROS Action IntSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: IntSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                int_input:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+              required:
+              - int_input
+              title: IntSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: IntSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: IntSingleInput
+          type: object
+        type: IntSingleInput
       reset:
-        type: EmptyIn
+        feedback: {}
         goal: {}
-        feedback: {}
+        goal_default: {}
+        handles: []
         result: {}
-      add_powder_tube:
-        type: SolidDispenseAddPowderTube
-        goal:
-          powder_tube_number: powder_tube_number
-          target_tube_position: target_tube_position
-          compound_mass: compound_mass
-        feedback: {}
-        result: 
-          actual_mass_mg: actual_mass_mg
-      move_to_plate:
-        type: StrSingleInput
-        goal:
-          string: string
-        feedback: {}
-        result: {}
-      discharge:
-        type: FloatSingleInput
-        goal:
-          float_input: float_input
-        feedback: {}
-        result: {}
-        
-  schema:
-    properties: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
+    status_types:
+      status: str
+    type: python
+  description: Laiyu Add Solid
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 115200
+          type: string
+        port:
+          type: string
+        timeout:
+          default: 0.5
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+      required:
+      - status
+      type: object

unilabos/registry/devices/moveit_config.yaml

@@ -1,56 +1,858 @@
-moveit.toyo_xyz:
-  description: Toyo XYZ
-  class:
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    type: python
-    action_value_mappings:
-      set_position:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-      pick_and_place:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-      set_status:
-        type: SendCmd
-        goal:
-          command: command
-        feedback: { }
-        result: { }
-
-  model:
-    type: device
-    mesh: toyo_xyz
-
 moveit.arm_slider:
-  description: Arm with Slider
-  model:
-    type: device
-    mesh: arm_slider
   class:
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    type: python
     action_value_mappings:
-      set_position:
-        type: SendCmd
-        goal:
-          command: command
+      auto-check_tf_update_actions:
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: check_tf_update_actions的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: moveit_joint_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                joint_names:
+                  type: string
+                joint_positions:
+                  type: string
+                move_group:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: moveit_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cartesian:
+                  default: false
+                  type: string
+                move_group:
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  type: string
+                position:
+                  type: string
+                quaternion:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+                target_link:
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: pick_and_place的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: post_init的参数schema
+          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-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: resource_manager的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parent_link:
+                  type: string
+                resource:
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_resource_action的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action参数
+          type: object
+        type: UniLabJsonCommand
       pick_and_place:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
       set_status:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  description: Arm with Slider
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_config:
+          type: string
+        joint_poses:
+          type: string
+        moveit_type:
+          type: string
+        rotation:
+          type: string
+      required:
+      - moveit_type
+      - joint_poses
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  model:
+    mesh: arm_slider
+    type: device
+moveit.toyo_xyz:
+  class:
+    action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: check_tf_update_actions的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: moveit_joint_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                joint_names:
+                  type: string
+                joint_positions:
+                  type: string
+                move_group:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: moveit_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cartesian:
+                  default: false
+                  type: string
+                move_group:
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  type: string
+                position:
+                  type: string
+                quaternion:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+                target_link:
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: pick_and_place的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: post_init的参数schema
+          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-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: resource_manager的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parent_link:
+                  type: string
+                resource:
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_resource_action的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action参数
+          type: object
+        type: UniLabJsonCommand
+      pick_and_place:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_status:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  description: Toyo XYZ
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_config:
+          type: string
+        joint_poses:
+          type: string
+        moveit_type:
+          type: string
+        rotation:
+          type: string
+      required:
+      - moveit_type
+      - joint_poses
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  model:
+    mesh: toyo_xyz
+    type: device

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,73 +1,470 @@
-separator.homemade:
-  description: Separator device with homemade grbl controller
-  class:
-    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
-    type: python
-    status_types:
-      sensordata: Float64
-      status: String
-    action_value_mappings:
-      stir:
-        type: Stir
-        goal:
-          stir_time: stir_time,
-          stir_speed: stir_speed
-          settling_time: settling_time
-        feedback:
-          status: status
-        result: 
-          success: success
-      valve_open_cmd:
-        type: SendCmd
-        goal: 
-          command: command
-        feedback: 
-          status: status
-        result": 
-          success: success
-  schema:
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      sensordata:
-        type: number
-        description: 电导传感器数据
-    required:
-      - status
-      - sensordata
-    additionalProperties: false
-
 rotavap.one:
-  description: Rotavap device
   class:
-    module: unilabos.devices.rotavap.rotavap_one:RotavapOne
-    type: python
-    status_types:
-      pump_time: Float64
-      rotate_time: Float64
     action_value_mappings:
+      auto-cmd_write:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: cmd_write的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cmd:
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: cmd_write参数
+          type: object
+        type: UniLabJsonCommand
+      auto-main_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: main_loop的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: main_loop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_pump_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: set_pump_time的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                time:
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_pump_time参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_rotate_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: set_rotate_time的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                time:
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_rotate_time参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_timer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_timer的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_timer参数
+          type: object
+        type: UniLabJsonCommand
       set_timer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
-    type: object
-    properties:
-      temperature:
-        type: number
-        description: 旋蒸水浴温度
-      pump_time:
-        type: number
-        description: The pump time of the device
-      rotate_time:
-        type: number
-        description: The rotate time of the device
-    required:
-      - pump_time
-      - rotate_time
-    additionalProperties: false
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.rotavap.rotavap_one:RotavapOne
+    status_types: {}
+    type: python
+  description: Rotavap device
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        port:
+          type: string
+        rate:
+          default: 9600
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+separator.homemade:
+  class:
+    action_value_mappings:
+      auto-read_sensor_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: read_sensor_loop的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_sensor_loop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stir:
+        feedback: {}
+        goal: {}
+        goal_default:
+          settling_time: 10
+          stir_speed: 300
+          stir_time: 10
+        handles: []
+        result: {}
+        schema:
+          description: stir的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                settling_time:
+                  default: 10
+                  type: number
+                stir_speed:
+                  default: 300
+                  type: number
+                stir_time:
+                  default: 10
+                  type: number
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stir参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open:
+        feedback: {}
+        goal: {}
+        goal_default:
+          condition: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: valve_open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                condition:
+                  type: string
+                value:
+                  type: string
+              required:
+              - condition
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: valve_open_cmd的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-write:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: write的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: write参数
+          type: object
+        type: UniLabJsonCommand
+      stir:
+        feedback:
+          status: status
+        goal:
+          settling_time: settling_time
+          stir_speed: stir_speed
+          stir_time: stir_time,
+        goal_default:
+          event: ''
+          settling_time: 0.0
+          stir_speed: 0.0
+          stir_time: 0.0
+          time: ''
+          time_spec: ''
+          vessel: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action Stir 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: Stir_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                event:
+                  type: string
+                settling_time:
+                  type: number
+                stir_speed:
+                  type: number
+                stir_time:
+                  type: number
+                time:
+                  type: string
+                time_spec:
+                  type: string
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - time
+              - event
+              - time_spec
+              - stir_time
+              - stir_speed
+              - settling_time
+              title: Stir_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                message:
+                  type: string
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - success
+              - message
+              - return_info
+              title: Stir_Result
+              type: object
+          required:
+          - goal
+          title: Stir
+          type: object
+        type: Stir
+      valve_open_cmd:
+        feedback:
+          status: status
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result":
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
+    status_types: {}
+    type: python
+  description: Separator device with homemade grbl controller
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate_executor:
+          default: 115200
+          type: integer
+        baudrate_sensor:
+          default: 115200
+          type: integer
+        port_executor:
+          type: string
+        port_sensor:
+          type: string
+      required:
+      - port_executor
+      - port_sensor
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object

unilabos/registry/devices/pump_and_valve.yaml

@@ -1,83 +1,877 @@
-syringe_pump_with_valve.runze:
-  description: Runze Syringe pump with valve
+solenoid_valve:
   class:
-    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_closed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: read_data的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      set_valve_position:
+        feedback: {}
+        goal:
+          string: position
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
+    status_types:
+      status: str
+      valve_position: str
     type: python
+  description: Solenoid valve
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        io_device_port:
+          type: string
+      required:
+      - io_device_port
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+        valve_position:
+          type: string
+      required:
+      - status
+      - valve_position
+      type: object
+solenoid_valve.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_closed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
+    status_types:
+      status: str
+      valve_position: str
+    type: python
+  description: Mock solenoid valve
+  handles:
+  - data_type: fluid
+    handler_key: in
+    io_type: target
+    label: in
+    side: NORTH
+  - data_type: fluid
+    handler_key: out
+    io_type: source
+    label: out
+    side: SOUTH
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        port:
+          default: COM6
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+        valve_position:
+          type: string
+      required:
+      - status
+      - valve_position
+      type: object
+syringe_pump_with_valve.runze:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: initialize的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: pull_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: push_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_1的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_2的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_backlash_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_command_buffer_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_software_version的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                full_command:
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: set_baudrate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                baudrate:
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_max_velocity的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                max_velocity:
+                  type: number
+                position:
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_velocity_grade的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop_operation的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_error的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error参数
+          type: object
+        type: UniLabJsonCommand
     hardware_interface:
       name: hardware_interface
       read: send_command
       write: send_command
-  schema:
-    type: object
-    properties:
-      status:
-        type: string
-        description: The status of the device
-      position:
-        type: number
-        description: The volume of the syringe
-      speed_max:
-        type: number
-        description: The speed of the syringe
-      valve_position:
-        type: string
-        description: The position of the valve
-    required:
-    - status
-    - position
-    - valve_position
-    additionalProperties: false
-
-solenoid_valve.mock:
-  description: Mock solenoid valve
-  class:
-    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
-    type: python
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
     status_types:
-      status: String
-      valve_position: String
-    action_value_mappings:
-      open:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-      close:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-  handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
-      data_type: fluid
+      max_velocity: float
+      mode: int
+      plunger_position: String
+      position: float
+      status: str
+      valve_position: str
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
+    type: python
+  description: Runze Syringe pump with valve
+  handles: []
+  icon: ''
   init_param_schema:
-    type: object
-    properties:
-      port:
-        type: string
-        description: "通信端口"
-        default: "COM6"
-    required:
-    - port
-
-solenoid_valve:
-  description: Solenoid valve
-  class:
-    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
-    type: python
-    status_types:
-      status: String
-      valve_position: String
-    action_value_mappings:
-      set_valve_position:
-        type: StrSingleInput
-        goal:
-          string: position
-        feedback: {}
-        result: {}
+    config:
+      properties:
+        address:
+          default: '1'
+          type: string
+        max_volume:
+          default: 25.0
+          type: number
+        mode:
+          type: string
+        port:
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        max_velocity:
+          type: number
+        mode:
+          type: integer
+        plunger_position:
+          type: string
+        position:
+          type: number
+        status:
+          type: string
+        valve_position:
+          type: string
+        velocity_end:
+          type: string
+        velocity_grade:
+          type: string
+        velocity_init:
+          type: string
+      required:
+      - status
+      - mode
+      - max_velocity
+      - velocity_grade
+      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
+      type: object

unilabos/registry/devices/robot_agv.yaml

@@ -1,29 +1,132 @@
-# 仙工智能底盘（知行使用）
 agv.SEER:
-  description: SEER AGV
   class:
-    module: unilabos.devices.agv.agv_navigator:AgvNavigator
-    type: python
-    status_types:
-      pose: Float64MultiArray
-      status: String
     action_value_mappings:
+      auto-send:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+          ex_data: ''
+          obj: receive_socket
+        handles: []
+        result: {}
+        schema:
+          description: send的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cmd:
+                  type: string
+                ex_data:
+                  default: ''
+                  type: string
+                obj:
+                  default: receive_socket
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_nav_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_nav_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_nav_task参数
+          type: object
+        type: UniLabJsonCommand
       send_nav_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
-    properties:
-      pose:
-        type: array
-        items:
-          type: number
-      status:
-        type: string
-    required:
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.agv.agv_navigator:AgvNavigator
+    status_types:
+      pose: list
+      status: str
+    type: python
+  description: SEER AGV
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        host:
+          type: string
+      required:
+      - host
+      type: object
+    data:
+      properties:
+        pose:
+          type: array
+        status:
+          type: string
+      required:
+      - pose
       - status
-    additionalProperties: false
-    type: object
+      type: object

unilabos/registry/devices/robot_arm.yaml

@@ -1,37 +1,199 @@
 robotic_arm.UR:
-  description: UR robotic arm
   class:
-    module: unilabos.devices.agv.ur_arm_task:UrArmTask
-    type: python
-    status_types:
-      arm_pose: Float64MultiArray
-      gripper_pose: Float64
-      arm_status: String
-      gripper_status: String
     action_value_mappings:
+      auto-arm_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: arm_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: arm_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_data:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: load_pose_data的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_data参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file: null
+        handles: []
+        result: {}
+        schema:
+          description: load_pose_file的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file:
+                  type: string
+              required:
+              - file
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_file参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_pos_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: move_pos_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_pos_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reload_pose:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: reload_pose的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reload_pose参数
+          type: object
+        type: UniLabJsonCommand
       move_pos_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
-    properties:
-      arm_pose:
-        type: array
-        items:
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.agv.ur_arm_task:UrArmTask
+    status_types:
+      arm_pose: list
+      arm_status: str
+      gripper_pose: float
+      gripper_status: str
+    type: python
+  description: UR robotic arm
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        host:
+          type: string
+        retry:
+          default: 30
+          type: string
+      required:
+      - host
+      type: object
+    data:
+      properties:
+        arm_pose:
+          type: array
+        arm_status:
+          type: string
+        gripper_pose:
           type: number
-      gripper_pose:
-        type: number
-      arm_status:
-        type: string
-        description: 机械臂设备状态
-      gripper_status:
-        type: string
-        description: 机械爪设备状态
-    required:
+        gripper_status:
+          type: string
+      required:
+      - arm_pose
+      - gripper_pose
       - arm_status
       - gripper_status
-    additionalProperties: false
-    type: object
+      type: object

unilabos/registry/devices/robot_gripper.yaml

@@ -1,37 +1,626 @@
-gripper.mock:
-  description: Mock gripper
-  class:
-    module: unilabos.devices.gripper.mock:MockGripper
-    type: python
-    status_types:
-      position: Float64
-      torque: Float64
-      status: String
-    action_value_mappings:
-      push_to:
-        type: GripperCommand
-        goal:
-          command.position: position
-          command.max_effort: torque
-        feedback:
-          position: position
-          effort: torque
-        result:
-          position: position
-          effort: torque
-
 gripper.misumi_rz:
-  description: Misumi RZ gripper
   class:
-    module: unilabos.devices.motor:Grasp.EleGripper
-    type: python
-    status_types:
-      status: String
     action_value_mappings:
+      auto-data_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: data_loop的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_loop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-data_reader:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: data_reader的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_reader参数
+          type: object
+        type: UniLabJsonCommand
+      auto-gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: gripper_move的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force:
+                  type: string
+                pos:
+                  type: string
+                speed:
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: gripper_move参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: init_gripper的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_gripper参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modbus_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: modbus_crc的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modbus_crc参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_and_rotate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          grasp_F: null
+          grasp_pos: null
+          grasp_v: null
+          spin_F: null
+          spin_pos: null
+          spin_v: null
+        handles: []
+        result: {}
+        schema:
+          description: move_and_rotate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                grasp_F:
+                  type: string
+                grasp_pos:
+                  type: string
+                grasp_v:
+                  type: string
+                spin_F:
+                  type: string
+                spin_pos:
+                  type: string
+                spin_v:
+                  type: string
+              required:
+              - spin_pos
+              - grasp_pos
+              - spin_v
+              - grasp_v
+              - spin_F
+              - grasp_F
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_and_rotate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: node_gripper_move的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cmd:
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_gripper_move参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_rotate_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: node_rotate_move的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cmd:
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_rotate_move参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_address:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data_len: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: read_address的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                address:
+                  type: string
+                data_len:
+                  type: string
+                id:
+                  type: string
+              required:
+              - id
+              - address
+              - data_len
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_address参数
+          type: object
+        type: UniLabJsonCommand
+      auto-rotate_move_abs:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: rotate_move_abs的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                force:
+                  type: string
+                pos:
+                  type: string
+                speed:
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: rotate_move_abs参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data: null
+          fun: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: send_cmd的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                address:
+                  type: string
+                data:
+                  type: string
+                fun:
+                  type: string
+                id:
+                  type: string
+              required:
+              - id
+              - fun
+              - address
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_cmd参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_gripper的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_gripper_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_rotate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_rotate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_rotate参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.motor.Grasp:EleGripper
+    status_types:
+      status: str
+    type: python
+  description: Misumi RZ gripper
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 115200
+          type: string
+        id:
+          default: 9
+          type: string
+        port:
+          type: string
+        pos_error:
+          default: -11
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+      required:
+      - status
+      type: object
+gripper.mock:
+  class:
+    action_value_mappings:
+      auto-edit_id:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: '{}'
+          resource:
+            Gripper1: {}
+          wf_name: gripper_run
+        handles: []
+        result: {}
+        schema:
+          description: edit_id的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                params:
+                  default: '{}'
+                  type: string
+                resource:
+                  default:
+                    Gripper1: {}
+                  type: object
+                wf_name:
+                  default: gripper_run
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: edit_id参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+          torque: null
+          velocity: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: push_to的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: number
+                torque:
+                  type: number
+                velocity:
+                  default: 0.0
+                  type: number
+              required:
+              - position
+              - torque
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_to参数
+          type: object
+        type: UniLabJsonCommand
+      push_to:
+        feedback:
+          effort: torque
+          position: position
+        goal:
+          command.max_effort: torque
+          command.position: position
+        goal_default:
+          command:
+            max_effort: 0.0
+            position: 0.0
+        handles: []
+        result:
+          effort: torque
+          position: position
+        schema:
+          description: ROS Action GripperCommand 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                effort:
+                  type: number
+                position:
+                  type: number
+                reached_goal:
+                  type: boolean
+                stalled:
+                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
+              title: GripperCommand_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  properties:
+                    max_effort:
+                      type: number
+                    position:
+                      type: number
+                  required:
+                  - position
+                  - max_effort
+                  title: GripperCommand
+                  type: object
+              required:
+              - command
+              title: GripperCommand_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                effort:
+                  type: number
+                position:
+                  type: number
+                reached_goal:
+                  type: boolean
+                stalled:
+                  type: boolean
+              required:
+              - position
+              - effort
+              - stalled
+              - reached_goal
+              title: GripperCommand_Result
+              type: object
+          required:
+          - goal
+          title: GripperCommand
+          type: object
+        type: GripperCommand
+    module: unilabos.devices.gripper.mock:MockGripper
+    status_types:
+      position: float
+      status: str
+      torque: float
+      velocity: float
+    type: python
+  description: Mock gripper
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties: {}
+      required: []
+      type: object
+    data:
+      properties:
+        position:
+          type: number
+        status:
+          type: string
+        torque:
+          type: number
+        velocity:
+          type: number
+      required:
+      - position
+      - velocity
+      - torque
+      - status
+      type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -1,57 +1,693 @@
 linear_motion.grbl:
-  description: Grbl CNC
   class:
-    module: unilabos.devices.cnc.grbl_sync:GrblCNC
-    type: python
     action_value_mappings:
-      move_through_points: &move_through_points
-        type: NavigateThroughPoses
-        goal: 
-          poses[].pose.position: positions[]
-        feedback: 
-          current_pose.pose.position: position
-          navigation_time.sec: time_spent
-          estimated_time_remaining.sec: time_remaining
-          number_of_poses_remaining: pose_number_remaining
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
-      set_spindle_speed:
-        type: SingleJointPosition
+        schema:
+          description: initialize的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_through_points:
+        feedback: {}
+        goal: {}
+        goal_default:
+          positions: null
+        handles: []
+        result: {}
+        schema:
+          description: move_through_points的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                positions:
+                  type: array
+              required:
+              - positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_through_points参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_spindle_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: 500
+          spindle_speed: null
+        handles: []
+        result: {}
+        schema:
+          description: set_spindle_speed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                max_velocity:
+                  default: 500
+                  type: number
+                spindle_speed:
+                  type: number
+              required:
+              - spindle_speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_spindle_speed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop_operation的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_error的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error参数
+          type: object
+        type: UniLabJsonCommandAsync
+      move_through_points:
+        feedback:
+          current_pose.pose.position: position
+          estimated_time_remaining.sec: time_remaining
+          navigation_time.sec: time_spent
+          number_of_poses_remaining: pose_number_remaining
         goal:
-          position: spindle_speed
+          poses[].pose.position: positions[]
+        goal_default:
+          behavior_tree: ''
+          poses:
+          - header:
+              frame_id: ''
+              stamp:
+                nanosec: 0
+                sec: 0
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action NavigateThroughPoses 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                current_pose:
+                  properties:
+                    header:
+                      properties:
+                        frame_id:
+                          type: string
+                        stamp:
+                          properties:
+                            nanosec:
+                              maximum: 4294967295
+                              minimum: 0
+                              type: integer
+                            sec:
+                              maximum: 2147483647
+                              minimum: -2147483648
+                              type: integer
+                          required:
+                          - sec
+                          - nanosec
+                          title: Time
+                          type: object
+                      required:
+                      - stamp
+                      - frame_id
+                      title: Header
+                      type: object
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: Quaternion
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: Point
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: Pose
+                      type: object
+                  required:
+                  - header
+                  - pose
+                  title: PoseStamped
+                  type: object
+                distance_remaining:
+                  type: number
+                estimated_time_remaining:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                navigation_time:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                number_of_poses_remaining:
+                  maximum: 32767
+                  minimum: -32768
+                  type: integer
+                number_of_recoveries:
+                  maximum: 32767
+                  minimum: -32768
+                  type: integer
+              required:
+              - current_pose
+              - navigation_time
+              - estimated_time_remaining
+              - number_of_recoveries
+              - distance_remaining
+              - number_of_poses_remaining
+              title: NavigateThroughPoses_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                behavior_tree:
+                  type: string
+                poses:
+                  items:
+                    properties:
+                      header:
+                        properties:
+                          frame_id:
+                            type: string
+                          stamp:
+                            properties:
+                              nanosec:
+                                maximum: 4294967295
+                                minimum: 0
+                                type: integer
+                              sec:
+                                maximum: 2147483647
+                                minimum: -2147483648
+                                type: integer
+                            required:
+                            - sec
+                            - nanosec
+                            title: Time
+                            type: object
+                        required:
+                        - stamp
+                        - frame_id
+                        title: Header
+                        type: object
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: Quaternion
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: Point
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: Pose
+                        type: object
+                    required:
+                    - header
+                    - pose
+                    title: PoseStamped
+                    type: object
+                  type: array
+              required:
+              - poses
+              - behavior_tree
+              title: NavigateThroughPoses_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                result:
+                  properties: {}
+                  required: []
+                  title: Empty
+                  type: object
+              required:
+              - result
+              title: NavigateThroughPoses_Result
+              type: object
+          required:
+          - goal
+          title: NavigateThroughPoses
+          type: object
+        type: NavigateThroughPoses
+      set_spindle_speed:
         feedback:
           position: spindle_speed
+        goal:
+          position: spindle_speed
+        goal_default:
+          max_velocity: 0.0
+          min_duration:
+            nanosec: 0
+            sec: 0
+          position: 0.0
+        handles: []
         result: {}
-  schema:
-    type: object
-    properties:
-      position:
-        type: array
-        items:
+        schema:
+          description: ROS Action SingleJointPosition 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                error:
+                  type: number
+                header:
+                  properties:
+                    frame_id:
+                      type: string
+                    stamp:
+                      properties:
+                        nanosec:
+                          maximum: 4294967295
+                          minimum: 0
+                          type: integer
+                        sec:
+                          maximum: 2147483647
+                          minimum: -2147483648
+                          type: integer
+                      required:
+                      - sec
+                      - nanosec
+                      title: Time
+                      type: object
+                  required:
+                  - stamp
+                  - frame_id
+                  title: Header
+                  type: object
+                position:
+                  type: number
+                velocity:
+                  type: number
+              required:
+              - header
+              - position
+              - velocity
+              - error
+              title: SingleJointPosition_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                max_velocity:
+                  type: number
+                min_duration:
+                  properties:
+                    nanosec:
+                      maximum: 4294967295
+                      minimum: 0
+                      type: integer
+                    sec:
+                      maximum: 2147483647
+                      minimum: -2147483648
+                      type: integer
+                  required:
+                  - sec
+                  - nanosec
+                  title: Duration
+                  type: object
+                position:
+                  type: number
+              required:
+              - position
+              - min_duration
+              - max_velocity
+              title: SingleJointPosition_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties: {}
+              required: []
+              title: SingleJointPosition_Result
+              type: object
+          required:
+          - goal
+          title: SingleJointPosition
+          type: object
+        type: SingleJointPosition
+    module: unilabos.devices.cnc.grbl_sync:GrblCNC
+    status_types:
+      position: unilabos.messages:Point3D
+      spindle_speed: float
+      status: str
+    type: python
+  description: Grbl CNC
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: '1'
+          type: string
+        limits:
+          default:
+          - -150
+          - 150
+          - -200
+          - 0
+          - -80
+          - 0
+          type: array
+        port:
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        position:
+          type: string
+        spindle_speed:
           type: number
-        description: The position of the device
-      spindle_speed:
-        type: number
-        description: The spindle speed of the device
-    required:
+        status:
+          type: string
+      required:
+      - status
       - position
       - spindle_speed
-    additionalProperties: false
-
-
+      type: object
 motor.iCL42:
-  description: iCL42 motor
   class:
-    module: unilabos.devices.motor.iCL42:iCL42Driver
-    type: python
-    status_types:
-      motor_position: Int64
-      is_executing_run: Bool
-      success: Bool
     action_value_mappings:
+      auto-execute_run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: execute_run_motor的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mode:
+                  type: string
+                position:
+                  type: number
+                velocity:
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_run_motor参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_device:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: init_device的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_device参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: run_motor的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mode:
+                  type: string
+                position:
+                  type: number
+                velocity:
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_motor参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
-          success: success
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.motor.iCL42:iCL42Driver
+    status_types:
+      is_executing_run: bool
+      motor_position: int
+      success: bool
+    type: python
+  description: iCL42 motor
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_address:
+          default: 1
+          type: integer
+        device_com:
+          default: COM9
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        is_executing_run:
+          type: boolean
+        motor_position:
+          type: integer
+        success:
+          type: boolean
+      required:
+      - motor_position
+      - is_executing_run
+      - success
+      type: object

unilabos/registry/devices/sim_nodes.yaml

@@ -1,5 +1,311 @@
 lh_joint_publisher:
   class:
+    action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: check_tf_update_actions的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-find_resource_parent:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: find_resource_parent的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                resource_id:
+                  type: string
+              required:
+              - resource_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: find_resource_parent参数
+          type: object
+        type: UniLabJsonCommand
+      auto-inverse_kinematics:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_id: null
+          x: null
+          x_joint: null
+          y: null
+          y_joint: null
+          z: null
+          z_joint: null
+        handles: []
+        result: {}
+        schema:
+          description: inverse_kinematics的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parent_id:
+                  type: string
+                x:
+                  type: string
+                x_joint:
+                  type: object
+                y:
+                  type: string
+                y_joint:
+                  type: object
+                z:
+                  type: string
+                z_joint:
+                  type: object
+              required:
+              - x
+              - y
+              - z
+              - parent_id
+              - x_joint
+              - y_joint
+              - z_joint
+              type: object
+            result: {}
+          required:
+          - goal
+          title: inverse_kinematics参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_action_callback:
+        feedback: {}
+        goal: {}
+        goal_default:
+          goal_handle: null
+        handles: []
+        result: {}
+        schema:
+          description: lh_joint_action_callback的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                goal_handle:
+                  type: string
+              required:
+              - goal_handle
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_action_callback参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_pub_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: lh_joint_pub_callback的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_pub_callback参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_joints:
+        feedback: {}
+        goal: {}
+        goal_default:
+          option: null
+          resource_names: null
+          speed: 0.1
+          x: null
+          x_joint: null
+          y: null
+          y_joint: null
+          z: null
+          z_joint: null
+        handles: []
+        result: {}
+        schema:
+          description: move_joints的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                option:
+                  type: string
+                resource_names:
+                  type: string
+                speed:
+                  default: 0.1
+                  type: string
+                x:
+                  type: string
+                x_joint:
+                  type: string
+                y:
+                  type: string
+                y_joint:
+                  type: string
+                z:
+                  type: string
+                z_joint:
+                  type: string
+              required:
+              - resource_names
+              - x
+              - y
+              - z
+              - option
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_joints参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_positions: null
+          parent_id: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: move_to的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                joint_positions:
+                  type: string
+                parent_id:
+                  type: string
+                speed:
+                  type: string
+              required:
+              - joint_positions
+              - speed
+              - parent_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          channels: null
+          link_name: null
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: resource_move的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                channels:
+                  type: array
+                link_name:
+                  type: string
+                resource_id:
+                  type: string
+              required:
+              - resource_id
+              - link_name
+              - channels
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_move参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          link_name: null
+          resource_id_list: null
+        handles: []
+        result: {}
+        schema:
+          description: send_resource_action的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                link_name:
+                  type: string
+                resource_id_list:
+                  type: array
+              required:
+              - resource_id_list
+              - link_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_resource_action参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
+    status_types: {}
     type: ros2
-
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_id:
+          default: lh_joint_publisher
+          type: string
+        rate:
+          default: 50
+          type: string
+        resource_tracker:
+          type: string
+        resources_config:
+          type: array
+      required:
+      - resources_config
+      - resource_tracker
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object

unilabos/registry/devices/temperature.yaml

@@ -1,65 +1,811 @@
-heaterstirrer.dalong:
-  description: DaLong heater stirrer
+chiller:
   class:
-    module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
-    type: python
-    status_types:
-      temp: Float64
-      temp_warning: Float64
-      stir_speed: Float64
     action_value_mappings:
-      set_temp_warning:
-        type: SendCmd
-        goal:
-          command: temp
+      auto-build_modbus_frame:
         feedback: {}
+        goal: {}
+        goal_default:
+          device_address: null
+          function_code: null
+          register_address: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: build_modbus_frame的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_address:
+                  type: integer
+                function_code:
+                  type: integer
+                register_address:
+                  type: integer
+                value:
+                  type: integer
+              required:
+              - device_address
+              - function_code
+              - register_address
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_frame参数
+          type: object
+        type: UniLabJsonCommand
+      auto-convert_temperature_to_modbus_value:
+        feedback: {}
+        goal: {}
+        goal_default:
+          decimal_points: 1
+          temperature: null
+        handles: []
+        result: {}
+        schema:
+          description: convert_temperature_to_modbus_value的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                decimal_points:
+                  default: 1
+                  type: integer
+                temperature:
+                  type: number
+              required:
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: convert_temperature_to_modbus_value参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modbus_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: modbus_crc的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modbus_crc参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_temperature的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temperature参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop参数
+          type: object
+        type: UniLabJsonCommand
+      set_temperature:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-      set_temp_target:
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
         type: SendCmd
-        goal:
-          command: temp
+    module: unilabos.devices.temperature.chiller:Chiller
+    status_types: {}
+    type: python
+  description: Chiller
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        port:
+          type: string
+        rate:
+          default: 9600
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+heaterstirrer.dalong:
+  class:
+    action_value_mappings:
+      auto-close:
         feedback: {}
-        result:
-          success: success
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-heatchill:
+        feedback: {}
+        goal: {}
+        goal_default:
+          purpose: reaction
+          stir: true
+          stir_speed: 300
+          temp: null
+          time: 3600
+          vessel: null
+        handles: []
+        result: {}
+        schema:
+          description: heatchill的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                purpose:
+                  default: reaction
+                  type: string
+                stir:
+                  default: true
+                  type: boolean
+                stir_speed:
+                  default: 300
+                  type: number
+                temp:
+                  type: number
+                time:
+                  default: 3600
+                  type: number
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: heatchill参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_stir_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: set_stir_speed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                speed:
+                  type: number
+              required:
+              - speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_stir_speed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_inner:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+          type: warning
+        handles: []
+        result: {}
+        schema:
+          description: set_temp_inner的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                temp:
+                  type: number
+                type:
+                  default: warning
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_inner参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_target:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: set_temp_target的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                temp:
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_target参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: set_temp_warning的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                temp:
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_warning参数
+          type: object
+        type: UniLabJsonCommand
       heatchill:
-        type: HeatChill
-        goal:
-          vessel: vessel
-          temp: temp
-          time: time
-          purpose: purpose
         feedback:
           status: status
-        result:
-          success: success
-
-chiller:
-  description: Chiller
-  class:
-    module: unilabos.devices.temperature.chiller:Chiller
-    type: python
-    action_value_mappings:
-      set_temperature:
-        type: SendCmd
         goal:
-          command: command
-        feedback: {}
+          purpose: purpose
+          temp: temp
+          time: time
+          vessel: vessel
+        goal_default:
+          pressure: ''
+          purpose: ''
+          reflux_solvent: ''
+          stir: false
+          stir_speed: 0.0
+          temp: 0.0
+          temp_spec: ''
+          time: 0.0
+          time_spec: ''
+          vessel: ''
+        handles: []
         result:
           success: success
-tempsensor:
-  description: Temperature sensor
-  class:
-    module: unilabos.devices.temperature.sensor_node:TempSensorNode
-    type: python
+        schema:
+          description: ROS Action HeatChill 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: HeatChill_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                pressure:
+                  type: string
+                purpose:
+                  type: string
+                reflux_solvent:
+                  type: string
+                stir:
+                  type: boolean
+                stir_speed:
+                  type: number
+                temp:
+                  type: number
+                temp_spec:
+                  type: string
+                time:
+                  type: number
+                time_spec:
+                  type: string
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - temp
+              - time
+              - temp_spec
+              - time_spec
+              - pressure
+              - reflux_solvent
+              - stir
+              - stir_speed
+              - purpose
+              title: HeatChill_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                message:
+                  type: string
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - success
+              - message
+              - return_info
+              title: HeatChill_Result
+              type: object
+          required:
+          - goal
+          title: HeatChill
+          type: object
+        type: HeatChill
+      set_temp_target:
+        feedback: {}
+        goal:
+          command: temp
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_temp_warning:
+        feedback: {}
+        goal:
+          command: temp
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
     status_types:
-      value: Float64
-      warning: Float64
+      status: str
+      stir_speed: float
+      temp: float
+      temp_target: float
+      temp_warning: float
+    type: python
+  description: DaLong heater stirrer
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 9600
+          type: integer
+        port:
+          default: COM6
+          type: string
+        temp_warning:
+          default: 50.0
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+        stir_speed:
+          type: number
+        temp:
+          type: number
+        temp_target:
+          type: number
+        temp_warning:
+          type: number
+      required:
+      - status
+      - stir_speed
+      - temp
+      - temp_warning
+      - temp_target
+      type: object
+tempsensor:
+  class:
     action_value_mappings:
+      auto-build_modbus_request:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_id: null
+          function_code: null
+          register_address: null
+          register_count: null
+        handles: []
+        result: {}
+        schema:
+          description: build_modbus_request的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_id:
+                  type: string
+                function_code:
+                  type: string
+                register_address:
+                  type: string
+                register_count:
+                  type: string
+              required:
+              - device_id
+              - function_code
+              - register_address
+              - register_count
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_request参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: calculate_crc的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_modbus_response:
+        feedback: {}
+        goal: {}
+        goal_default:
+          response: null
+        handles: []
+        result: {}
+        schema:
+          description: read_modbus_response的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                response:
+                  type: string
+              required:
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_modbus_response参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_prototype_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_prototype_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_prototype_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: set_warning的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_warning参数
+          type: object
+        type: UniLabJsonCommand
       set_warning:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
+        schema:
+          description: ROS Action SendCmd 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.temperature.sensor_node:TempSensorNode
+    status_types:
+      value: float
+    type: python
+  description: Temperature sensor
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        address:
+          type: string
+        baudrate:
+          default: 9600
+          type: string
+        port:
+          type: string
+        warning:
+          type: string
+      required:
+      - port
+      - warning
+      - address
+      type: object
+    data:
+      properties:
+        value:
+          type: number
+      required:
+      - value
+      type: object

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -1,97 +1,496 @@
-vacuum_pump.mock:
-  description: Mock vacuum pump
-  class:
-    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
-    type: python
-    status_types:
-      status: String
-    action_value_mappings:
-      open:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-      close:
-        type: EmptyIn
-        goal: {}
-        feedback: {}
-        result: {}
-      set_status:
-        type: StrSingleInput
-        goal:
-          string: string
-        feedback: {}
-        result: {}
-  handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-      io_type: target
-      data_source: handle
-      data_key: fluid_in
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
-      data_type: fluid
-      io_type: source
-      data_source: executor
-      data_key: fluid_out
-  init_param_schema:
-    type: object
-    properties:
-      port:
-        type: string
-        description: "通信端口"
-        default: "COM6"
-    required:
-    - port
-
 gas_source.mock:
-  description: Mock gas source
   class:
-    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
-    type: python
-    status_types:
-      status: String
     action_value_mappings:
-      open:
-        type: EmptyIn
-        goal: {}
+      auto-close:
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_closed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: set_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status参数
+          type: object
+        type: UniLabJsonCommand
       close:
-        type: EmptyIn
-        goal: {}
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
       set_status:
-        type: StrSingleInput
+        feedback: {}
         goal:
           string: string
-        feedback: {}
+        goal_default:
+          string: ''
+        handles: []
         result: {}
+        schema:
+          description: ROS Action StrSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    status_types:
+      status: str
+    type: python
+  description: Mock gas source
   handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-      io_type: target
-      data_source: handle
-      data_key: fluid_in
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
-      data_type: fluid
-      io_type: source
-      data_source: executor
-      data_key: fluid_out
+  - data_key: fluid_out
+    data_source: executor
+    data_type: fluid
+    handler_key: out
+    io_type: source
+    label: out
+  icon: ''
   init_param_schema:
-    type: object
-    properties:
-      port:
-        type: string
-        description: "通信端口"
-        default: "COM6"
-    required:
-    - port
+    config:
+      properties:
+        port:
+          default: COM6
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+      required:
+      - status
+      type: object
+vacuum_pump.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_closed的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: is_open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: open的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: set_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status参数
+          type: object
+        type: UniLabJsonCommand
+      close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action EmptyIn 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      set_status:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ROS Action StrSingleInput 的 JSON Schema
+          properties:
+            feedback:
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              description: Action 目标 - 从客户端发送到服务器
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              description: Action 结果 - 完成后从服务器发送到客户端
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    status_types:
+      status: str
+    type: python
+  description: Mock vacuum pump
+  handles:
+  - data_key: fluid_in
+    data_source: handle
+    data_type: fluid
+    handler_key: out
+    io_type: source
+    label: out
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        port:
+          default: COM6
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        status:
+          type: string
+      required:
+      - status
+      type: object