修复静态方法识别get status，注册表支持python类型

# Conflicts:
#	test/experiments/Protocol_Test_Station/clean_vessel_protocol_test_station.json
#	test/experiments/comprehensive_protocol/comprehensive_station.json
#	unilabos/compile/__init__.py
#	unilabos/compile/add_protocol.py
#	unilabos/compile/clean_vessel_protocol.py
#	unilabos/registry/devices/virtual_device.yaml
#	unilabos/registry/resources/organic/container.yaml

.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-0.9.7-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-0.9.7-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

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

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.5
+  version: 0.9.7
 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: "0.9.7"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.5',
+    version='0.9.7',
     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

@@ -3,3 +3,9 @@
 ```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/comprehensive_protocol/checklist.md

@@ -0,0 +1,36 @@
+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,                       (√)
+    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,                        (×)
+    WashSolidProtocol: generate_wash_solid_protocol,                        (×)
+
+上下文体积搜索

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -0,0 +1,897 @@
+{
+    "nodes": [
+        {
+            "id": "OrganicSynthesisStation",
+            "name": "有机化学流程综合测试工作站",
+            "children": [
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "reagent_bottle_1",
+                "reagent_bottle_2",
+                "reagent_bottle_3",
+                "reagent_bottle_4",
+                "reagent_bottle_5",
+                "centrifuge_1",
+                "rotavap_1",
+                "main_reactor",
+                "heater_1",
+                "stirrer_1",
+                "stirrer_2",
+                "waste_bottle_1",
+                "waste_bottle_2",
+                "solenoid_valve_1",
+                "solenoid_valve_2",
+                "vacuum_pump_1",
+                "gas_source_1",
+                "filter_1",
+                "column_1",
+                "separator_1",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "collection_bottle_3"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 600,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "AddProtocol",
+                    "TransferProtocol",
+                    "StartStirProtocol",
+                    "StopStirProtocol",
+                    "StirProtocol",
+                    "RunColumnProtocol",
+                    "CentrifugeProtocol",
+                    "FilterProtocol",
+                    "CleanVesselProtocol",
+                    "DissolveProtocol",
+                    "FilterThroughProtocol",
+                    "WashSolidProtocol",
+                    "SeparateProtocol",
+                    "EvaporateProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol",
+                    "EvacuateAndRefillProtocol",
+                    "PumpTransferProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀门1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "positions": 8
+            },
+            "data": {
+                "valve_state": "Ready",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "八通阀门2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "positions": 8
+            },
+            "data": {
+                "valve_state": "Ready",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 350,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 25.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 850,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 25.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "reagent_bottle_1",
+            "name": "试剂瓶1-DMF",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 200,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "DMF"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "DMF"
+            }
+        },
+        {
+            "id": "reagent_bottle_2",
+            "name": "试剂瓶2-乙酸乙酯",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 250,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "ethyl_acetate"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "ethyl_acetate"
+            }
+        },
+        {
+            "id": "reagent_bottle_3",
+            "name": "试剂瓶3-己烷",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 300,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "hexane"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "hexane"
+            }
+        },
+        {
+            "id": "reagent_bottle_4",
+            "name": "试剂瓶4-甲醇",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 900,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "methanol"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "methanol"
+            }
+        },
+        {
+            "id": "reagent_bottle_5",
+            "name": "试剂瓶5-水",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 950,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "volume": 1000.0,
+                "reagent": "water"
+            },
+            "data": {
+                "current_volume": 1000.0,
+                "reagent_name": "water"
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "current_speed": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "rotavap_1",
+            "name": "旋转蒸发仪",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_rotavap",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 180.0,
+                "max_rotation_speed": 280.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "rotation_speed": 0.0
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 400,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "volume": 500.0,
+                "max_temp": 200.0,
+                "min_temp": -20.0,
+                "has_stirrer": true,
+                "has_heater": true
+            },
+            "data": {
+                "current_volume": 0.0,
+                "current_temp": 25.0
+            }
+        },
+        {
+            "id": "heater_1",
+            "name": "加热器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 450,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 200.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 350,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 2000.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_speed": 0.0
+            }
+        },
+        {
+            "id": "stirrer_2",
+            "name": "搅拌器2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 351,
+                "y": 451,
+                "z": 0
+            },
+            "config": {
+                "max_speed": 2000.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_speed": 0.0
+            }
+        },
+        {
+            "id": "waste_bottle_1",
+            "name": "废液瓶1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 500,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "volume": 2000.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "waste_bottle_2",
+            "name": "废液瓶2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 1100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 2000.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "solenoid_valve_1",
+            "name": "电磁阀1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 700,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "voltage": 12.0,
+                "response_time": 0.1
+            },
+            "data": {
+                "valve_state": "Closed",
+                "is_open": false
+            }
+        },
+        {
+            "id": "solenoid_valve_2",
+            "name": "电磁阀2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 700,
+                "y": 150,
+                "z": 0
+            },
+            "config": {
+                "voltage": 12.0,
+                "response_time": 0.1
+            },
+            "data": {
+                "valve_state": "Closed",
+                "is_open": false
+            }
+        },
+        {
+            "id": "vacuum_pump_1",
+            "name": "真空泵",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_vacuum_pump",
+            "position": {
+                "x": 650,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "max_vacuum": 0.1,
+                "pump_rate": 50.0
+            },
+            "data": {
+                "status": "Off",
+                "current_vacuum": 1.0
+            }
+        },
+        {
+            "id": "gas_source_1",
+            "name": "气源",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 650,
+                "y": 150,
+                "z": 0
+            },
+            "config": {},
+            "data": {
+                "gas_type": "nitrogen",
+                "max_pressure": 5.0
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 900,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "filter_type": "membrane",
+                "max_pressure": 5.0
+            },
+            "data": {
+                "status": "Ready",
+                "pressure": 0.0
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "洗脱柱",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 950,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "column_type": "silica_gel",
+                "length": 30.0,
+                "diameter": 2.5
+            },
+            "data": {
+                "status": "Ready",
+                "loaded": false
+            }
+        },
+        {
+            "id": "separator_1",
+            "name": "分液器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_separator",
+            "position": {
+                "x": 1000,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0,
+                "has_phases": true
+            },
+            "data": {
+                "status": "Ready",
+                "phase_separation": false
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "接收瓶1",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "接收瓶2",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 950,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        },
+        {
+            "id": "collection_bottle_3",
+            "name": "接收瓶3",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 1050,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "volume": 250.0
+            },
+            "data": {
+                "current_volume": 0.0
+            }
+        }
+    ],
+    "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_valve1_reagent1",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "reagent_bottle_1": "top"
+            }
+        },
+        {
+            "id": "link_valve1_reagent2",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "reagent_bottle_2": "top"
+            }
+        },
+        {
+            "id": "link_valve1_reagent3",
+            "source": "multiway_valve_1",
+            "target": "reagent_bottle_3",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "reagent_bottle_3": "top"
+            }
+        },
+        {
+            "id": "link_valve1_centrifuge",
+            "source": "multiway_valve_1",
+            "target": "centrifuge_1",
+            "type": "transport",
+            "port": {
+                "multiway_valve_1": "4",
+                "centrifuge_1": "centrifuge"
+            }
+        },
+        {
+            "id": "link_valve1_rotavap",
+            "source": "multiway_valve_1",
+            "target": "rotavap_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "rotavap_1": "sample_in"
+            }
+        },
+        {
+            "id": "link_valve1_reactor",
+            "source": "multiway_valve_1",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "main_reactor": "top"
+            }
+        },
+        {
+            "id": "link_valve1_waste1",
+            "source": "multiway_valve_1",
+            "target": "waste_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "waste_bottle_1": "top"
+            }
+        },
+        {
+            "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_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve2_solenoid1",
+            "source": "multiway_valve_2",
+            "target": "solenoid_valve_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "solenoid_valve_1": "in"
+            }
+        },
+        {
+            "id": "link_vacuum_solenoid1",
+            "source": "vacuum_pump_1",
+            "target": "solenoid_valve_1",
+            "type": "fluid",
+            "port": {
+                "vacuum_pump_1": "vacuumpump",
+                "solenoid_valve_1": "out"
+            }
+        },
+        {
+            "id": "link_valve2_solenoid2",
+            "source": "multiway_valve_2",
+            "target": "solenoid_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "solenoid_valve_2": "in"
+            }
+        },
+        {
+            "id": "link_gas_solenoid2",
+            "source": "gas_source_1",
+            "target": "solenoid_valve_2",
+            "type": "fluid",
+            "port": {
+                "gas_source_1": "gassource",
+                "solenoid_valve_2": "out"
+            }
+        },
+        {
+            "id": "link_valve2_filter",
+            "source": "multiway_valve_2",
+            "target": "filter_1",
+            "type": "transport",
+            "port": {
+                "multiway_valve_2": "4",
+                "filter_1": "filter_in"
+            }
+        },
+        {
+            "id": "link_valve2_column",
+            "source": "multiway_valve_2",
+            "target": "column_1",
+            "type": "transport",
+            "port": {
+                "multiway_valve_2": "5",
+                "column_1": "columnin"
+            }
+        },
+        {
+            "id": "link_column_collection2",
+            "source": "column_1",
+            "target": "collection_bottle_2",
+            "type": "transport",
+            "port": {
+                "column_1": "columnout",
+                "collection_bottle_2": "top"
+            }
+        },
+        {
+            "id": "link_valve2_separator",
+            "source": "multiway_valve_2",
+            "target": "separator_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "separator_1": "separator_in"
+            }
+        },
+        {
+            "id": "link_separator_collection3",
+            "source": "separator_1",
+            "target": "collection_bottle_3",
+            "type": "fluid",
+            "port": {
+                "separator_1": "bottom_phase_out",
+                "collection_bottle_3": "top"
+            }
+        },
+        {
+            "id": "link_valve2_reagent4",
+            "source": "multiway_valve_2",
+            "target": "reagent_bottle_4",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "reagent_bottle_4": "top"
+            }
+        },
+        {
+            "id": "link_valve2_reagent5",
+            "source": "multiway_valve_2",
+            "target": "reagent_bottle_5",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "reagent_bottle_5": "top"
+            }
+        },
+        {
+            "id": "mech_stirrer_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer",
+                "main_reactor": "bind"
+            }
+        },
+        {
+            "id": "thermal_heater_reactor",
+            "source": "heater_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "heater_1": "heatchill",
+                "main_reactor": "bind"
+            }
+        },
+        {
+            "id": "link_separator_waste2",
+            "source": "separator_1",
+            "target": "waste_bottle_2",
+            "type": "fluid",
+            "port": {
+                "separator_1": "top_phase_out",
+                "waste_bottle_2": "top"
+            }
+        },
+        {
+            "id": "mech_stirrer2_separator",
+            "source": "stirrer_2",
+            "target": "separator_1",
+            "type": "mechanical",
+            "port": {
+                "stirrer_2": "stirrer",
+                "separator_1": "bind"
+            }
+        },
+        {
+        "id": "link_filter_filtrate_to_collection1",
+        "source": "filter_1",
+        "target": "collection_bottle_1",
+        "type": "transport",
+        "port": {
+            "filter_1": "filtrate_out",
+            "collection_bottle_1": "top"
+        }
+        },
+        {
+            "id": "link_filter_retentate_to_waste1",
+            "source": "filter_1",
+            "target": "waste_bottle_1",
+            "type": "transport",
+            "port": {
+                "filter_1": "retentate_out",
+                "waste_bottle_1": "top"
+            }
+        }
+    ]
+}

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",
+                "transfer_pump",
-                "flask_1",
+                "multiway_valve", 
-                "flask_2", 
-                "flask_3",
-                "flask_4",
-                "reactor",
                 "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",
+            "id": "transfer_pump",
-            "name": "pump_add",
+            "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,
+                "x": 720,
-                "y": 478,
+                "y": 450,
                 "z": 0
             },
             "config": {
@@ -68,110 +93,115 @@
             }
         },
         {
-            "id": "flask_1",
+            "id": "flask_reagent1",
-            "name": "通用试剂瓶1",
+            "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",
+            "id": "flask_reagent2",
-            "name": "通用试剂瓶2",
+            "name": "试剂瓶2 (乙醇)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 250,
+                "x": 180,
-                "y": 428,
+                "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",
+            "id": "flask_reagent3",
-            "name": "通用试剂瓶3",
+            "name": "试剂瓶3 (丙酮)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 400,
+                "x": 260,
-                "y": 428,
+                "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",
+            "id": "flask_reagent4",
-            "name": "通用试剂瓶4",
+            "name": "试剂瓶4 (二氯甲烷)",
             "children": [],
             "parent": "AddTestStation",
             "type": "container",
             "class": null,
             "position": {
-                "x": 550,
+                "x": 340,
-                "y": 428,
+                "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,
+                "x": 720,
-                "y": 428,
+                "y": 400,
-                "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,
                 "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",
+                "multiway_valve": "multiway-valve-port-5",
-                "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",
                 "reactor": "top"
             }
         },
         {
-            "source": "pump_add",
+            "source": "multiway_valve",
-            "target": "flask_air",
+            "target": "flask_waste",
             "type": "physical",
             "port": {
-                "pump_add": "inlet",
+                "multiway_valve": "multiway-valve-port-6",
-                "flask_air": "top"
+                "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",
+            "source": "vacuum_valve",
-            "target": "vacuum_valve",
+            "target": "reactor",
-            "type": "physical",
+            "type": "fluid",
             "port": {
                 "reactor": "top",
-                "vacuum_valve": "1"
+                "vacuum_valve": "out"
             }
         },
         {
-            "source": "reactor",
+            "source": "gas_valve",
-            "target": "gas_valve",
+            "target": "reactor",
-            "type": "physical",
+            "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-win64.yaml

@@ -6,12 +6,12 @@ channels:
 dependencies:
   # Basics
   - python=3.11.11
-  - compilers
+  # - compilers
-  - cmake
+  # - cmake
-  - make
+  # - make
-  - ninja
+  # - ninja
-  - sphinx
+  # - sphinx
-  - sphinx_rtd_theme
+  # - sphinx_rtd_theme
   # Data Visualization
   - numpy
   - scipy
@@ -23,7 +23,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus==3.6.9
   - python-can
   - pyvisa
   - opencv
@@ -61,5 +61,12 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs
+  # driver
+  #- crcmod
   - pip:
       - paho-mqtt
+      # 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"]
+    action_type = req.data.get("action_type", "LocalUnknown")
-    req.data['action'] = action_name
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
-    if action_name == "execute_command_from_outer":
+    if action_args is None:
-        action_kwargs = {"command": json.dumps(action_kwargs)}
+        action_args = req.data.get("action_args")
-    elif "command" in action_kwargs:
+    else:
-        action_kwargs = action_kwargs["command"]
+        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:
+    load_config_from_file(config_path)
-        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)
 
     # 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 = (
+        if args_dict["graph"].endswith(".json"):
-            read_node_link_json(args_dict["graph"])
+            graph, data = read_node_link_json(args_dict["graph"])
-            if args_dict["graph"].endswith(".json")
+        else:
-            else read_graphml(args_dict["graph"])
+            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

@@ -172,13 +172,14 @@ 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
@@ -20,25 +25,25 @@ from .wash_solid_protocol import generate_wash_solid_protocol
 
 # Define a dictionary of protocol generators.
 action_protocol_generators = {
-    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    AddProtocol: generate_add_protocol,
-    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,
+    CleanProtocol: generate_clean_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,
+    DissolveProtocol: generate_dissolve_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,
+    PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    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 +1,627 @@
 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:
+    """
+    根据试剂名称查找对应的试剂瓶，支持多种匹配模式：
+    1. 容器名称匹配（如 flask_DMF, reagent_bottle_1-DMF）
+    2. 容器内液体类型匹配（如 liquid_type: "DMF", name: "ethanol"）
+    3. 试剂名称匹配（如 reagent_name: "DMF", config.reagent: "ethyl_acetate"）
+    
+    Args:
+        G: 网络图
+        reagent: 试剂名称
+    
+    Returns:
+        str: 试剂瓶的vessel ID
+    
+    Raises:
+        ValueError: 如果找不到对应的试剂瓶
+    """
+    print(f"ADD_PROTOCOL: 正在查找试剂 '{reagent}' 的容器...")
+    
+    # 第一步：通过容器名称匹配
+    possible_names = [
+        f"flask_{reagent}",           # flask_DMF, flask_ethanol
+        f"bottle_{reagent}",          # bottle_DMF, bottle_ethanol  
+        f"vessel_{reagent}",          # vessel_DMF, vessel_ethanol
+        f"{reagent}_flask",           # DMF_flask, ethanol_flask
+        f"{reagent}_bottle",          # DMF_bottle, ethanol_bottle
+        f"{reagent}",                 # 直接用试剂名
+        f"reagent_{reagent}",         # reagent_DMF, reagent_ethanol
+        f"reagent_bottle_{reagent}",  # reagent_bottle_DMF
+    ]
+    
+    # 尝试名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"ADD_PROTOCOL: 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（名称中包含试剂名）
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查节点ID或名称中是否包含试剂名
+            node_name = G.nodes[node_id].get('name', '').lower()
+            if (reagent.lower() in node_id.lower() or 
+                reagent.lower() in node_name):
+                print(f"ADD_PROTOCOL: 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() == reagent.lower() or 
+                        reagent_name.lower() == reagent.lower() or
+                        config_reagent.lower() == reagent.lower()):
+                        print(f"ADD_PROTOCOL: 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"ADD_PROTOCOL: 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"找不到试剂 '{reagent}' 对应的试剂瓶。尝试了名称匹配: {possible_names}")
+
+
+def find_reagent_vessel_by_any_match(G: nx.DiGraph, reagent: str) -> str:
+    """
+    增强版试剂容器查找，支持各种匹配方式的别名函数
+    """
+    return find_reagent_vessel(G, reagent)
+
+
+def get_vessel_reagent_volume(G: nx.DiGraph, vessel: str) -> float:
+    """获取容器中的试剂体积"""
+    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 get_vessel_reagent_types(G: nx.DiGraph, vessel: str) -> List[str]:
+    """获取容器中所有试剂的类型"""
+    if vessel not in G.nodes():
+        return []
+    
+    vessel_data = G.nodes[vessel].get('data', {})
+    liquids = vessel_data.get('liquid', [])
+    
+    reagent_types = []
+    for liquid in liquids:
+        if isinstance(liquid, dict):
+            # 支持两种格式的试剂类型字段
+            reagent_type = liquid.get('liquid_type') or liquid.get('name', '')
+            if reagent_type:
+                reagent_types.append(reagent_type)
+    
+    # 同时检查配置中的试剂信息
+    config_reagent = G.nodes[vessel].get('config', {}).get('reagent', '')
+    reagent_name = vessel_data.get('reagent_name', '')
+    
+    if config_reagent and config_reagent not in reagent_types:
+        reagent_types.append(config_reagent)
+    if reagent_name and reagent_name not in reagent_types:
+        reagent_types.append(reagent_name)
+    
+    return reagent_types
+
+
+def find_vessels_by_reagent(G: nx.DiGraph, reagent: str) -> List[str]:
+    """
+    根据试剂类型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 reagent.lower() in node_id.lower() or reagent.lower() in node_name:
+                matching_vessels.append(node_id)
+                continue
+            
+            # 检查试剂类型匹配
+            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 (reagent.lower() == reagent_name or 
+                reagent.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() == reagent.lower():
+                        matching_vessels.append(node_id)
+                        break
+    
+    return matching_vessels
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与指定容器相连的搅拌器
+    
+    Args:
+        G: 网络图
+        vessel: 容器ID
+    
+    Returns:
+        str: 搅拌器ID，如果找不到则返回None
+    """
+    # 查找所有搅拌器节点
+    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
+    
+    # 如果没有直接连接，返回第一个可用的搅拌器
+    return stirrer_nodes[0] if stirrer_nodes else None
+
 
 def generate_add_protocol(
     G: nx.DiGraph,
     vessel: str,
     reagent: str,
     volume: float,
-    mass: float,  
+    mass: float = 0.0,
-    amount: str,  
+    amount: str = "",
-    time: float,  
+    time: float = 0.0,
-    stir: bool,  
+    stir: bool = False,
-    stir_speed: float,  
+    stir_speed: float = 300.0,
-    viscous: bool,  
+    viscous: bool = False,
-    purpose: str  
+    purpose: str = "添加试剂"
 ) -> List[Dict[str, Any]]:
     """
-    生成添加试剂的协议序列 - 严格按照 Add.action
+    生成添加试剂的协议序列，支持智能试剂匹配
+    
+    基于pump_protocol的成熟算法，实现试剂添加功能：
+    1. 智能查找试剂瓶（支持名称匹配、液体类型匹配、试剂配置匹配）
+    2. **先启动搅拌，再进行转移** - 确保试剂添加更均匀
+    3. 使用pump_protocol实现液体转移
+    
+    Args:
+        G: 有向图，节点为容器和设备，边为连接关系
+        vessel: 目标容器（要添加试剂的容器）
+        reagent: 试剂名称（用于查找对应的试剂瓶）
+        volume: 要添加的体积 (mL)
+        mass: 要添加的质量 (g) - 暂时未使用，预留接口
+        amount: 其他数量描述
+        time: 添加时间 (s)，如果指定则计算流速
+        stir: 是否启用搅拌
+        stir_speed: 搅拌速度 (RPM)
+        viscous: 是否为粘稠液体
+        purpose: 添加目的描述
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备或容器时
     """
     action_sequence = []
     
-    # 如果指定了体积，执行液体转移  
+    print(f"ADD_PROTOCOL: 开始生成添加试剂协议")
-    if volume > 0:  
+    print(f"  - 目标容器: {vessel}")
-        # 查找可用的试剂瓶
+    print(f"  - 试剂: {reagent}")
-        available_flasks = [node for node in G.nodes() 
+    print(f"  - 体积: {volume} mL")
-                           if node.startswith('flask_') 
+    print(f"  - 质量: {mass} g")
-                           and G.nodes[node].get('type') == 'container']
+    print(f"  - 搅拌: {stir} (速度: {stir_speed} RPM)")
+    print(f"  - 粘稠: {viscous}")
+    print(f"  - 目的: {purpose}")
     
-        if not available_flasks:
+    # 1. 验证目标容器存在
-            raise ValueError("没有找到可用的试剂容器")
+    if vessel not in G.nodes():
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
     
-        reagent_vessel = available_flasks[0]
+    # 2. 智能查找试剂瓶
+    try:
+        reagent_vessel = find_reagent_vessel(G, reagent)
+        print(f"ADD_PROTOCOL: 找到试剂容器: {reagent_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
     
-        # 查找泵设备
+    # 3. 验证试剂容器中的试剂体积
-        pump_nodes = [node for node in G.nodes() 
+    available_volume = get_vessel_reagent_volume(G, reagent_vessel)
-                     if G.nodes[node].get('class') == 'virtual_pump']
+    print(f"ADD_PROTOCOL: 试剂容器 {reagent_vessel} 中有 {available_volume} mL 试剂")
     
-        if pump_nodes:
+    if available_volume < volume:
-            pump_id = pump_nodes[0]
+        print(f"ADD_PROTOCOL: 警告 - 试剂容器中的试剂不足！需要 {volume} mL，可用 {available_volume} mL")
-            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  
+    # 4. 验证是否存在从试剂瓶到目标容器的路径
+    try:
+        path = nx.shortest_path(G, source=reagent_vessel, target=vessel)
+        print(f"ADD_PROTOCOL: 找到路径 {reagent_vessel} -> {vessel}: {path}")
+    except nx.NetworkXNoPath:
+        raise ValueError(f"从试剂瓶 '{reagent_vessel}' 到目标容器 '{vessel}' 没有可用路径")
+    
+    # 5. **先启动搅拌** - 关键改进！
     if stir:
-        stirrer_nodes = [node for node in G.nodes()   
+        try:
-                        if G.nodes[node].get('class') == 'virtual_stirrer']  
+            stirrer_id = find_connected_stirrer(G, vessel)
             
-        if stirrer_nodes:  
+            if stirrer_id:
-            stirrer_id = stirrer_nodes[0]  
+                print(f"ADD_PROTOCOL: 找到搅拌器 {stirrer_id}，将在添加前启动搅拌")
+                
+                # 先启动搅拌
+                stir_action = {
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel,
+                        "stir_speed": stir_speed,
+                        "purpose": f"{purpose}: 启动搅拌，准备添加 {reagent}"
+                    }
+                }
+                
+                action_sequence.append(stir_action)
+                print(f"ADD_PROTOCOL: 已添加搅拌动作，速度 {stir_speed} RPM")
+                
+                # 等待搅拌稳定
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+            else:
+                print(f"ADD_PROTOCOL: 警告 - 需要搅拌但未找到与容器 {vessel} 相连的搅拌器")
+        
+        except Exception as e:
+            print(f"ADD_PROTOCOL: 搅拌器配置出错: {str(e)}")
+    
+    # 6. 如果指定了体积，执行液体转移
+    if volume > 0:
+        # 6.1 计算流速参数
+        if time > 0:
+            # 根据时间计算流速
+            transfer_flowrate = volume / time
+            flowrate = transfer_flowrate
+        else:
+            # 使用默认流速
+            if viscous:
+                transfer_flowrate = 0.3  # 粘稠液体用较慢速度
+                flowrate = 1.0
+            else:
+                transfer_flowrate = 0.5  # 普通液体默认速度
+                flowrate = 2.5
+        
+        print(f"ADD_PROTOCOL: 准备转移 {volume} mL 从 {reagent_vessel} 到 {vessel}")
+        print(f"ADD_PROTOCOL: 转移流速={transfer_flowrate} mL/s, 注入流速={flowrate} mL/s")
+        
+        # 6.2 使用pump_protocol的核心算法实现液体转移
+        try:
+            pump_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=reagent_vessel,
+                to_vessel=vessel,
+                volume=volume,
+                amount=amount,
+                time=time,
+                viscous=viscous,
+                rinsing_solvent="",  # 添加试剂通常不需要清洗
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=flowrate,
+                transfer_flowrate=transfer_flowrate
+            )
+            
+            # 添加pump actions到序列中
+            action_sequence.extend(pump_actions)
+            
+        except Exception as e:
+            raise ValueError(f"生成泵协议时出错: {str(e)}")
+    
+    print(f"ADD_PROTOCOL: 生成了 {len(action_sequence)} 个动作")
+    print(f"ADD_PROTOCOL: 添加试剂协议生成完成")
+    
+    return action_sequence
+
+
+def generate_add_protocol_with_cleaning(
+    G: nx.DiGraph,
+    vessel: str,
+    reagent: str,
+    volume: float,
+    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",
+    cleaning_solvent: str = "air",
+    cleaning_volume: float = 5.0,
+    cleaning_repeats: int = 1
+) -> List[Dict[str, Any]]:
+    """
+    生成带清洗的添加试剂协议，支持智能试剂匹配
+    
+    与普通添加协议的区别是会在添加后进行管道清洗
+    
+    Args:
+        G: 有向图
+        vessel: 目标容器
+        reagent: 试剂名称
+        volume: 添加体积
+        mass: 添加质量（预留）
+        amount: 其他数量描述
+        time: 添加时间
+        stir: 是否搅拌
+        stir_speed: 搅拌速度
+        viscous: 是否粘稠
+        purpose: 添加目的
+        cleaning_solvent: 清洗溶剂（"air"表示空气清洗）
+        cleaning_volume: 清洗体积
+        cleaning_repeats: 清洗重复次数
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 1. 智能查找试剂瓶
+    reagent_vessel = find_reagent_vessel(G, reagent)
+    
+    # 2. **先启动搅拌**
+    if stir:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        if stirrer_id:
             action_sequence.append({
                 "device_id": stirrer_id,
-                "action_name": "start_stir",  # 使用 start_stir 而不是 stir
+                "action_name": "start_stir",
                 "action_kwargs": {
                     "vessel": vessel,
                     "stir_speed": stir_speed,
-                    "purpose": f"添加 {reagent} 后搅拌"
+                    "purpose": f"{purpose}: 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}
+            })
+    
+    # 3. 计算流速
+    if time > 0:
+        transfer_flowrate = volume / time
+        flowrate = transfer_flowrate
+    else:
+        if viscous:
+            transfer_flowrate = 0.3
+            flowrate = 1.0
+        else:
+            transfer_flowrate = 0.5
+            flowrate = 2.5
+    
+    # 4. 使用带清洗的pump_protocol
+    pump_actions = generate_pump_protocol_with_rinsing(
+        G=G,
+        from_vessel=reagent_vessel,
+        to_vessel=vessel,
+        volume=volume,
+        amount=amount,
+        time=time,
+        viscous=viscous,
+        rinsing_solvent=cleaning_solvent,
+        rinsing_volume=cleaning_volume,
+        rinsing_repeats=cleaning_repeats,
+        solid=False,
+        flowrate=flowrate,
+        transfer_flowrate=transfer_flowrate
+    )
+    
+    action_sequence.extend(pump_actions)
+    
     return action_sequence
+
+
+def generate_sequential_add_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    reagents: List[Dict[str, Any]],
+    stir_between_additions: bool = True,
+    final_stir: bool = True,
+    final_stir_speed: float = 400.0,
+    final_stir_time: float = 300.0
+) -> List[Dict[str, Any]]:
+    """
+    生成连续添加多种试剂的协议，支持智能试剂匹配
+    
+    Args:
+        G: 网络图
+        vessel: 目标容器
+        reagents: 试剂列表，每个元素包含试剂添加参数
+        stir_between_additions: 是否在每次添加之间搅拌
+        final_stir: 是否在所有添加完成后进行最终搅拌
+        final_stir_speed: 最终搅拌速度
+        final_stir_time: 最终搅拌时间
+    
+    Returns:
+        List[Dict[str, Any]]: 完整的动作序列
+    
+    Example:
+        reagents = [
+            {
+                "reagent": "DMF",           # 会匹配 reagent_bottle_1 (reagent_name: "DMF")
+                "volume": 10.0,
+                "viscous": False,
+                "stir_speed": 300.0
+            },
+            {
+                "reagent": "ethyl_acetate", # 会匹配 reagent_bottle_2 (reagent_name: "ethyl_acetate")
+                "volume": 5.0,
+                "viscous": False,
+                "stir_speed": 350.0
+            }
+        ]
+    """
+    action_sequence = []
+    
+    print(f"ADD_PROTOCOL: 开始连续添加 {len(reagents)} 种试剂到容器 {vessel}")
+    
+    for i, reagent_params in enumerate(reagents):
+        reagent_name = reagent_params.get('reagent')
+        print(f"ADD_PROTOCOL: 处理第 {i+1}/{len(reagents)} 个试剂: {reagent_name}")
+        
+        # 生成单个试剂的添加协议
+        add_actions = generate_add_protocol(
+            G=G,
+            vessel=vessel,
+            reagent=reagent_name,
+            volume=reagent_params.get('volume', 0.0),
+            mass=reagent_params.get('mass', 0.0),
+            amount=reagent_params.get('amount', ''),
+            time=reagent_params.get('time', 0.0),
+            stir=stir_between_additions,
+            stir_speed=reagent_params.get('stir_speed', 300.0),
+            viscous=reagent_params.get('viscous', False),
+            purpose=reagent_params.get('purpose', f'添加试剂 {reagent_name} ({i+1}/{len(reagents)})')
+        )
+        
+        action_sequence.extend(add_actions)
+        
+        # 在添加之间加入等待时间
+        if i < len(reagents) - 1:  # 不是最后一个试剂
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": 10}  # 试剂混合时间
+            })
+    
+    # 最终搅拌
+    if final_stir:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        if stirrer_id:
+            print(f"ADD_PROTOCOL: 添加最终搅拌动作，速度 {final_stir_speed} RPM，时间 {final_stir_time} 秒")
+            action_sequence.extend([
+                {
+                    "device_id": stirrer_id,
+                    "action_name": "stir",
+                    "action_kwargs": {
+                        "stir_time": final_stir_time,
+                        "stir_speed": final_stir_speed,
+                        "settling_time": 30.0
+                    }
+                }
+            ])
+    
+    print(f"ADD_PROTOCOL: 连续添加协议生成完成，共 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 便捷函数：常用添加方案
+def generate_organic_add_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    organic_reagent: str,
+    volume: float,
+    stir_speed: float = 400.0
+) -> List[Dict[str, Any]]:
+    """有机试剂添加：慢速、搅拌"""
+    return generate_add_protocol(
+        G, vessel, organic_reagent, volume, 0.0, "", 0.0, 
+        True, stir_speed, False, f"添加有机试剂 {organic_reagent}"
+    )
+
+
+def generate_viscous_add_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    viscous_reagent: str,
+    volume: float,
+    addition_time: float = 120.0
+) -> List[Dict[str, Any]]:
+    """粘稠试剂添加：慢速、长时间"""
+    return generate_add_protocol(
+        G, vessel, viscous_reagent, volume, 0.0, "", addition_time, 
+        True, 250.0, True, f"缓慢添加粘稠试剂 {viscous_reagent}"
+    )
+
+
+def generate_solvent_add_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    solvent: str,
+    volume: float
+) -> List[Dict[str, Any]]:
+    """溶剂添加：快速、无需特殊处理"""
+    return generate_add_protocol(
+        G, vessel, solvent, volume, 0.0, "", 0.0, 
+        False, 300.0, False, f"添加溶剂 {solvent}"
+    )
+
+
+# 使用示例和测试函数
+def test_add_protocol():
+    """测试添加协议的示例"""
+    print("=== ADD PROTOCOL 智能匹配测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_add_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
+        G: 有向图，节点为设备和容器，边为流体管道
-        vessel: 离心容器名称
+        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
+    print(f"CENTRIFUGE: 开始生成离心协议")
-    centrifuge_nodes = [node for node in G.nodes() 
+    print(f"  - 源容器: {vessel}")
-                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    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:
+    # 验证源容器存在
-        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
     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
+    # 获取源容器中的液体体积
-    action_sequence.append({
+    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]]:
-    """
+    """低速离心：细胞分离或大颗粒沉淀"""
-    生成多步骤离心操作的协议序列
+    return generate_centrifuge_protocol(G, vessel, 1000.0, time, 4.0)
 
-    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:
+def generate_high_speed_centrifuge_protocol(
-        List[Dict[str, Any]]: 多步骤离心操作的动作序列
+    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)
 
-    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
+def generate_standard_centrifuge_protocol(
-    centrifuge_nodes = [node for node in G.nodes() 
+    G: nx.DiGraph,
-                       if G.nodes[node].get('class') == 'virtual_centrifuge']
+    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)
 
-    if not centrifuge_nodes:
-        raise ValueError("没有找到可用的离心机设备")
 
-    centrifuge_id = centrifuge_nodes[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)
 
-    # 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
+def generate_ultra_centrifuge_protocol(
-    for i, step in enumerate(steps):
+    G: nx.DiGraph,
-        speed = step.get('speed', 5000)
+    vessel: str,
-        time = step.get('time', 300)
+    time: float = 1800.0  # 30分钟
-        temp = step.get('temp', 25.0)
+) -> List[Dict[str, Any]]:
-        
+    """超高速离心：超细颗粒分离"""
-        action_sequence.append({
+    return generate_centrifuge_protocol(G, vessel, 15000.0, time, 4.0)
-            "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

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
+        solvent: 用于清洗的溶剂名称  
-        volume: 清洗溶剂的体积
+        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
+    print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
-    pump_nodes = [node for node in G.nodes() 
+    print(f"  - 目标容器: {vessel}")
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    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:
+    # 验证目标容器存在
-        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
     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}"
+    try:
-    if solvent_vessel not in G.nodes():
+        solvent_vessel = find_solvent_vessel(G, solvent)
-        raise ValueError(f"溶剂容器 {solvent_vessel} 不存在于图中")
+        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"
+    try:
-    if waste_vessel not in G.nodes():
+        waste_vessel = find_waste_vessel(G)
-        raise ValueError(f"废液容器 {waste_vessel} 不存在于图中")
+        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）
+    # 查找加热设备（可选）
-    heatchill_nodes = [node for node in G.nodes() 
+    heatchill_id = find_connected_heatchill(G, vessel)
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    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)
         
-    # 执行清洗操作序列
+        # 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)
+    
+    # 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
+        print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
-        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"
-                }
-            })
         
-        # 2. 使用transfer操作：从溶剂容器转移清洗溶剂到目标容器
+        # 2a. 使用 pump_protocol 将溶剂转移到目标容器
-        action_sequence.append({
+        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel}")
-            "device_id": pump_id,
+        try:
-            "action_name": "transfer",
+            # 调用成熟的 pump_protocol 算法
-            "action_kwargs": {
+            add_solvent_actions = generate_pump_protocol(
-                "from_vessel": solvent_vessel,
+                G=G,
-                "to_vessel": vessel,
+                from_vessel=solvent_vessel,
-                "volume": volume,
+                to_vessel=vessel,
-                "amount": f"cleaning with {solvent} - cycle {repeat + 1}",
+                volume=volume,
-                "time": 0.0,
+                flowrate=2.5,  # 适中的流速，避免飞溅
-                "viscous": False,
+                transfer_flowrate=2.5
-                "rinsing_solvent": "",
+            )
-                "rinsing_volume": 0.0,
+            action_sequence.extend(add_solvent_actions)
-                "rinsing_repeats": 0,
+        except Exception as e:
-                "solid": False
+            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}
             }
-        })
+            action_sequence.append(wait_action)
     
-        # 3. 等待清洗作用时间（可选，可以添加wait操作）
+    # 第三步：如果加热了，停止加热
-        # 这里省略wait操作，直接进行下一步
+    if temp > 25.0 and heatchill_id:
-        
+        print(f"CLEAN_VESSEL: 停止加热")
-        # 4. 将清洗后的溶剂转移到废液容器
+        heatchill_stop_action = {
-        action_sequence.append({
+            "device_id": heatchill_id,
-            "device_id": pump_id,
+            "action_name": "heat_chill_stop",
-            "action_name": "transfer",
             "action_kwargs": {
-                "from_vessel": vessel,
+                "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
             }
-        })
+        }
+        action_sequence.append(heatchill_stop_action)
     
-        # 5. 如果加热了，停止加热
+    print(f"CLEAN_VESSEL: 生成了 {len(action_sequence)} 个动作")
-        if temp > 25.0 and heatchill_id:
+    print(f"CLEAN_VESSEL: 清洗协议生成完成")
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_stop",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
     
     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
+        G: 有向图，节点为设备和容器，边为流体管道
-        vessel: 装有要溶解物质的容器名称
+        vessel: 目标容器（要进行溶解的容器）
-        solvent: 用于溶解物质的溶剂名称
+        solvent: 溶剂名称（用于查找对应的溶剂瓶）
-        volume: 溶剂的体积，可选参数
+        volume: 溶剂体积 (mL)
-        amount: 要溶解物质的量，可选参数
+        amount: 要溶解的物质描述
-        temp: 溶解时的温度，可选参数
+        temp: 溶解温度 (°C)，默认25°C（室温）
-        time: 溶解的时间，可选参数
+        time: 溶解时间 (秒)，默认0（立即完成）
-        stir_speed: 搅拌速度，可选参数
+        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
+    # 查找溶剂瓶
-    solvent_vessel = f"flask_{solvent}"
+    try:
-    if solvent_vessel not in G.nodes():
+        solvent_vessel = find_solvent_vessel(G, solvent)
-        # 如果没有找到特定溶剂容器，查找可用的源容器
+        print(f"DISSOLVE: 找到溶剂瓶: {solvent_vessel}")
-        available_vessels = [node for node in G.nodes() 
+    except ValueError as e:
-                           if node.startswith('flask_') and 
+        raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
-                           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}")
     
-    # 查找转移泵设备
+    # 验证是否存在从溶剂瓶到目标容器的路径
-    pump_nodes = [node for node in G.nodes() 
+    try:
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+        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:
+    # 查找加热搅拌器
-        raise ValueError("没有找到可用的转移泵设备")
+    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]
+    # === 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")
         
-    # 查找加热设备（如果需要加热）
+        if time > 0:
-    heatchill_nodes = [node for node in G.nodes() 
+            # 如果指定了时间，使用定时加热搅拌
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+            heatchill_action = {
-    
+                "device_id": heatchill_id,
-    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
+                "action_name": "heat_chill",
-    
-    # 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",
                 "action_kwargs": {
-                    "vessel": vessel
+                    "vessel": vessel,
-                }
+                    "temp": temp,
-            })
+                    "time": time,
-            
+                    "stir": True,
-            # 开始定时搅拌
-            action_sequence.append({
-                "device_id": stirrer_id,
-                "action_name": "stir",
-                "action_kwargs": {
-                    "stir_time": time,
                     "stir_speed": stir_speed,
-                    "settling_time": 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
+    # === 第二步：添加溶剂到目标容器 ===
-    if temp > 25.0 and heatchill_id:
+    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）
+    print(f"DISSOLVE: 生成了 {len(action_sequence)} 个动作")
-    if stir_speed > 0 and stirrer_id and time == 0:
+    print(f"DISSOLVE: 溶解协议生成完成")
-        action_sequence.append({
-            "device_id": stirrer_id,
-            "action_name": "stop_stir",
-            "action_kwargs": {
-                "vessel": vessel
-            }
-        })
     
     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 = []
+    
+    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/evacuateandrefill_protocol.py

@@ -1,5 +1,96 @@
 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"""
+    # 按照命名规则查找气源
+    gas_source_patterns = [
+        f"gas_source_{gas}",
+        f"gas_{gas}",
+        f"flask_{gas}",
+        f"{gas}_source"
+    ]
+    
+    for pattern in gas_source_patterns:
+        if pattern in G.nodes():
+            return pattern
+    
+    # 模糊匹配
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '') or ''
+        if 'gas_source' in node_class and gas.lower() in node.lower():
+            return node
+        if node.startswith('flask_') and gas.lower() in node.lower():
+            return node
+    
+    # 查找所有可用的气源
+    available_gas_sources = [
+        node for node in G.nodes() 
+        if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source')
+            or ('gas' in node and 'source' in node)
+            or (node.startswith('flask_') and any(g in node.lower() for g in ['air', 'nitrogen', 'argon', 'vacuum'])))
+    ]
+    
+    raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
+
+
+def find_vacuum_pump(G: nx.DiGraph) -> str:
+    """查找真空泵设备"""
+    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(
@@ -7,137 +98,340 @@ def generate_evacuateandrefill_protocol(
     vessel: str,
     gas: str,
     repeats: int = 1
-) -> list[dict]:
+) -> 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
     
-    :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
+    **修复版本**: 正确调用 pump_protocol 并处理异常
-    :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
     """
+    action_sequence = []
     
-    # 生成电磁阀、真空泵、气源操作的动作序列
+    # 参数设置 - 关键修复：减小体积避免超出泵容量
-    vacuum_action_sequence = []
+    VACUUM_VOLUME = 20.0     # 减小抽真空体积
-    nodes = G.nodes(data=True)
+    REFILL_VOLUME = 20.0     # 减小充气体积
+    PUMP_FLOW_RATE = 2.5     # 降低流速
+    STIR_SPEED = 300.0
     
-    # 找到和 vessel 相连的电磁阀和真空泵、气源
+    print(f"EVACUATE_REFILL: 开始生成协议，目标容器: {vessel}, 气体: {gas}, 重复次数: {repeats}")
-    vacuum_backbone = {"vessel": vessel}
     
-    for neighbor in G.neighbors(vessel):
+    # 1. 验证设备存在
-        if nodes[neighbor]["class"].startswith("solenoid_valve"):
+    if vessel not in G.nodes():
-            for neighbor2 in G.neighbors(neighbor):
+        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
-                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
+    # 2. 查找设备
-    for i in range(repeats):
+    try:
-        # 打开真空泵阀门、关闭气源阀门
+        vacuum_pump = find_vacuum_pump(G)
-        vacuum_action_sequence.append([
+        vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump)
-            {
+        gas_source = find_gas_source(G, gas)
-                "device_id": vacuum_backbone["vacuum_valve"],
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source)
-                "action_name": "set_valve_position",
+        stirrer_id = find_connected_stirrer(G, vessel)
-                "action_kwargs": {
+        
-                    "command": "OPEN"
+        print(f"EVACUATE_REFILL: 找到设备")
-                }
+        print(f"  - 真空泵: {vacuum_pump}")
-            },
+        print(f"  - 气源: {gas_source}")
-            {
+        print(f"  - 真空电磁阀: {vacuum_solenoid}")
-                "device_id": vacuum_backbone["gas_valve"],
+        print(f"  - 气源电磁阀: {gas_solenoid}")
-                "action_name": "set_valve_position",
+        print(f"  - 搅拌器: {stirrer_id}")
-                "action_kwargs": {
+        
-                    "command": "CLOSED"
+    except ValueError as e:
-                }
+        raise ValueError(f"设备查找失败: {str(e)}")
+    
+    # 3. **关键修复**: 验证路径存在性
+    try:
+        # 验证抽真空路径
+        vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump)
+        print(f"EVACUATE_REFILL: 抽真空路径: {' → '.join(vacuum_path)}")
+        
+        # 验证充气路径
+        gas_path = nx.shortest_path(G, source=gas_source, target=vessel)
+        print(f"EVACUATE_REFILL: 充气路径: {' → '.join(gas_path)}")
+        
+        # **新增**: 检查路径中的边数据
+        for i in range(len(vacuum_path) - 1):
+            nodeA, nodeB = vacuum_path[i], vacuum_path[i + 1]
+            edge_data = G.get_edge_data(nodeA, nodeB)
+            if not edge_data or 'port' not in edge_data:
+                raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
+            print(f"  抽真空路径边 {nodeA} → {nodeB}: {edge_data}")
+        
+        for i in range(len(gas_path) - 1):
+            nodeA, nodeB = gas_path[i], gas_path[i + 1]
+            edge_data = G.get_edge_data(nodeA, nodeB)
+            if not edge_data or 'port' not in edge_data:
+                raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
+            print(f"  充气路径边 {nodeA} → {nodeB}: {edge_data}")
+            
+    except nx.NetworkXNoPath as e:
+        raise ValueError(f"路径不存在: {str(e)}")
+    except Exception as e:
+        raise ValueError(f"路径验证失败: {str(e)}")
+    
+    # 4. 启动搅拌器
+    if 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"
             }
-        ])
+        })
     
-        # 打开真空泵、关闭气源
+    # 5. 执行多次抽真空-充气循环
-        vacuum_action_sequence.append([
+    for cycle in range(repeats):
-            {
+        print(f"EVACUATE_REFILL: === 第 {cycle+1}/{repeats} 次循环 ===")
-                "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
+        # ============ 抽真空阶段 ============
-        vacuum_action_sequence.append([
+        print(f"EVACUATE_REFILL: 抽真空阶段开始")
-            {
+        
-                "device_id": vacuum_backbone["vacuum_valve"],
+        # 启动真空泵
+        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:
+            action_sequence.append({
+                "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
-                "action_kwargs": {
+                "action_kwargs": {"command": "OPEN"}
-                    "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
+        # **关键修复**: 改进 pump_protocol 调用和错误处理
-        vacuum_action_sequence.append([
+        print(f"EVACUATE_REFILL: 调用抽真空 pump_protocol: {vessel} → {vacuum_pump}")
-            {
+        print(f"  - 体积: {VACUUM_VOLUME} mL")
-                "device_id": vacuum_backbone["pump"],
+        print(f"  - 流速: {PUMP_FLOW_RATE} mL/s")
-                "action_name": "set_status",
+        
-                "action_kwargs": {
+        try:
-                    "string": "OFF"
+            vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=vessel,
+                to_vessel=vacuum_pump,
+                volume=VACUUM_VOLUME,
+                amount="",
+                time=0.0,
+                viscous=False,
+                rinsing_solvent="",  # **修复**: 明确不使用清洗
+                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)
+                print(f"EVACUATE_REFILL: ✅ 成功添加 {len(vacuum_transfer_actions)} 个抽真空动作")
+            else:
+                print(f"EVACUATE_REFILL: ⚠️ 抽真空 pump_protocol 返回空序列")
+                # **修复**: 添加手动泵动作作为备选
+                action_sequence.extend([
+                    {
+                        "device_id": "multiway_valve_1",
+                        "action_name": "set_valve_position", 
+                        "action_kwargs": {"command": "5"}  # 连接到反应器
+                    },
+                    {
+                        "device_id": "transfer_pump_1",
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": VACUUM_VOLUME,
+                            "max_velocity": PUMP_FLOW_RATE
+                        }
+                    }
+                ])
+                print(f"EVACUATE_REFILL: 使用备选手动泵动作")
+                
+        except Exception as e:
+            print(f"EVACUATE_REFILL: ❌ 抽真空 pump_protocol 失败: {str(e)}")
+            import traceback
+            print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
+            
+            # **修复**: 添加手动动作而不是忽略错误
+            print(f"EVACUATE_REFILL: 使用手动备选方案")
+            action_sequence.extend([
+                {
+                    "device_id": "multiway_valve_1",
+                    "action_name": "set_valve_position",
+                    "action_kwargs": {"command": "5"}  # 反应器端口
+                },
+                {
+                    "device_id": "transfer_pump_1", 
+                    "action_name": "set_position",
+                    "action_kwargs": {
+                        "position": VACUUM_VOLUME,
+                        "max_velocity": PUMP_FLOW_RATE
+                    }
                 }
-            },
+            ])
-            {
+        
-                "device_id": vacuum_backbone["gas"],
+        # 关闭真空电磁阀
-                "action_name": "set_status",
+        if vacuum_solenoid:
-                "action_kwargs": {
+            action_sequence.append({
-                    "string": "ON"
+                "device_id": vacuum_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "CLOSED"}
+            })
+        
+        # 关闭真空泵
+        action_sequence.append({
+            "device_id": vacuum_pump,
+            "action_name": "set_status",
+            "action_kwargs": {"string": "OFF"}
+        })
+        
+        # ============ 充气阶段 ============
+        print(f"EVACUATE_REFILL: 充气阶段开始")
+        
+        # 启动气源
+        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:
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {"command": "OPEN"}
+            })
+        
+        # **关键修复**: 改进充气 pump_protocol 调用
+        print(f"EVACUATE_REFILL: 调用充气 pump_protocol: {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="",
+                time=0.0,
+                viscous=False,
+                rinsing_solvent="",  # **修复**: 明确不使用清洗
+                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)
+                print(f"EVACUATE_REFILL: ✅ 成功添加 {len(gas_transfer_actions)} 个充气动作")
+            else:
+                print(f"EVACUATE_REFILL: ⚠️ 充气 pump_protocol 返回空序列")
+                # **修复**: 添加手动充气动作
+                action_sequence.extend([
+                    {
+                        "device_id": "multiway_valve_2",
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {"command": "8"}  # 氮气端口
+                    },
+                    {
+                        "device_id": "transfer_pump_2",
+                        "action_name": "set_position",
+                        "action_kwargs": {
+                            "position": REFILL_VOLUME,
+                            "max_velocity": PUMP_FLOW_RATE
+                        }
+                    },
+                    {
+                        "device_id": "multiway_valve_2", 
+                        "action_name": "set_valve_position",
+                        "action_kwargs": {"command": "5"}  # 反应器端口
+                    },
+                    {
+                        "device_id": "transfer_pump_2",
+                        "action_name": "set_position", 
+                        "action_kwargs": {
+                            "position": 0.0,
+                            "max_velocity": PUMP_FLOW_RATE
+                        }
+                    }
+                ])
+                
+        except Exception as e:
+            print(f"EVACUATE_REFILL: ❌ 充气 pump_protocol 失败: {str(e)}")
+            import traceback
+            print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
+            
+            # **修复**: 使用手动充气动作
+            print(f"EVACUATE_REFILL: 使用手动充气方案")
+            action_sequence.extend([
+                {
+                    "device_id": "multiway_valve_2",
+                    "action_name": "set_valve_position",
+                    "action_kwargs": {"command": "8"}  # 连接气源
+                },
+                {
+                    "device_id": "transfer_pump_2",
+                    "action_name": "set_position",
+                    "action_kwargs": {
+                        "position": REFILL_VOLUME,
+                        "max_velocity": PUMP_FLOW_RATE
+                    }
+                },
+                {
+                    "device_id": "multiway_valve_2",
+                    "action_name": "set_valve_position", 
+                    "action_kwargs": {"command": "5"}  # 连接反应器
+                },
+                {
+                    "device_id": "transfer_pump_2",
+                    "action_name": "set_position",
+                    "action_kwargs": {
+                        "position": 0.0,
+                        "max_velocity": PUMP_FLOW_RATE
+                    }
                 }
-            }
+            ])
-        ])
+        
-        vacuum_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 60}})
+        # 关闭气源电磁阀
+        if 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(
+        action_sequence.append({
-            {
+            "device_id": gas_source,
-                "device_id": vacuum_backbone["gas"],
+            "action_name": "set_status",
-                "action_name": "set_status",
+            "action_kwargs": {"string": "OFF"}
-                "action_kwargs": {
+        })
-                    "string": "OFF"
-                }
-            }
-        )
         
-        # 关闭阀门
+        # 等待下一次循环
-        vacuum_action_sequence.append(
+        if cycle < repeats - 1:
-            {
+            action_sequence.append({
-                "device_id": vacuum_backbone["gas_valve"],
+                "action_name": "wait",
-                "action_name": "set_valve_position",
+                "action_kwargs": {"time": 2.0}
-                "action_kwargs": {
+            })
-                    "command": "CLOSED"
+    
-                }
+    # 停止搅拌器
-            }
+    if stirrer_id:
-        )
+        action_sequence.append({
-    return vacuum_action_sequence
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {"vessel": vessel}
+        })
+    
+    print(f"EVACUATE_REFILL: 协议生成完成，共 {len(action_sequence)} 个动作")
+    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 +1,326 @@
-import numpy as np
+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_rotavap_device(G: nx.DiGraph) -> str:
+    """查找旋转蒸发仪设备"""
+    rotavap_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_rotavap']
+    
+    if rotavap_nodes:
+        return rotavap_nodes[0]
+    
+    raise ValueError("系统中未找到旋转蒸发仪设备")
+
+
+def find_solvent_recovery_vessel(G: nx.DiGraph) -> str:
+    """查找溶剂回收容器"""
+    possible_names = [
+        "flask_distillate",
+        "bottle_distillate", 
+        "vessel_distillate",
+        "distillate",
+        "solvent_recovery",
+        "flask_solvent_recovery",
+        "collection_flask"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    # 如果找不到专门的回收容器，使用废液容器
+    waste_names = ["waste_workup", "flask_waste", "bottle_waste", "waste"]
+    for vessel_name in waste_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到溶剂回收容器。尝试了以下名称: {possible_names + waste_names}")
 
 
 def generate_evaporate_protocol(
     G: nx.DiGraph,
     vessel: str,
-    pressure: float,
+    pressure: float = 0.1,
-    temp: float,
+    temp: float = 60.0,
-    time: float,
+    time: float = 1800.0,
-    stir_speed: float
+    stir_speed: float = 100.0
-) -> list[dict]:
+) -> 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
     
-    :param G: Directed graph. Nodes are containers and pumps, edges are fluidic connections.
+    蒸发流程：
-    :param vessel: Vessel to clean.
+    1. 液体转移：将待蒸发溶液从源容器转移到旋转蒸发仪
-    :param solvent: Solvent to clean vessel with.
+    2. 蒸发操作：执行旋转蒸发
-    :param volume: Volume of solvent to clean vessel with.
+    3. (可选) 溶剂回收：将冷凝的溶剂转移到回收容器
-    :param temp: Temperature to heat vessel to while cleaning.
+    4. 残留物转移：将浓缩物从旋转蒸发仪转移回原容器或新容器
-    :param repeats: Number of cleaning cycles to perform.
+    
-    :return: List of actions to clean vessel.
+    Args:
+        G: 有向图，节点为设备和容器，边为流体管道
+        vessel: 包含待蒸发溶液的容器名称
+        pressure: 蒸发时的真空度 (bar)，默认0.1 bar
+        temp: 蒸发时的加热温度 (°C)，默认60°C  
+        time: 蒸发时间 (秒)，默认1800秒(30分钟)
+        stir_speed: 旋转速度 (RPM)，默认100 RPM
+    
+    Returns:
+        List[Dict[str, Any]]: 蒸发操作的动作序列
+    
+    Raises:
+        ValueError: 当找不到必要的设备时抛出异常
+    
+    Examples:
+        evaporate_actions = generate_evaporate_protocol(G, "reaction_mixture", 0.05, 80.0, 3600.0)
     """
+    action_sequence = []
     
-    # 生成泵操作的动作序列
+    print(f"EVAPORATE: 开始生成蒸发协议")
-    pump_action_sequence = []
+    print(f"  - 源容器: {vessel}")
-    reactor_volume = 500.0
+    print(f"  - 真空度: {pressure} bar")
-    transfer_flowrate = flowrate = 2.5
+    print(f"  - 温度: {temp}°C")
+    print(f"  - 时间: {time}s ({time/60:.1f}分钟)")
+    print(f"  - 旋转速度: {stir_speed} RPM")
     
-    # 开启冷凝器
+    # 验证源容器存在
-    pump_action_sequence.append({
+    if vessel not in G.nodes():
-        "device_id": "rotavap_chiller",
+        raise ValueError(f"源容器 '{vessel}' 不存在于系统中")
-        "action_name": "set_temperature",
+    
-        "action_kwargs": {
+    # 获取源容器中的液体体积
-            "command": "-40"
+    source_volume = get_vessel_liquid_volume(G, vessel)
-        }
+    print(f"EVAPORATE: 源容器 {vessel} 中有 {source_volume} mL 液体")
-    })
+    
-    # TODO: 通过温度反馈改为 HeatChillToTemp，而非等待固定时间
+    # 查找旋转蒸发仪
-    pump_action_sequence.append({
+    try:
+        rotavap_id = find_rotavap_device(G)
+        print(f"EVAPORATE: 找到旋转蒸发仪: {rotavap_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到旋转蒸发仪: {str(e)}")
+    
+    # 查找旋转蒸发仪样品容器
+    rotavap_vessel = None
+    possible_rotavap_vessels = ["rotavap_flask", "rotavap", "flask_rotavap", "evaporation_flask"]
+    for rv in possible_rotavap_vessels:
+        if rv in G.nodes():
+            rotavap_vessel = rv
+            break
+    
+    if not rotavap_vessel:
+        raise ValueError(f"未找到旋转蒸发仪样品容器。尝试了: {possible_rotavap_vessels}")
+    
+    print(f"EVAPORATE: 找到旋转蒸发仪样品容器: {rotavap_vessel}")
+    
+    # 查找溶剂回收容器
+    try:
+        distillate_vessel = find_solvent_recovery_vessel(G)
+        print(f"EVAPORATE: 找到溶剂回收容器: {distillate_vessel}")
+    except ValueError as e:
+        print(f"EVAPORATE: 警告 - {str(e)}")
+        distillate_vessel = None
+    
+    # === 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, 250.0)  # 90%或最多250mL
+        print(f"EVAPORATE: 检测到液体体积，将转移 {transfer_volume} mL")
+    else:
+        # 如果检测不到液体体积，默认转移一整瓶 250mL
+        transfer_volume = 250.0
+        print(f"EVAPORATE: 未检测到液体体积，默认转移整瓶 {transfer_volume} mL")
+    
+    # === 第一步：将待蒸发溶液转移到旋转蒸发仪 ===
+    print(f"EVAPORATE: 将 {transfer_volume} mL 溶液从 {vessel} 转移到 {rotavap_vessel}")
+    try:
+        transfer_to_rotavap_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_to_rotavap_actions)
+    except Exception as e:
+        raise ValueError(f"无法将溶液转移到旋转蒸发仪: {str(e)}")
+    
+    # 转移后等待
+    wait_action = {
         "action_name": "wait",
-        "action_kwargs": {
+        "action_kwargs": {"time": 10}
-            "time": 1800
+    }
-        }
+    action_sequence.append(wait_action)
-    })
     
-    # 开启旋蒸真空泵、旋转，在液体转移后运行time时间
+    # === 第二步：执行旋转蒸发 ===
-    pump_action_sequence.append({
+    print(f"EVAPORATE: 执行旋转蒸发操作")
-        "device_id": "rotavap_controller",
+    evaporate_action = {
-        "action_name": "set_pump_time",
+        "device_id": rotavap_id,
+        "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
         }
-    })
+    }
-    pump_action_sequence.append({
+    action_sequence.append(evaporate_action)
-        "device_id": "rotavap_controller",
-        "action_name": "set_pump_time",
-        "action_kwargs": {
-            "command": str(time + reactor_volume / flowrate * 3)
-        }
-    })
     
-    # 液体转入旋转蒸发器
+    # 蒸发后等待系统稳定
-    pump_action_sequence.append({
+    wait_action = {
-        "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({
         "action_name": "wait",
-        "action_kwargs": {
+        "action_kwargs": {"time": 30}
-            "time": time
+    }
-        }
+    action_sequence.append(wait_action)
-    })
+    
-    return pump_action_sequence
+    # === 第三步：溶剂回收（如果有回收容器）===
+    if distillate_vessel:
+        print(f"EVAPORATE: 回收冷凝溶剂到 {distillate_vessel}")
+        try:
+            condenser_vessel = "rotavap_condenser"
+            if condenser_vessel in G.nodes():
+                # 估算回收体积（约为转移体积的70% - 大部分溶剂被蒸发回收）
+                recovery_volume = transfer_volume * 0.7
+                print(f"EVAPORATE: 预计回收 {recovery_volume} mL 溶剂")
+                
+                recovery_actions = generate_pump_protocol(
+                    G=G,
+                    from_vessel=condenser_vessel,
+                    to_vessel=distillate_vessel,
+                    volume=recovery_volume,
+                    flowrate=3.0,
+                    transfer_flowrate=3.0
+                )
+                action_sequence.extend(recovery_actions)
+            else:
+                print("EVAPORATE: 未找到冷凝器容器，跳过溶剂回收")
+        except Exception as e:
+            print(f"EVAPORATE: 溶剂回收失败: {str(e)}")
+    
+    # === 第四步：将浓缩物转移回原容器 ===
+    print(f"EVAPORATE: 将浓缩物从旋转蒸发仪转移回 {vessel}")
+    try:
+        # 估算浓缩物体积（约为转移体积的20% - 大部分溶剂已蒸发）
+        concentrate_volume = transfer_volume * 0.2
+        print(f"EVAPORATE: 预计浓缩物体积 {concentrate_volume} mL")
+        
+        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，用较慢流速
+            transfer_flowrate=1.0
+        )
+        action_sequence.extend(transfer_back_actions)
+    except Exception as e:
+        print(f"EVAPORATE: 将浓缩物转移回容器失败: {str(e)}")
+    
+    # === 第五步：清洗旋转蒸发仪 ===
+    print(f"EVAPORATE: 清洗旋转蒸发仪")
+    try:
+        # 查找清洗溶剂
+        cleaning_solvent = None
+        for solvent in ["flask_ethanol", "flask_acetone", "flask_water"]:
+            if solvent in G.nodes():
+                cleaning_solvent = solvent
+                break
+        
+        if cleaning_solvent and distillate_vessel:
+            # 用固定量溶剂清洗（不依赖检测体积）
+            cleaning_volume = 50.0  # 固定50mL清洗
+            print(f"EVAPORATE: 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=rotavap_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/回收容器
+            waste_actions = generate_pump_protocol(
+                G=G,
+                from_vessel=rotavap_vessel,
+                to_vessel=distillate_vessel,  # 使用回收容器作为废液
+                volume=cleaning_volume,
+                flowrate=2.0,
+                transfer_flowrate=2.0
+            )
+            action_sequence.extend(waste_actions)
+        
+    except Exception as e:
+        print(f"EVAPORATE: 清洗步骤失败: {str(e)}")
+    
+    print(f"EVAPORATE: 生成了 {len(action_sequence)} 个动作")
+    print(f"EVAPORATE: 蒸发协议生成完成")
+    print(f"EVAPORATE: 总处理体积: {transfer_volume} mL")
+    
+    return action_sequence
+
+
+# 便捷函数：常用蒸发方案 - 都使用250mL标准瓶体积
+def generate_quick_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float = 40.0,
+    time: float = 900.0  # 15分钟
+) -> List[Dict[str, Any]]:
+    """快速蒸发：低温、短时间、整瓶处理"""
+    return generate_evaporate_protocol(G, vessel, 0.2, temp, time, 80.0)
+
+
+def generate_gentle_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float = 50.0,
+    time: float = 2700.0  # 45分钟
+) -> List[Dict[str, Any]]:
+    """温和蒸发：中等条件、较长时间、整瓶处理"""
+    return generate_evaporate_protocol(G, vessel, 0.1, temp, time, 60.0)
+
+
+def generate_high_vacuum_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float = 35.0,
+    time: float = 3600.0  # 1小时
+) -> List[Dict[str, Any]]:
+    """高真空蒸发：低温、高真空、长时间、整瓶处理"""
+    return generate_evaporate_protocol(G, vessel, 0.01, temp, time, 120.0)
+
+
+def generate_standard_evaporate_protocol(
+    G: nx.DiGraph,
+    vessel: str
+) -> List[Dict[str, Any]]:
+    """标准蒸发：常用参数、整瓶250mL处理"""
+    return generate_evaporate_protocol(
+        G=G,
+        vessel=vessel, 
+        pressure=0.1,      # 标准真空度
+        temp=60.0,         # 适中温度
+        time=1800.0,       # 30分钟
+        stir_speed=100.0   # 适中旋转速度
+    )

unilabos/compile/filter_protocol.py

@@ -1,5 +1,89 @@
 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_device(G: nx.DiGraph) -> str:
+    """查找过滤器设备"""
+    filter_nodes = [node for node in G.nodes() 
+                   if (G.nodes[node].get('class') or '') == 'virtual_filter']
+    
+    if filter_nodes:
+        return filter_nodes[0]
+    
+    raise ValueError("系统中未找到过滤器设备")
+
+
+def find_filter_vessel(G: nx.DiGraph) -> str:
+    """查找过滤器专用容器"""
+    possible_names = [
+        "filter_vessel",        # 标准过滤器容器
+        "filtration_vessel",    # 备选名称
+        "vessel_filter",        # 备选名称
+        "filter_unit",          # 备选名称
+        "filter"               # 简单名称
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到过滤器容器。尝试了以下名称: {possible_names}")
+
+
+def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
+    """查找滤液收集容器"""
+    if filtrate_vessel and filtrate_vessel in G.nodes():
+        return filtrate_vessel
+    
+    # 自动查找滤液容器
+    possible_names = [
+        "filtrate_vessel",
+        "collection_bottle_1",
+        "collection_bottle_2",
+        "waste_workup"
+    ]
+    
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            return vessel_name
+    
+    raise ValueError(f"未找到滤液收集容器。尝试了以下名称: {possible_names}")
+
+
+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
+    if heatchill_nodes:
+        return heatchill_nodes[0]
+    
+    raise ValueError(f"未找到与容器 {vessel} 相连的加热搅拌器")
+
 
 def generate_filter_protocol(
     G: nx.DiGraph,
@@ -12,59 +96,209 @@ def generate_filter_protocol(
     volume: float = 0.0
 ) -> 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，复用 pump_protocol 的成熟算法
+    
+    过滤流程：
+    1. 液体转移：将待过滤溶液从源容器转移到过滤器
+    2. 启动加热搅拌：设置温度和搅拌
+    3. 执行过滤：通过过滤器分离固液
+    4. (可选) 继续或停止加热搅拌
     
     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: 过滤容器
+        vessel: 包含待过滤溶液的容器名称
-        filtrate_vessel: 滤液容器（可选）
+        filtrate_vessel: 滤液收集容器（可选，自动查找）
-        stir: 是否搅拌
+        stir: 是否在过滤过程中搅拌
-        stir_speed: 搅拌速度（可选）
+        stir_speed: 搅拌速度 (RPM)
-        temp: 温度（可选，摄氏度）
+        temp: 过滤温度 (°C)
-        continue_heatchill: 是否继续加热冷却
+        continue_heatchill: 过滤后是否继续加热搅拌
-        volume: 过滤体积（可选）
+        volume: 预期过滤体积 (mL)，0表示全部过滤
     
     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)
     """
     action_sequence = []
     
-    # 查找过滤设备
+    print(f"FILTER: 开始生成过滤协议")
-    filter_nodes = [node for node in G.nodes() 
+    print(f"  - 源容器: {vessel}")
-                   if G.nodes[node].get('class') == 'virtual_filter']
+    print(f"  - 滤液容器: {filtrate_vessel}")
+    print(f"  - 搅拌: {stir} ({stir_speed} RPM)" if stir else "  - 搅拌: 否")
+    print(f"  - 过滤温度: {temp}°C")
+    print(f"  - 预期过滤体积: {volume} mL" if volume > 0 else "  - 预期过滤体积: 全部")
+    print(f"  - 继续加热搅拌: {continue_heatchill}")
     
-    if not filter_nodes:
+    # 验证源容器存在
-        raise ValueError("没有找到可用的过滤设备")
-    
-    # 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"源容器 '{vessel}' 不存在于系统中")
     
-    if filtrate_vessel and filtrate_vessel not in G.nodes():
+    # 获取源容器中的液体体积
-        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
+    source_volume = get_vessel_liquid_volume(G, vessel)
+    print(f"FILTER: 源容器 {vessel} 中有 {source_volume} mL 液体")
     
-    # 执行过滤操作
+    # 查找过滤器设备
+    try:
+        filter_id = find_filter_device(G)
+        print(f"FILTER: 找到过滤器: {filter_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到过滤器: {str(e)}")
+    
+    # 查找过滤器容器
+    try:
+        filter_vessel_id = find_filter_vessel(G)
+        print(f"FILTER: 找到过滤器容器: {filter_vessel_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到过滤器容器: {str(e)}")
+    
+    # 查找滤液收集容器
+    try:
+        actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel)
+        print(f"FILTER: 找到滤液收集容器: {actual_filtrate_vessel}")
+    except ValueError as e:
+        raise ValueError(f"无法找到滤液收集容器: {str(e)}")
+    
+    # 查找加热搅拌器（如果需要温度控制或搅拌）
+    heatchill_id = None
+    if temp != 25.0 or stir or continue_heatchill:
+        try:
+            heatchill_id = find_connected_heatchill(G, filter_vessel_id)
+            print(f"FILTER: 找到加热搅拌器: {heatchill_id}")
+        except ValueError as e:
+            print(f"FILTER: 警告 - {str(e)}")
+    
+    # === 简化的体积计算策略 ===
+    if volume > 0:
+        transfer_volume = min(volume, source_volume if source_volume > 0 else volume)
+        print(f"FILTER: 指定过滤体积 {transfer_volume} mL")
+    elif source_volume > 0:
+        transfer_volume = source_volume * 0.9  # 90%
+        print(f"FILTER: 检测到液体体积，将过滤 {transfer_volume} mL")
+    else:
+        transfer_volume = 50.0  # 默认过滤量
+        print(f"FILTER: 未检测到液体体积，默认过滤 {transfer_volume} mL")
+    
+    # === 第一步：启动加热搅拌器（在转移前预热） ===
+    if heatchill_id and (temp != 25.0 or stir):
+        print(f"FILTER: 启动加热搅拌器，温度: {temp}°C，搅拌: {stir}")
+        
+        heatchill_action = {
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": filter_vessel_id,
+                "temp": temp,
+                "purpose": f"过滤过程温度控制和搅拌"
+            }
+        }
+        action_sequence.append(heatchill_action)
+        
+        # 等待温度稳定
+        if temp != 25.0:
+            wait_time = min(30, abs(temp - 25.0) * 1.0)  # 根据温差估算预热时间
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": wait_time}
+            })
+    
+    # === 第二步：将待过滤溶液转移到过滤器 ===
+    print(f"FILTER: 将 {transfer_volume} mL 溶液从 {vessel} 转移到 {filter_vessel_id}")
+    try:
+        # 使用成熟的 pump_protocol 算法进行液体转移
+        transfer_to_filter_actions = generate_pump_protocol(
+            G=G,
+            from_vessel=vessel,
+            to_vessel=filter_vessel_id,
+            volume=transfer_volume,
+            flowrate=1.0,  # 过滤转移用较慢速度，避免扰动
+            transfer_flowrate=1.5
+        )
+        action_sequence.extend(transfer_to_filter_actions)
+    except Exception as e:
+        raise ValueError(f"无法将溶液转移到过滤器: {str(e)}")
+    
+    # 转移后等待
     action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 5}
+    })
+    
+    # === 第三步：执行过滤操作（完全按照 Filter.action 参数） ===
+    print(f"FILTER: 执行过滤操作")
+    filter_action = {
         "device_id": filter_id,
-        "action_name": "filter_sample",
+        "action_name": "filter",
         "action_kwargs": {
-            "vessel": vessel,
+            "vessel": filter_vessel_id,
-            "filtrate_vessel": filtrate_vessel,
+            "filtrate_vessel": actual_filtrate_vessel,
             "stir": stir,
             "stir_speed": stir_speed,
             "temp": temp,
             "continue_heatchill": continue_heatchill,
-            "volume": volume
+            "volume": transfer_volume
         }
+    }
+    action_sequence.append(filter_action)
+    
+    # 过滤后等待
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 10}
     })
     
+    # === 第四步：如果不继续加热搅拌，停止加热器 ===
+    if heatchill_id and not continue_heatchill and (temp != 25.0 or stir):
+        print(f"FILTER: 停止加热搅拌器")
+        
+        stop_action = {
+            "device_id": heatchill_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": filter_vessel_id
+            }
+        }
+        action_sequence.append(stop_action)
+    
+    print(f"FILTER: 生成了 {len(action_sequence)} 个动作")
+    print(f"FILTER: 过滤协议生成完成")
+    
     return action_sequence
+
+
+# 便捷函数：常用过滤方案
+def generate_gravity_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = ""
+) -> List[Dict[str, Any]]:
+    """重力过滤：室温，无搅拌"""
+    return generate_filter_protocol(G, vessel, filtrate_vessel, False, 0.0, 25.0, False, 0.0)
+
+
+def generate_hot_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = "",
+    temp: float = 60.0
+) -> List[Dict[str, Any]]:
+    """热过滤：高温过滤，防止结晶析出"""
+    return generate_filter_protocol(G, vessel, filtrate_vessel, False, 0.0, temp, False, 0.0)
+
+
+def generate_stirred_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = "",
+    stir_speed: float = 200.0
+) -> List[Dict[str, Any]]:
+    """搅拌过滤：低速搅拌，防止滤饼堵塞"""
+    return generate_filter_protocol(G, vessel, filtrate_vessel, True, stir_speed, 25.0, False, 0.0)
+
+
+def generate_hot_stirred_filter_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    filtrate_vessel: str = "",
+    temp: float = 60.0,
+    stir_speed: float = 300.0
+) -> List[Dict[str, Any]]:
+    """热搅拌过滤：高温搅拌过滤"""
+    return generate_filter_protocol(G, vessel, filtrate_vessel, True, stir_speed, temp, False, 0.0)

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(
+        filter_through_actions = generate_filter_through_protocol(
-            G, "reactor", "collection_flask", "celite", "ethanol", 50.0, 2, 60.0
+            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）
+    # 获取源容器中的液体体积
-    pump_nodes = [node for node in G.nodes() 
+    source_volume = get_vessel_liquid_volume(G, from_vessel)
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
+    print(f"FILTER_THROUGH: 源容器 {from_vessel} 中有 {source_volume} mL 液体")
     
-    if not pump_nodes:
+    # 查找过滤介质容器
-        raise ValueError("没有找到可用的转移泵设备")
+    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）
+    # === 第一步：将样品从源容器转移到过滤介质 ===
-    filter_nodes = [node for node in G.nodes() 
+    transfer_volume = source_volume if source_volume > 0 else 100.0  # 默认100mL
-                   if G.nodes[node].get('class') == 'virtual_filter']
+    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）
+    # === 第二步：等待样品通过过滤介质（停留时间） ===
-    eluting_vessel = None
+    if residence_time > 0:
-    if eluting_solvent and eluting_volume > 0:
+        print(f"FILTER_THROUGH: 等待样品在过滤介质中停留 {residence_time}s")
-        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:
         action_sequence.append({
-            "device_id": filter_id,
+            "action_name": "wait",
-            "action_name": "filter_sample",
+            "action_kwargs": {"time": residence_time}
-            "action_kwargs": {
+        })
-                "vessel": to_vessel,
+    else:
-                "filtrate_vessel": to_vessel,
+        # 即使没有指定停留时间，也等待一段时间让液体通过
-                "stir": False,
+        default_wait_time = max(10, transfer_volume / 10)  # 根据体积估算等待时间
-                "stir_speed": 0.0,
+        print(f"FILTER_THROUGH: 等待样品通过过滤介质 {default_wait_time}s")
-                "temp": 25.0,
+        action_sequence.append({
-                "continue_heatchill": False,
+            "action_name": "wait",
-                "volume": 0.0
+            "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):
+        print(f"FILTER_THROUGH: 开始洗脱操作 - {eluting_repeats} 次，每次 {eluting_volume} mL {eluting_solvent}")
-            # 添加洗脱溶剂
+        
+        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": "wait",
-                "action_name": "transfer",
+                "action_kwargs": {"time": eluting_wait_time}
-                "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
-                }
             })
             
-            # 如果有过滤设备，再次过滤洗脱液
+            # 洗脱间隔等待
-            if filter_id:
+            if repeat_idx < eluting_repeats - 1:  # 不是最后一次洗脱
                 action_sequence.append({
-                    "device_id": filter_id,
+                    "action_name": "wait",
-                    "action_name": "filter_sample",
+                    "action_kwargs": {"time": 10}
-                    "action_kwargs": {
-                        "vessel": to_vessel,
-                        "filtrate_vessel": to_vessel,
-                        "stir": False,
-                        "stir_speed": 0.0,
-                        "temp": 25.0,
-                        "continue_heatchill": False,
-                        "volume": eluting_volume
-                    }
                 })
     
+    # === 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

@@ -1,33 +1,61 @@
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Optional
 import networkx as nx
 
+
+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/冷却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/冷却设备
+    if heatchill_nodes:
+        return heatchill_nodes[0]
+    
+    raise ValueError("系统中未找到可用的加热/冷却设备")
+
+
 def generate_heat_chill_protocol(
     G: nx.DiGraph,
     vessel: str,
     temp: float,
     time: float,
-    stir: bool,
+    stir: bool = False,
-    stir_speed: float,
+    stir_speed: float = 300.0,
-    purpose: str
+    purpose: str = "加热/冷却操作"
 ) -> 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 - 带时间限制的完整操作
     """
     action_sequence = []
     
-    # 查找加热/冷却设备
+    print(f"HEATCHILL: 开始生成加热/冷却协议")
-    heatchill_nodes = [node for node in G.nodes() 
+    print(f"  - 容器: {vessel}")
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    print(f"  - 目标温度: {temp}°C")
-    
+    print(f"  - 持续时间: {time}秒")
-    if not heatchill_nodes:
+    print(f"  - 使用内置搅拌: {stir}, 速度: {stir_speed} RPM")
-        raise ValueError("没有找到可用的加热/冷却设备")
+    print(f"  - 目的: {purpose}")
-    
-    heatchill_id = heatchill_nodes[0]
     
+    # 1. 验证容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 2. 查找加热/冷却设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        print(f"HEATCHILL: 找到加热/冷却设备: {heatchill_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+    
+    # 3. 执行加热/冷却操作
+    heatchill_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
@@ -36,10 +64,13 @@ def generate_heat_chill_protocol(
             "time": time,
             "stir": stir,
             "stir_speed": stir_speed,
-            "purpose": purpose
+            "status": "start"
         }
-    })
+    }
     
+    action_sequence.append(heatchill_action)
+    
+    print(f"HEATCHILL: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
 
@@ -47,25 +78,31 @@ def generate_heat_chill_start_protocol(
     G: nx.DiGraph,
     vessel: str,
     temp: float,
-    purpose: str
+    purpose: str = "开始加热/冷却"
 ) -> 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/冷却操作的协议序列
     """
     action_sequence = []
     
-    heatchill_nodes = [node for node in G.nodes() 
+    print(f"HEATCHILL_START: 开始生成加热/冷却启动协议")
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
+    print(f"  - 容器: {vessel}")
-    
+    print(f"  - 目标温度: {temp}°C")
-    if not heatchill_nodes:
+    print(f"  - 目的: {purpose}")
-        raise ValueError("没有找到可用的加热/冷却设备")
-    
-    heatchill_id = heatchill_nodes[0]
     
+    # 1. 验证容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 2. 查找加热/冷却设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        print(f"HEATCHILL_START: 找到加热/冷却设备: {heatchill_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+    
+    # 3. 执行开始加热/冷却操作
+    heatchill_start_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
@@ -73,8 +110,11 @@ def generate_heat_chill_start_protocol(
             "temp": temp,
             "purpose": purpose
         }
-    })
+    }
     
+    action_sequence.append(heatchill_start_action)
+    
+    print(f"HEATCHILL_START: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
 
@@ -84,34 +124,250 @@ def generate_heat_chill_stop_protocol(
 ) -> List[Dict[str, Any]]:
     """
     生成停止加热/冷却操作的协议序列
-    
-    Args:
-        G: 有向图，节点为设备和容器
-        vessel: 容器名称
-    
-    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
+    print(f"HEATCHILL_STOP: 开始生成加热/冷却停止协议")
-    heatchill_nodes = [node for node in G.nodes() 
+    print(f"  - 容器: {vessel}")
-                      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]
     
+    # 1. 验证容器存在
     if vessel not in G.nodes():
-        raise ValueError(f"容器 {vessel} 不存在于图中")
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
     
-    action_sequence.append({
+    # 2. 查找加热/冷却设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        print(f"HEATCHILL_STOP: 找到加热/冷却设备: {heatchill_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+    
+    # 3. 执行停止加热/冷却操作
+    heatchill_stop_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
             "vessel": vessel
         }
-    })
+    }
     
+    action_sequence.append(heatchill_stop_action)
+    
+    print(f"HEATCHILL_STOP: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
+
+
+def generate_heat_chill_to_temp_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    active: bool = True,
+    continue_heatchill: bool = False,
+    stir: bool = False,
+    stir_speed: Optional[float] = None,
+    purpose: Optional[str] = None
+) -> List[Dict[str, Any]]:
+    """
+    生成加热/冷却到指定温度的协议序列 - 智能温控协议
+    
+    **关键修复**: 学习 pump_protocol 的模式，直接使用设备基础动作，不依赖特定的 Action 文件
+    """
+    action_sequence = []
+    
+    # 设置默认值
+    if stir_speed is None:
+        stir_speed = 300.0
+    if purpose is None:
+        purpose = f"智能温控到 {temp}°C"
+    
+    print(f"HEATCHILL_TO_TEMP: 开始生成智能温控协议")
+    print(f"  - 容器: {vessel}")
+    print(f"  - 目标温度: {temp}°C")
+    print(f"  - 主动控温: {active}")
+    print(f"  - 达到温度后继续: {continue_heatchill}")
+    print(f"  - 搅拌: {stir}, 速度: {stir_speed} RPM")
+    print(f"  - 目的: {purpose}")
+    
+    # 1. 验证容器存在
+    if vessel not in G.nodes():
+        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    
+    # 2. 查找加热/冷却设备
+    try:
+        heatchill_id = find_connected_heatchill(G, vessel)
+        print(f"HEATCHILL_TO_TEMP: 找到加热/冷却设备: {heatchill_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+    
+    # 3. 根据参数选择合适的基础动作组合 (学习 pump_protocol 的模式)
+    if not active:
+        print(f"HEATCHILL_TO_TEMP: 非主动模式，仅等待")
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 10.0,
+                "purpose": f"等待容器 {vessel} 自然达到 {temp}°C"
+            }
+        })
+    else:
+        if continue_heatchill:
+            # 持续模式：使用 heat_chill_start 基础动作
+            print(f"HEATCHILL_TO_TEMP: 使用持续温控模式")
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill_start",  # ← 直接使用设备基础动作
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "purpose": f"{purpose} (持续保温)"
+                }
+            })
+        else:
+            # 一次性模式：使用 heat_chill 基础动作
+            print(f"HEATCHILL_TO_TEMP: 使用一次性温控模式")
+            estimated_time = max(60.0, min(900.0, abs(temp - 25.0) * 30.0))
+            print(f"HEATCHILL_TO_TEMP: 估算所需时间: {estimated_time}秒")
+            
+            action_sequence.append({
+                "device_id": heatchill_id,
+                "action_name": "heat_chill",  # ← 直接使用设备基础动作
+                "action_kwargs": {
+                    "vessel": vessel,
+                    "temp": temp,
+                    "time": estimated_time,
+                    "stir": stir,
+                    "stir_speed": stir_speed,
+                    "status": "start"
+                }
+            })
+    
+    print(f"HEATCHILL_TO_TEMP: 生成了 {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+# 扩展版本的加热/冷却协议，集成智能温控功能
+def generate_smart_heat_chill_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    time: float = 0.0,  # 0表示自动估算
+    active: bool = True,
+    continue_heatchill: bool = False,
+    stir: bool = False,
+    stir_speed: float = 300.0,
+    purpose: str = "智能加热/冷却"
+) -> List[Dict[str, Any]]:
+    """
+    这个函数集成了 generate_heat_chill_to_temp_protocol 的智能逻辑，
+    但使用现有的 Action 类型
+    """
+    # 如果时间为0，自动估算
+    if time == 0.0:
+        estimated_time = max(60.0, min(900.0, abs(temp - 25.0) * 30.0))
+        time = estimated_time
+    
+    if continue_heatchill:
+        # 使用持续模式
+        return generate_heat_chill_start_protocol(G, vessel, temp, purpose)
+    else:
+        # 使用定时模式
+        return generate_heat_chill_protocol(G, vessel, temp, time, stir, stir_speed, purpose)
+
+
+# 便捷函数
+def generate_heating_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    time: float = 300.0,
+    stir: bool = True,
+    stir_speed: float = 300.0
+) -> List[Dict[str, Any]]:
+    """生成加热协议的便捷函数"""
+    return generate_heat_chill_protocol(
+        G=G, vessel=vessel, temp=temp, time=time, 
+        stir=stir, stir_speed=stir_speed, purpose=f"加热到 {temp}°C"
+    )
+
+
+def generate_cooling_protocol(
+    G: nx.DiGraph,
+    vessel: str,
+    temp: float,
+    time: float = 600.0,
+    stir: bool = True,
+    stir_speed: float = 200.0
+) -> List[Dict[str, Any]]:
+    """生成冷却协议的便捷函数"""
+    return generate_heat_chill_protocol(
+        G=G, vessel=vessel, temp=temp, time=time,
+        stir=stir, stir_speed=stir_speed, purpose=f"冷却到 {temp}°C"
+    )
+
+
+# # 温度预设快捷函数
+# def generate_room_temp_protocol(
+#     G: nx.DiGraph,
+#     vessel: str,
+#     stir: bool = False
+# ) -> List[Dict[str, Any]]:
+#     """返回室温的快捷函数"""
+#     return generate_heat_chill_to_temp_protocol(
+#         G=G,
+#         vessel=vessel,
+#         temp=25.0,
+#         active=True,
+#         continue_heatchill=False,
+#         stir=stir,
+#         purpose="冷却到室温"
+#     )
+
+
+# def generate_reflux_heating_protocol(
+#     G: nx.DiGraph,
+#     vessel: str,
+#     temp: float,
+#     time: float = 3600.0  # 1小时回流
+# ) -> List[Dict[str, Any]]:
+#     """回流加热的快捷函数"""
+#     return generate_heat_chill_protocol(
+#         G=G,
+#         vessel=vessel,
+#         temp=temp,
+#         time=time,
+#         stir=True,
+#         stir_speed=400.0,  # 回流时较快搅拌
+#         purpose=f"回流加热到 {temp}°C"
+#     )
+
+
+# def generate_ice_bath_protocol(
+#     G: nx.DiGraph,
+#     vessel: str,
+#     time: float = 600.0  # 10分钟冰浴
+# ) -> List[Dict[str, Any]]:
+#     """冰浴冷却的快捷函数"""
+#     return generate_heat_chill_protocol(
+#         G=G,
+#         vessel=vessel,
+#         temp=0.0,
+#         time=time,
+#         stir=True,
+#         stir_speed=150.0,  # 冰浴时缓慢搅拌
+#         purpose="冰浴冷却到 0°C"
+#     )
+
+
+# 测试函数
+def test_heatchill_protocol():
+    """测试加热/冷却协议的示例"""
+    print("=== HEAT CHILL PROTOCOL 测试 ===")
+    print("完整的四个协议函数：")
+    print("1. generate_heat_chill_protocol - 带时间限制的完整操作")
+    print("2. generate_heat_chill_start_protocol - 持续加热/冷却")
+    print("3. generate_heat_chill_stop_protocol - 停止加热/冷却")
+    print("4. generate_heat_chill_to_temp_protocol - 智能温控 (您的 HeatChillToTemp)")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_heatchill_protocol()

unilabos/compile/pump_protocol.py

@@ -8,7 +8,8 @@ def is_integrated_pump(node_name):
 
 def find_connected_pump(G, valve_node):
     for neighbor in G.neighbors(valve_node):
-        if "pump" in G.nodes[neighbor]["class"]:
+        node_class = G.nodes[neighbor].get("class") or ""  # 防止 None
+        if "pump" in node_class:
             return neighbor
     raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
 

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")
+        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]
     
     # 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:
+    if column_nodes:
-        raise ValueError("没有找到可用的柱层析设备")
+        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
+    # === 第一步：样品转移到柱子（如果柱子是容器） ===
-    action_sequence.append({
+    if column in G.nodes() and G.nodes[column].get('type') == 'container':
-        "device_id": pump_id,
+        print(f"RUN_COLUMN: 样品转移 - {source_volume} mL 从 {from_vessel} 到 {column}")
-        "action_name": "transfer",
+        
-        "action_kwargs": {
+        try:
-            "from_vessel": from_vessel,
+            sample_transfer_actions = generate_pump_protocol(
-            "to_vessel": column_id,  # 将样品转移到柱子设备
+                G=G,
-            "volume": 0.0,  # 转移所有液体，体积由系统确定
+                from_vessel=from_vessel,
-            "amount": f"样品上柱 - 使用 {column}",
+                to_vessel=column,
-            "time": 0.0,
+                volume=source_volume if source_volume > 0 else 100.0,
-            "viscous": False,
+                flowrate=2.0
-            "rinsing_solvent": "",
+            )
-            "rinsing_volume": 0.0,
+            action_sequence.extend(sample_transfer_actions)
-            "rinsing_repeats": 0,
+        except Exception as e:
-            "solid": False
+            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)
         
-    # 步骤2：运行柱层析分离
+        # 等待柱层析设备完成分离
-    action_sequence.append({
+        action_sequence.append({
-        "device_id": column_id,
+            "action_name": "wait",
-        "action_name": "run_column",
+            "action_kwargs": {"time": 60}
-        "action_kwargs": {
+        })
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "column": column
-        }
-    })
     
-    # 步骤3：将分离后的产物从柱子转移到目标容器
+    # === 第三步：从柱子转移到目标容器（如果需要） ===
-    action_sequence.append({
+    if column in G.nodes() and column != to_vessel:
-        "device_id": pump_id,
+        print(f"RUN_COLUMN: 产物转移 - 从 {column} 到 {to_vessel}")
-        "action_name": "transfer",
+        
-        "action_kwargs": {
+        try:
-            "from_vessel": column_id,  # 从柱子设备转移
+            product_transfer_actions = generate_pump_protocol(
-            "to_vessel": to_vessel,
+                G=G,
-            "volume": 0.0,  # 转移所有液体，体积由系统确定
+                from_vessel=column,
-            "amount": f"收集分离产物 - 来自 {column}",
+                to_vessel=to_vessel,
-            "time": 0.0,
+                volume=source_volume * 0.8 if source_volume > 0 else 80.0,  # 假设有一些损失
-            "viscous": False,
+                flowrate=1.5
-            "rinsing_solvent": "",
+            )
-            "rinsing_volume": 0.0,
+            action_sequence.extend(product_transfer_actions)
-            "rinsing_repeats": 0,
+        except Exception as e:
-            "solid": False
+            print(f"RUN_COLUMN: 产物转移失败: {str(e)}")
-        }
+    
-    })
+    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]
+    
+    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

@@ -1,6 +1,28 @@
 from typing import List, Dict, Any
 import networkx as nx
 
+
+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
+    """
+    # 查找所有搅拌设备节点
+    stirrer_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    
+    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):
+                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:
+        return stirrer_nodes[0]
+    
+    raise ValueError("系统中未找到可用的搅拌设备")
+
+
 def generate_stir_protocol(
     G: nx.DiGraph,
     stir_time: float,
@@ -8,37 +30,24 @@ def generate_stir_protocol(
     settling_time: float
 ) -> 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)
-    
-    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)
     """
     action_sequence = []
     
+    print(f"STIR: 开始生成搅拌协议")
+    print(f"  - 搅拌时间: {stir_time}秒")
+    print(f"  - 搅拌速度: {stir_speed} RPM")
+    print(f"  - 沉降时间: {settling_time}秒")
+    
     # 查找搅拌设备
-    stirrer_nodes = [node for node in G.nodes() 
+    try:
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
+        stirrer_id = find_connected_stirrer(G)
-    
+        print(f"STIR: 找到搅拌设备: {stirrer_id}")
-    if not stirrer_nodes:
+    except ValueError as e:
-        raise ValueError("没有找到可用的搅拌设备")
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
-    
-    # 使用第一个可用的搅拌器
-    stirrer_id = stirrer_nodes[0]
     
     # 执行搅拌操作
-    action_sequence.append({
+    stir_action = {
         "device_id": stirrer_id,
         "action_name": "stir",
         "action_kwargs": {
@@ -46,8 +55,11 @@ def generate_stir_protocol(
             "stir_speed": stir_speed,
             "settling_time": settling_time
         }
-    })
+    }
     
+    action_sequence.append(stir_action)
+    
+    print(f"STIR: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
 
@@ -58,33 +70,28 @@ def generate_start_stir_protocol(
     purpose: str
 ) -> 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
-    
-    Returns:
-        List[Dict[str, Any]]: 开始搅拌操作的动作序列
     """
     action_sequence = []
     
-    # 查找搅拌设备
+    print(f"START_STIR: 开始生成启动搅拌协议")
-    stirrer_nodes = [node for node in G.nodes() 
+    print(f"  - 容器: {vessel}")
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
+    print(f"  - 搅拌速度: {stir_speed} RPM")
+    print(f"  - 目的: {purpose}")
     
-    if not stirrer_nodes:
+    # 验证容器存在
-        raise ValueError("没有找到可用的搅拌设备")
-    
-    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({
+    # 查找搅拌设备
+    try:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        print(f"START_STIR: 找到搅拌设备: {stirrer_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    
+    # 执行开始搅拌操作
+    start_stir_action = {
         "device_id": stirrer_id,
         "action_name": "start_stir",
         "action_kwargs": {
@@ -92,8 +99,11 @@ def generate_start_stir_protocol(
             "stir_speed": stir_speed,
             "purpose": purpose
         }
-    })
+    }
     
+    action_sequence.append(start_stir_action)
+    
+    print(f"START_STIR: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
 
@@ -103,35 +113,54 @@ def generate_stop_stir_protocol(
 ) -> 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
-    
-    Returns:
-        List[Dict[str, Any]]: 停止搅拌操作的动作序列
     """
     action_sequence = []
     
-    # 查找搅拌设备
+    print(f"STOP_STIR: 开始生成停止搅拌协议")
-    stirrer_nodes = [node for node in G.nodes() 
+    print(f"  - 容器: {vessel}")
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
     
-    if not stirrer_nodes:
+    # 验证容器存在
-        raise ValueError("没有找到可用的搅拌设备")
-    
-    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({
+    # 查找搅拌设备
+    try:
+        stirrer_id = find_connected_stirrer(G, vessel)
+        print(f"STOP_STIR: 找到搅拌设备: {stirrer_id}")
+    except ValueError as e:
+        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    
+    # 执行停止搅拌操作
+    stop_stir_action = {
         "device_id": stirrer_id,
         "action_name": "stop_stir",
         "action_kwargs": {
             "vessel": vessel
         }
-    })
+    }
     
+    action_sequence.append(stop_stir_action)
+    
+    print(f"STOP_STIR: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
+
+
+# 便捷函数
+def generate_fast_stir_protocol(
+    G: nx.DiGraph,
+    time: float = 300.0,
+    speed: float = 800.0,
+    settling: float = 60.0
+) -> List[Dict[str, Any]]:
+    """快速搅拌的便捷函数"""
+    return generate_stir_protocol(G, time, speed, settling)
+
+
+def generate_gentle_stir_protocol(
+    G: nx.DiGraph,
+    time: float = 600.0,
+    speed: float = 200.0,
+    settling: float = 120.0
+) -> List[Dict[str, Any]]:
+    """温和搅拌的便捷函数"""
+    return generate_stir_protocol(G, time, speed, settling)

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
+try:
-import dashboard_client
+    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)
+    # 定义物料名称和料筒位置关系
-print(f"实际出料质量：{mass_test}mg")
+    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
-样例: 对一份excel文件记录的化合物进行称量
+    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"
+    # 关闭串口
-# 定义输出文件路径，用于记录实际加样多少
+    modbus.ser.close()
-output_file = r"C:\auto\laiyu\test_output.xlsx"
+    print("串口已关闭")
-
-# 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")
 

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

@@ -1,16 +1,18 @@
 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"""
+    """Virtual centrifuge device - 简化版，只保留核心功能"""
 
-    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+    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:
+        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop('id')
+            device_id = kwargs.pop("id")
-        if config is None and 'config' in kwargs:
+        if config is None and "config" in kwargs:
-            config = kwargs.pop('config')
+            config = kwargs.pop("config")
 
         # 设置默认值
         self.device_id = device_id or "unknown_centrifuge"
@@ -19,100 +21,157 @@ class VirtualCentrifuge:
         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.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_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._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)
+        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
+        # 处理其他kwargs参数
-        skip_keys = {'port', 'max_speed', 'max_temp', 'min_temp'}
+        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:
+    async def centrifuge(
-        """Execute centrifuge action - matches Centrifuge action"""
+        self, 
-        self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} RPM, time={time}s, temp={temp}°C")
+        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:
+        if speed > self._max_speed or speed < 100.0:
-            self.logger.error(f"Speed {speed} exceeds maximum {self._max_speed}")
+            error_msg = f"离心速度 {speed} rpm 超出范围 (100-{self._max_speed} rpm)"
-            self.data["message"] = f"速度 {speed} 超过最大值 {self._max_speed}"
+            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}")
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}-{self._max_temp}°C)"
-            self.data["message"] = f"温度 {temp} 超出范围 {self._min_temp}-{self._max_temp}"
+            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",
+            "status": f"离心中: {vessel}",
-            "centrifuge_state": "Centrifuging",
+            "centrifuge_state": "Running",
-            "target_speed": speed,
             "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
+        try:
-        simulation_time = min(time, 5.0)  # 最多等待5秒用于测试
+            # 离心过程 - 实时更新进度
-        await asyncio.sleep(simulation_time)
+            start_time = time_module.time()
+            total_time = time
             
-        # 离心完成
+            while True:
-        self.data.update({
+                current_time = time_module.time()
-            "status": "Idle",
+                elapsed = current_time - start_time
-            "centrifuge_state": "Stopped",
+                remaining = max(0, total_time - elapsed)
-            "current_speed": 0.0,
+                progress = min(100.0, (elapsed / total_time) * 100)
-            "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}")
+                # 更新状态
-        return True
+                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"
+                })
                 
-    # 状态属性
+                # 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 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)
@@ -131,19 +190,15 @@ class VirtualCentrifuge:
 
     @property
     def max_speed(self) -> float:
-        return self.data.get("max_speed", self._max_speed)
+        return self._max_speed
 
     @property
     def max_temp(self) -> float:
-        return self.data.get("max_temp", self._max_temp)
+        return self._max_temp
 
     @property
     def min_temp(self) -> float:
-        return self.data.get("min_temp", self._min_temp)
+        return self._min_temp
-    
-    @property
-    def centrifuge_state(self) -> str:
-        return self.data.get("centrifuge_state", "Unknown")
 
     @property
     def time_remaining(self) -> float:

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):
+    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_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
+        # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed'}
+        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",
+            "progress": 0.0,           # Filter.action feedback
-            "current_temp": 25.0,
+            "current_temp": 25.0,      # Filter.action feedback
-            "target_temp": 25.0,
+            "filtered_volume": 0.0,    # Filter.action feedback
-            "max_temp": self._max_temp,
+            "current_status": "Ready for filtration",  # Filter.action feedback
-            "stir_speed": 0.0,
+            "message": "Ready for filtration"
-            "max_stir_speed": self._max_stir_speed,
-            "filtered_volume": 0.0,
-            "progress": 0.0,
-            "message": ""
         })
         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, 
+    async def filter(
-                           stir_speed: float = 300.0, temp: float = 25.0, 
+        self, 
-                           continue_heatchill: bool = False, volume: float = 0.0) -> bool:
+        vessel: str, 
-        """Execute filter action - matches Filter action"""
+        filtrate_vessel: str = "", 
-        self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}, stir={stir}, volume={volume}")
+        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:
+        if temp > self._max_temp or temp < 4.0:
-            self.logger.error(f"Temperature {temp} exceeds maximum {self._max_temp}")
+            error_msg = f"温度 {temp}°C 超出范围 (4-{self._max_temp}°C)"
-            self.data["message"] = f"温度 {temp} 超过最大值 {self._max_temp}"
+            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}")
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM)"
-            self.data["message"] = f"搅拌速度 {stir_speed} 超过最大值 {self._max_stir_speed}"
+            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",
+            "status": f"过滤中: {vessel}",
-            "filter_state": "Filtering",
-            "target_temp": temp,
             "current_temp": temp,
-            "stir_speed": stir_speed if stir else 0.0,
+            "filtered_volume": 0.0,
-            "vessel": vessel,
-            "filtrate_vessel": filtrate_vessel,
-            "target_volume": volume,
             "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
+        try:
-        simulation_time = min(volume / 10.0 if volume > 0 else 5.0, 10.0)
+            # 过滤过程 - 实时更新进度
-        await asyncio.sleep(simulation_time)
+            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
             
-        # 过滤完成
+            while True:
-        filtered_vol = volume if volume > 0 else 50.0  # 默认过滤量
+                current_time = time_module.time()
-        self.data.update({
+                elapsed = current_time - start_time
-            "status": "Idle",
+                remaining = max(0, filter_time - elapsed)
-            "filter_state": "Ready",
+                progress = min(100.0, (elapsed / filter_time) * 100)
-            "current_temp": 25.0 if not continue_heatchill else temp,
+                current_filtered = (progress / 100.0) * filter_volume
-            "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}")
+                # 更新状态 - 按照 Filter.action feedback 字段
-        return True
+                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"
                 
-    # 状态属性
+                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
+    
+    # === 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:
+    def progress(self) -> float:
-        return self.data.get("filter_state", "Unknown")
+        """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 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:
+        """Filter.action feedback 字段"""
         return self.data.get("filtered_volume", 0.0)
     
     @property
-    def progress(self) -> float:
+    def current_status(self) -> str:
-        return self.data.get("progress", 0.0)
+        """Filter.action feedback 字段"""
+        return self.data.get("current_status", "")
     
     @property
     def message(self) -> str:
         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"""
+        """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}, purpose={purpose}")
+        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}")
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
-            self.data["status"] = f"温度 {temp} 超出范围"
+            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}")
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出最大值 {self._max_stir_speed} RPM"
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+            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
+        # **修复**: 在等待过程中每秒更新剩余时间
-        simulation_time = min(time, 10.0)  # 最多等待10秒用于测试
+        while True:
-        await asyncio.sleep(simulation_time)
+            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)
             
-        # 加热/冷却完成
+            # 更新剩余时间和状态
-        self.data["status"] = f"完成: {vessel} 已达到 {temp}°C"
+            self.data.update({
+                "remaining_time": remaining,
+                "status": f"运行中: {status_action} {vessel} 至 {temp}°C | 剩余: {remaining:.0f}s{stir_info}"
+            })
             
-        self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C")
+            # 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)
+        
+        # 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 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"""
+        """Start continuous heat chill"""
-        self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C, purpose={purpose}")
+        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}")
+            error_msg = f"温度 {temp}°C 超出范围 ({self._min_temp}°C - {self._max_temp}°C)"
-            self.data["status"] = f"温度 {temp} 超出范围"
+            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")
+    
+    @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 +1,228 @@
+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
+    ) -> bool:
+        """Execute evaporate action - 简化的蒸发流程"""
+        self.logger.info(f"Evaporate: vessel={vessel}, pressure={pressure} bar, temp={temp}°C, time={time}s, rotation={stir_speed} RPM")
+
+        # 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_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', 1500.0)
-        self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1000.0)
+        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
+        # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_speed'}
+        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:
+        if stir_speed > self._max_speed or stir_speed < self._min_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+            self.logger.error(error_msg)
+            self.data.update({
+                "status": f"Error: {error_msg}",
+                "operation_mode": "Error"
+            })
             return False
         
-        # 开始搅拌
+        # === 第一阶段：搅拌 ===
-        self.data["status"] = f"搅拌中: {stir_speed} RPM, {stir_time}s"
+        start_time = time_module.time()
+        total_stir_time = stir_time
         
-        # 模拟搅拌时间
+        self.data.update({
-        simulation_time = min(stir_time, 10.0)  # 最多等待10秒用于测试
+            "status": f"搅拌中: {stir_speed} RPM | 剩余: {total_stir_time:.0f}s",
-        await asyncio.sleep(simulation_time)
+            "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"
+            start_settling_time = time_module.time()
-            settling_simulation = min(settling_time, 5.0)  # 最多等待5秒
+            total_settling_time = settling_time
-            await asyncio.sleep(settling_simulation)
             
-        # 操作完成
+            self.data.update({
-        self.data["status"] = "搅拌完成"
+                "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,
+            })
             
-        self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s")
+            # 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 ===
+        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 + 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:
+        if stir_speed > self._max_speed or stir_speed < self._min_speed:
-            self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
+            error_msg = f"搅拌速度 {stir_speed} RPM 超出范围 ({self._min_speed} - {self._max_speed} RPM)"
-            self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
+            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")
+    
+    @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):
+    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
-        # 处理可能的不同调用方式
+        """
-        if device_id is None and 'id' in kwargs:
+        初始化虚拟转移泵
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
         
-        # 设置默认值
+        Args:
-        self.device_id = device_id or "unknown_transfer_pump"
+            device_id: 设备ID
-        self.config = config or {}
+            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"""
+        """初始化虚拟泵"""
-        print(f"=== VirtualTransferPump {self.device_id} initialize() called! ===")
+        self.logger.info(f"Initializing virtual pump {self.device_id}")
-        self.logger.info(f"Initializing virtual transfer pump {self.device_id}")
+        self._status = "Idle"
-        self.data.update({
+        self._position = 0.0
-            "status": "Idle",
+        self._current_volume = 0.0
-            "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"
-        })
         return True
     
     async def cleanup(self) -> bool:
-        """Cleanup virtual transfer pump"""
+        """清理虚拟泵"""
-        self.logger.info(f"Cleaning up virtual transfer pump {self.device_id}")
+        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, 
+    # 基本属性
-                      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
     @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:
+    def max_velocity(self) -> float:
-        return self.data.get("max_volume", self._max_volume)
+        return self._max_velocity
     
     @property
     def transfer_rate(self) -> float:
-        return self.data.get("transfer_rate", self._transfer_rate)
+        return self._transfer_rate
 
-    @property
+    def set_max_velocity(self, velocity: float):
-    def from_vessel(self) -> str:
+        """设置最大速度 (ml/s)"""
-        return self.data.get("from_vessel", "")
+        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 get_status(self) -> str:
-    def to_vessel(self) -> str:
+        """获取泵状态"""
-        return self.data.get("to_vessel", "")
+        return self._status
     
-    @property
+    async def _simulate_operation(self, duration: float):
-    def progress(self) -> float:
+        """模拟操作延时"""
-        return self.data.get("progress", 0.0)
+        self._status = "Busy"
+        await asyncio.sleep(duration)
+        self._status = "Idle"
     
-    @property
+    def _calculate_duration(self, volume: float, velocity: float = None) -> float:
-    def transferred_volume(self) -> float:
+        """计算操作持续时间"""
-        return self.data.get("transferred_volume", 0.0)
+        if velocity is None:
+            velocity = self._max_velocity
+        return abs(volume) / velocity
     
-    @property
+    # 新的set_position方法 - 专门用于SetPumpPosition动作
-    def current_status(self) -> str:
+    async def set_position(self, position: float, max_velocity: float = None):
-        return self.data.get("current_status", "Ready")
+        """
+        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
+            }
+    
+    # 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 json
-import sys
+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()
+if __name__ == "__main__":
-# 连接
+
-client.connect()
+    """
-# 获取状态
+    a,b,c
-print(client.status)
+    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

@@ -33,19 +33,19 @@ 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'.
+    purpose: str
-    product_phase: str # 'top' or 'bottom'. Phase that product will be in.
+    product_phase: str
-    from_vessel: str #Contents of from_vessel are transferred to separation_vessel and separation is performed.
+    from_vessel: str
-    separation_vessel: str # Vessel in which separation of phases will be carried out.
+    separation_vessel: str
-    to_vessel: str # Vessel to send product phase to.
+    to_vessel: str
-    waste_phase_to_vessel: str # Optional. Vessel to send waste phase to.
+    waste_phase_to_vessel: str
-    solvent: str # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
+    solvent: str
-    solvent_volume: float # Optional. Volume of solvent to add.
+    solvent_volume: float
-    through: str # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
+    through: str
-    repeats: int # Optional. Number of separations to perform.
+    repeats: int
-    stir_time: float # Optional. Time stir for after adding solvent, before separation of phases.
+    stir_time: float
-    stir_speed: float # Optional. Speed to stir at after adding solvent, before separation of phases.
+    stir_speed: float
-    settling_time: float # Optional. Time
+    settling_time: float
 
 
 class EvaporateProtocol(BaseModel):
@@ -67,6 +67,7 @@ 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
@@ -84,16 +85,16 @@ 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
+    filtrate_vessel: str
-    stir: bool  # 移除默认值
+    stir: bool
-    stir_speed: float  # 移除默认值
+    stir_speed: float
-    temp: float  # 移除默认值
+    temp: float
-    continue_heatchill: bool  # 移除默认值
+    continue_heatchill: bool
-    volume: float  # 移除默认值
+    volume: float
 
 class HeatChillProtocol(BaseModel):
     vessel: str
@@ -137,45 +138,53 @@ class TransferProtocol(BaseModel):
     solid: bool = False
 
 class CleanVesselProtocol(BaseModel):
-    vessel: str                 # 要清洗的容器名称
+    vessel: str
-    solvent: str               # 用于清洗容器的溶剂名称
+    solvent: str
-    volume: float              # 清洗溶剂的体积，可选参数
+    volume: float
-    temp: float                # 清洗时的温度，可选参数
+    temp: float
-    repeats: int = 1           # 清洗操作的重复次数，默认为 1
+    repeats: int = 1
 
 class DissolveProtocol(BaseModel):
-    vessel: str                 # 装有要溶解物质的容器名称
+    vessel: str
-    solvent: str               # 用于溶解物质的溶剂名称
+    solvent: str
-    volume: float              # 溶剂的体积，可选参数
+    volume: float
-    amount: str = ""           # 要溶解物质的量，可选参数
+    amount: str = ""
-    temp: float = 25.0         # 溶解时的温度，可选参数
+    temp: float = 25.0
-    time: float = 0.0          # 溶解的时间，可选参数
+    time: float = 0.0
-    stir_speed: float = 0.0    # 搅拌速度，可选参数
+    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
+    from_vessel: str
-    to_vessel: str                # 目标容器的名称，物质过滤后要到达的容器
+    to_vessel: str
-    filter_through: str           # 过滤时所通过的介质，如滤纸、柱子等
+    filter_through: str
-    eluting_solvent: str = ""     # 洗脱溶剂的名称，可选参数
+    eluting_solvent: str = ""
-    eluting_volume: float = 0.0   # 洗脱溶剂的体积，可选参数
+    eluting_volume: float = 0.0
-    eluting_repeats: int = 0      # 洗脱操作的重复次数，默认为 0
+    eluting_repeats: int = 0
-    residence_time: float = 0.0   # 物质在过滤介质中的停留时间，可选参数
+    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
+    from_vessel: str
-    to_vessel: str                # 目标容器的名称，分离后的样品要到达的容器
+    to_vessel: str
-    column: str                   # 所使用的柱子的名称
+    column: str
 
 class WashSolidProtocol(BaseModel):
-    vessel: str                   # 装有固体物质的容器名称
+    vessel: str
-    solvent: str                  # 用于清洗固体的溶剂名称
+    solvent: str
-    volume: float                 # 清洗溶剂的体积
+    volume: float
-    filtrate_vessel: str = ""     # 滤液要收集到的容器名称，可选参数
+    filtrate_vessel: str = ""
-    temp: float = 25.0            # 清洗时的温度，可选参数
+    temp: float = 25.0
-    stir: bool = False            # 是否在清洗过程中搅拌，默认为 False
+    stir: bool = False
-    stir_speed: float = 0.0       # 搅拌速度，可选参数
+    stir_speed: float = 0.0
-    time: float = 0.0             # 清洗的时间，可选参数
+    time: float = 0.0
-    repeats: int = 1              # 清洗操作的重复次数，默认为 1
+    repeats: int = 1
 
-__all__ = ["Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", "CentrifugeProtocol", "AddProtocol", "FilterProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol", "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol"]
+__all__ = [
+    "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", 
+    "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", 
+    "CentrifugeProtocol", "AddProtocol", "FilterProtocol", 
+    "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol", 
+    "StirProtocol", "StartStirProtocol", "StopStirProtocol", 
+    "TransferProtocol", "CleanVesselProtocol", "DissolveProtocol", 
+    "FilterThroughProtocol", "RunColumnProtocol", "WashSolidProtocol"
+]
 # End Protocols

unilabos/registry/device_comms/modbus_ioboard.yaml

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

unilabos/registry/device_comms/serial.yaml

@@ -1,7 +1,117 @@
 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: UniLabJsonCommand handle_serial_request 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand handle_serial_request 的参数schema
+              properties:
+                request:
+                  description: '参数: request'
+                  type: string
+                response:
+                  description: '参数: response'
+                  type: string
+              required:
+              - request
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: handle_serial_request 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_data 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
+    status_types: {}
     type: ros2
-  schema:
+  description: Serial communication interface, used when sharing same serial port
-    properties: {}
+    for multiple devices
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          device_id:
+            description: '参数: device_id'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+          resource_tracker:
+            description: '参数: resource_tracker'
+            type: string
+        required:
+        - device_id
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/characterization_optic.yaml

@@ -1,67 +1,449 @@
-# 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: UniLabJsonCommand check_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_status 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-extract_data_from_txt:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand extract_data_from_txt 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand extract_data_from_txt 的参数schema
+              properties:
+                file_path:
+                  description: '参数: file_path'
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: extract_data_from_txt 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: null
+          resource: null
+          wf_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand start_sequence 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand start_sequence 的参数schema
+              properties:
+                params:
+                  description: '参数: params'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: object
+                wf_name:
+                  description: '参数: wf_name'
+                  type: string
+              required:
+              - wf_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_sequence 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_close_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand try_close_sub_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand try_close_sub_device 的参数schema
+              properties:
+                device_name:
+                  description: '参数: device_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_close_sub_device 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_open_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand try_open_sub_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand try_open_sub_device 的参数schema
+              properties:
+                device_name:
+                  description: '参数: device_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_open_sub_device 命令参数
+          type: object
+        type: UniLabJsonCommand
       execute_command_from_outer:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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: tuple
+      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:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      device_status:
+      feedback: {}
-        type: string
+      goal:
-      could_run:
+        description: UniLabJsonCommand __init__ 的参数schema
-        type: boolean
+        properties:
-      driver_init_ok:
+          driver_debug:
-        type: boolean
+            default: false
-      is_running:
+            description: '参数: driver_debug'
-        type: boolean
+            type: boolean
-      finish_status:
+        required: []
-        type: string
+        type: object
-      status_text:
+      result: {}
-        type: string
     required:
-    - device_status
+    - goal
-    - could_run
+    title: __init__ 命令参数
-    - driver_init_ok
+    type: object
-    - is_running
+raman_home_made:
-    - finish_status
+  class:
-    - status_text
+    action_value_mappings:
-    additionalProperties: false
+      auto-ccd_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand ccd_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand ccd_time 的参数schema
+              properties:
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+              required:
+              - int_time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: ccd_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-laser_on_power:
+        feedback: {}
+        goal: {}
+        goal_default:
+          output_voltage_laser: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand laser_on_power 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand laser_on_power 的参数schema
+              properties:
+                output_voltage_laser:
+                  description: '参数: output_voltage_laser'
+                  type: string
+              required:
+              - output_voltage_laser
+              type: object
+            result: {}
+          required:
+          - goal
+          title: laser_on_power 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand raman_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_cmd 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-raman_without_background:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_time: null
+          laser_power: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand raman_without_background 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_without_background 的参数schema
+              properties:
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+                laser_power:
+                  description: '参数: laser_power'
+                  type: string
+              required:
+              - int_time
+              - laser_power
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background 命令参数
+          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: UniLabJsonCommand raman_without_background_average 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand raman_without_background_average 的参数schema
+              properties:
+                average:
+                  description: '参数: average'
+                  type: string
+                int_time:
+                  description: '参数: int_time'
+                  type: string
+                laser_power:
+                  description: '参数: laser_power'
+                  type: string
+                sample_name:
+                  description: '参数: sample_name'
+                  type: string
+              required:
+              - sample_name
+              - int_time
+              - laser_power
+              - average
+              type: object
+            result: {}
+          required:
+          - goal
+          title: raman_without_background_average 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate_ccd:
+            default: 921600
+            description: '参数: baudrate_ccd'
+            type: integer
+          baudrate_laser:
+            default: 9600
+            description: '参数: baudrate_laser'
+            type: integer
+          port_ccd:
+            description: '参数: port_ccd'
+            type: string
+          port_laser:
+            description: '参数: port_laser'
+            type: string
+        required:
+        - port_laser
+        - port_ccd
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
     type: object

unilabos/registry/devices/hotel.yaml

@@ -1,9 +1,35 @@
 hotel.thermo_orbitor_rs2_hotel:
-  description: Thermo Orbitor RS2 Hotel
   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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_config:
+            description: '参数: device_config'
+            type: object
+          rotation:
+            description: '参数: rotation'
+            type: object
+        required:
+        - rotation
+        - device_config
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
   model:
-    type: device
     mesh: thermo_orbitor_rs2_hotel
-
+    type: device

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -1,56 +1,608 @@
 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: UniLabJsonCommand add_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand add_powder_tube 的参数schema
+              properties:
+                compound_mass:
+                  description: '参数: compound_mass'
+                  type: string
+                powder_tube_number:
+                  description: '参数: powder_tube_number'
+                  type: string
+                target_tube_position:
+                  description: '参数: target_tube_position'
+                  type: string
+              required:
+              - powder_tube_number
+              - target_tube_position
+              - compound_mass
+              type: object
+            result: {}
+          required:
+          - goal
+          title: add_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand calculate_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand calculate_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-discharge:
+        feedback: {}
+        goal: {}
+        goal_default:
+          float_in: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand discharge 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand discharge 的参数schema
+              properties:
+                float_in:
+                  description: '参数: float_in'
+                  type: number
+              required:
+              - float_in
+              type: object
+            result: {}
+          required:
+          - goal
+          title: discharge 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to_plate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to_plate 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_plate 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_xyz:
+        feedback: {}
+        goal: {}
+        goal_default:
+          x: null
+          y: null
+          z: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to_xyz 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to_xyz 的参数schema
+              properties:
+                x:
+                  description: '参数: x'
+                  type: number
+                y:
+                  description: '参数: y'
+                  type: number
+                z:
+                  description: '参数: z'
+                  type: number
+              required:
+              - x
+              - y
+              - z
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_xyz 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_powder_tube 的参数schema
+              properties:
+                int_input:
+                  description: '参数: int_input'
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-put_powder_tube:
+        feedback: {}
+        goal: {}
+        goal_default:
+          int_input: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand put_powder_tube 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand put_powder_tube 的参数schema
+              properties:
+                int_input:
+                  description: '参数: int_input'
+                  type: integer
+              required:
+              - int_input
+              type: object
+            result: {}
+          required:
+          - goal
+          title: put_powder_tube 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reset:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand reset 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand reset 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reset 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          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:
+        schema:
-        type: SolidDispenseAddPowderTube
+          description: ROS Action EmptyIn 的 JSON Schema
-        goal:
+          properties:
-          powder_tube_number: powder_tube_number
+            feedback:
-          target_tube_position: target_tube_position
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-          compound_mass: compound_mass
+              properties: {}
-        feedback: {}
+              required: []
-        result: 
+              title: EmptyIn_Feedback
-          actual_mass_mg: actual_mass_mg
+              type: object
-      move_to_plate:
+            goal:
-        type: StrSingleInput
+              description: Action 目标 - 从客户端发送到服务器
-        goal:
+              properties: {}
-          string: string
+              required: []
-        feedback: {}
+              title: EmptyIn_Goal
-        result: {}
+              type: object
-      discharge:
+            result:
-        type: FloatSingleInput
+              description: Action 结果 - 完成后从服务器发送到客户端
-        goal:
+              properties:
-          float_input: float_input
+                return_info:
-        feedback: {}
+                  type: string
-        result: {}
+              required:
-        
+              - return_info
-  schema:
+              title: EmptyIn_Result
-    properties: {}
+              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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 115200
+            description: '参数: baudrate'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          timeout:
+            default: 0.5
+            description: '参数: timeout'
+            type: number
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/moveit_config.yaml

@@ -1,56 +1,932 @@
-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:
+      auto-check_tf_update_actions:
-        type: SendCmd
-        goal:
-          command: command
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: UniLabJsonCommand check_tf_update_actions 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_tf_update_actions 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions 命令参数
+          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: UniLabJsonCommand moveit_joint_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_joint_task 的参数schema
+              properties:
+                joint_names:
+                  description: '参数: joint_names'
+                  type: string
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task 命令参数
+          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: UniLabJsonCommand moveit_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_task 的参数schema
+              properties:
+                cartesian:
+                  default: false
+                  description: '参数: cartesian'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  description: '参数: offsets'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: string
+                quaternion:
+                  description: '参数: quaternion'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+                target_link:
+                  description: '参数: target_link'
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_and_place 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_and_place 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand post_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand post_init 的参数schema
+              properties:
+                ros_node:
+                  description: '参数: ros_node'
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_manager 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_manager 的参数schema
+              properties:
+                parent_link:
+                  description: '参数: parent_link'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_resource_action 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_config:
+            description: '参数: device_config'
+            type: string
+          joint_poses:
+            description: '参数: joint_poses'
+            type: string
+          moveit_type:
+            description: '参数: moveit_type'
+            type: string
+          rotation:
+            description: '参数: rotation'
+            type: string
+        required:
+        - moveit_type
+        - joint_poses
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    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: UniLabJsonCommand check_tf_update_actions 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_tf_update_actions 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions 命令参数
+          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: UniLabJsonCommand moveit_joint_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_joint_task 的参数schema
+              properties:
+                joint_names:
+                  description: '参数: joint_names'
+                  type: string
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task 命令参数
+          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: UniLabJsonCommand moveit_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand moveit_task 的参数schema
+              properties:
+                cartesian:
+                  default: false
+                  description: '参数: cartesian'
+                  type: string
+                move_group:
+                  description: '参数: move_group'
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  description: '参数: offsets'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: string
+                quaternion:
+                  description: '参数: quaternion'
+                  type: string
+                retry:
+                  default: 10
+                  description: '参数: retry'
+                  type: string
+                speed:
+                  default: 1
+                  description: '参数: speed'
+                  type: string
+                target_link:
+                  description: '参数: target_link'
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pick_and_place:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pick_and_place 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pick_and_place 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pick_and_place 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand post_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand post_init 的参数schema
+              properties:
+                ros_node:
+                  description: '参数: ros_node'
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_manager 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_manager 的参数schema
+              properties:
+                parent_link:
+                  description: '参数: parent_link'
+                  type: string
+                resource:
+                  description: '参数: resource'
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_resource_action 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_config:
+            description: '参数: device_config'
+            type: string
+          joint_poses:
+            description: '参数: joint_poses'
+            type: string
+          moveit_type:
+            description: '参数: moveit_type'
+            type: string
+          rotation:
+            description: '参数: rotation'
+            type: string
+        required:
+        - moveit_type
+        - joint_poses
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+  model:
+    mesh: toyo_xyz
+    type: device

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -1,73 +1,488 @@
-separator.homemade:
+rotavap.one:
-  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:
+      auto-cmd_write:
-        type: Stir
+        feedback: {}
-        goal:
+        goal: {}
-          stir_time: stir_time,
+        goal_default:
-          stir_speed: stir_speed
+          cmd: null
-          settling_time: settling_time
+        handles: []
-        feedback:
+        result: {}
-          status: status
+        schema:
-        result: 
+          description: UniLabJsonCommand cmd_write 的参数schema
-          success: success
+          properties:
-      valve_open_cmd:
+            feedback: {}
-        type: SendCmd
+            goal:
+              description: UniLabJsonCommand cmd_write 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: cmd_write 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-main_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand main_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand main_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: main_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_pump_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_pump_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_pump_time 的参数schema
+              properties:
+                time:
+                  description: '参数: time'
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_pump_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_rotate_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          time: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_rotate_time 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_rotate_time 的参数schema
+              properties:
+                time:
+                  description: '参数: time'
+                  type: string
+              required:
+              - time
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_rotate_time 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_timer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_timer 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_timer 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_timer 命令参数
+          type: object
+        type: UniLabJsonCommand
+      set_timer:
+        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.rotavap.rotavap_one:RotavapOne
+    status_types: {}
+    type: python
+  description: Rotavap device
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            description: '参数: port'
+            type: string
+          rate:
+            default: 9600
+            description: '参数: rate'
+            type: integer
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+separator.homemade:
+  class:
+    action_value_mappings:
+      auto-read_sensor_loop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_sensor_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_sensor_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_sensor_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stir:
+        feedback: {}
+        goal: {}
+        goal_default:
+          settling_time: 10
+          stir_speed: 300
+          stir_time: 10
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stir 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stir 的参数schema
+              properties:
+                settling_time:
+                  default: 10
+                  description: '参数: settling_time'
+                  type: number
+                stir_speed:
+                  default: 300
+                  description: '参数: stir_speed'
+                  type: number
+                stir_time:
+                  default: 10
+                  description: '参数: stir_time'
+                  type: number
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stir 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open:
+        feedback: {}
+        goal: {}
+        goal_default:
+          condition: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand valve_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand valve_open 的参数schema
+              properties:
+                condition:
+                  description: '参数: condition'
+                  type: string
+                value:
+                  description: '参数: value'
+                  type: string
+              required:
+              - condition
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-valve_open_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand valve_open_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand valve_open_cmd 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: valve_open_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-write:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand write 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand write 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: write 命令参数
+          type: object
+        type: UniLabJsonCommand
+      stir:
         feedback:
           status: status
+        goal:
+          settling_time: settling_time
+          stir_speed: stir_speed
+          stir_time: stir_time,
+        goal_default:
+          settling_time: 0.0
+          stir_speed: 0.0
+          stir_time: 0.0
+        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:
+                settling_time:
+                  type: number
+                stir_speed:
+                  type: number
+                stir_time:
+                  type: number
+              required:
+              - 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:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              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:
+        schema:
-    type: object
+          description: ROS Action SendCmd 的 JSON Schema
-    properties:
+          properties:
-      status:
+            feedback:
-        type: string
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-        description: The status of the device
+              properties:
-      sensordata:
+                status:
-        type: number
+                  type: string
-        description: 电导传感器数据
+              required:
-    required:
+              - status
-      - status
+              title: SendCmd_Feedback
-      - sensordata
+              type: object
-    additionalProperties: false
+            goal:
-
+              description: Action 目标 - 从客户端发送到服务器
-rotavap.one:
+              properties:
-  description: Rotavap device
+                command:
-  class:
+                  type: string
-    module: unilabos.devices.rotavap.rotavap_one:RotavapOne
+              required:
-    type: python
+              - command
-    status_types:
+              title: SendCmd_Goal
-      pump_time: Float64
+              type: object
-      rotate_time: Float64
+            result:
-    action_value_mappings:
+              description: Action 结果 - 完成后从服务器发送到客户端
-      set_timer:
+              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:
+    module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
-          command: command
+    status_types: {}
-        feedback: {}
+    type: python
-        result:
+  description: Separator device with homemade grbl controller
-          success: success
+  handles: []
-  schema:
+  icon: ''
-    type: object
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      temperature:
+      feedback: {}
-        type: number
+      goal:
-        description: 旋蒸水浴温度
+        description: UniLabJsonCommand __init__ 的参数schema
-      pump_time:
+        properties:
-        type: number
+          baudrate_executor:
-        description: The pump time of the device
+            default: 115200
-      rotate_time:
+            description: '参数: baudrate_executor'
-        type: number
+            type: integer
-        description: The rotate time of the device
+          baudrate_sensor:
+            default: 115200
+            description: '参数: baudrate_sensor'
+            type: integer
+          port_executor:
+            description: '参数: port_executor'
+            type: string
+          port_sensor:
+            description: '参数: port_sensor'
+            type: string
+        required:
+        - port_executor
+        - port_sensor
+        type: object
+      result: {}
     required:
-      - pump_time
+    - goal
-      - rotate_time
+    title: __init__ 命令参数
-    additionalProperties: false
+    type: object

unilabos/registry/devices/pump_and_valve.yaml

@@ -1,83 +1,900 @@
-syringe_pump_with_valve.runze:
+solenoid_valve:
-  description: Runze Syringe pump with valve
   class:
-    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_data:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_data 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          io_device_port:
+            description: '参数: io_device_port'
+            type: string
+        required:
+        - io_device_port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+solenoid_valve.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+syringe_pump_with_valve.runze:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand initialize 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand initialize 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand pull_plunger 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand pull_plunger 的参数schema
+              properties:
+                volume:
+                  description: '参数: volume'
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand push_plunger 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand push_plunger 的参数schema
+              properties:
+                volume:
+                  description: '参数: volume'
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_aux_input_status_1 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_aux_input_status_1 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_aux_input_status_2 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_aux_input_status_2 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_backlash_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_backlash_position 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_command_buffer_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_command_buffer_status 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand query_software_version 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand query_software_version 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_command 的参数schema
+              properties:
+                full_command:
+                  description: '参数: full_command'
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_baudrate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_baudrate 的参数schema
+              properties:
+                baudrate:
+                  description: '参数: baudrate'
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_max_velocity 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_max_velocity 的参数schema
+              properties:
+                velocity:
+                  description: '参数: velocity'
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                max_velocity:
+                  description: '参数: max_velocity'
+                  type: number
+                position:
+                  description: '参数: position'
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_valve_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_valve_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_velocity_grade 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_velocity_grade 的参数schema
+              properties:
+                velocity:
+                  description: '参数: velocity'
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stop_operation 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stop_operation 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_error 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_error 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error 命令参数
+          type: object
+        type: UniLabJsonCommand
     hardware_interface:
       name: hardware_interface
       read: send_command
       write: send_command
-  schema:
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
-    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
     status_types:
-      status: String
+      max_velocity: float
-      valve_position: String
+      mode: int
-    action_value_mappings:
+      plunger_position: String
-      open:
+      position: float
-        type: EmptyIn
+      status: str
-        goal: {}
+      valve_position: str
-        feedback: {}
+      velocity_end: String
-        result: {}
+      velocity_grade: String
-      close:
+      velocity_init: String
-        type: EmptyIn
+    type: python
-        goal: {}
+  description: Runze Syringe pump with valve
-        feedback: {}
+  handles: []
-        result: {}
+  icon: ''
-  handles:
-    input:
-    - handler_key: fluid-input
-      label: Fluid Input
-      data_type: fluid
-    output:
-    - handler_key: fluid-output
-      label: Fluid Output
-      data_type: fluid
   init_param_schema:
-    type: object
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      port:
+      feedback: {}
-        type: string
+      goal:
-        description: "通信端口"
+        description: UniLabJsonCommand __init__ 的参数schema
-        default: "COM6"
+        properties:
+          address:
+            default: '1'
+            description: '参数: address'
+            type: string
+          max_volume:
+            default: 25.0
+            description: '参数: max_volume'
+            type: number
+          mode:
+            description: '参数: mode'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+        required:
+        - port
+        type: object
+      result: {}
     required:
-    - port
+    - goal
-
+    title: __init__ 命令参数
-solenoid_valve:
+    type: object
-  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: {}

unilabos/registry/devices/robot_agv.yaml

@@ -1,29 +1,138 @@
-# 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: UniLabJsonCommand send 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+                ex_data:
+                  default: ''
+                  description: '参数: ex_data'
+                  type: string
+                obj:
+                  default: receive_socket
+                  description: '参数: obj'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_nav_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_nav_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_nav_task 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_nav_task 命令参数
+          type: object
+        type: UniLabJsonCommand
       send_nav_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      pose:
+      feedback: {}
-        type: array
+      goal:
-        items:
+        description: UniLabJsonCommand __init__ 的参数schema
-          type: number
+        properties:
-      status:
+          host:
-        type: string
+            description: '参数: host'
+            type: string
+        required:
+        - host
+        type: object
+      result: {}
     required:
-      - status
+    - goal
-    additionalProperties: false
+    title: __init__ 命令参数
     type: object

unilabos/registry/devices/robot_arm.yaml

@@ -1,37 +1,202 @@
 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: UniLabJsonCommand arm_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand arm_init 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: arm_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_data:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand load_pose_data 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand load_pose_data 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_data 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-load_pose_file:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand load_pose_file 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand load_pose_file 的参数schema
+              properties:
+                file:
+                  description: '参数: file'
+                  type: string
+              required:
+              - file
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_pose_file 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_pos_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_pos_task 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_pos_task 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_pos_task 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-reload_pose:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand reload_pose 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand reload_pose 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: reload_pose 命令参数
+          type: object
+        type: UniLabJsonCommand
       move_pos_task:
-        type: SendCmd
+        feedback: {}
         goal:
           command: command
-        feedback: {}
+        goal_default:
+          command: ''
+        handles: []
         result:
           success: success
-  schema:
+        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:
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      arm_pose:
+      feedback: {}
-        type: array
+      goal:
-        items:
+        description: UniLabJsonCommand __init__ 的参数schema
-          type: number
+        properties:
-      gripper_pose:
+          host:
-        type: number
+            description: '参数: host'
-      arm_status:
+            type: string
-        type: string
+          retry:
-        description: 机械臂设备状态
+            default: 30
-      gripper_status:
+            description: '参数: retry'
-        type: string
+            type: integer
-        description: 机械爪设备状态
+        required:
+        - host
+        type: object
+      result: {}
     required:
-      - arm_status
+    - goal
-      - gripper_status
+    title: __init__ 命令参数
-    additionalProperties: false
     type: object

unilabos/registry/devices/robot_gripper.yaml

@@ -1,37 +1,669 @@
-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: UniLabJsonCommand data_loop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand data_loop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_loop 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-data_reader:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand data_reader 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand data_reader 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: data_reader 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand gripper_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand gripper_move 的参数schema
+              properties:
+                force:
+                  description: '参数: force'
+                  type: string
+                pos:
+                  description: '参数: pos'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: gripper_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand init_gripper 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand init_gripper 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_gripper 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modbus_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand modbus_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand modbus_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modbus_crc 命令参数
+          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: UniLabJsonCommand move_and_rotate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_and_rotate 的参数schema
+              properties:
+                grasp_F:
+                  description: '参数: grasp_F'
+                  type: string
+                grasp_pos:
+                  description: '参数: grasp_pos'
+                  type: string
+                grasp_v:
+                  description: '参数: grasp_v'
+                  type: string
+                spin_F:
+                  description: '参数: spin_F'
+                  type: string
+                spin_pos:
+                  description: '参数: spin_pos'
+                  type: string
+                spin_v:
+                  description: '参数: 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 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_gripper_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand node_gripper_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand node_gripper_move 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_gripper_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-node_rotate_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cmd: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand node_rotate_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand node_rotate_move 的参数schema
+              properties:
+                cmd:
+                  description: '参数: cmd'
+                  type: string
+              required:
+              - cmd
+              type: object
+            result: {}
+          required:
+          - goal
+          title: node_rotate_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_address:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data_len: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_address 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_address 的参数schema
+              properties:
+                address:
+                  description: '参数: address'
+                  type: string
+                data_len:
+                  description: '参数: data_len'
+                  type: string
+                id:
+                  description: '参数: id'
+                  type: string
+              required:
+              - id
+              - address
+              - data_len
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_address 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-rotate_move_abs:
+        feedback: {}
+        goal: {}
+        goal_default:
+          force: null
+          pos: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand rotate_move_abs 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand rotate_move_abs 的参数schema
+              properties:
+                force:
+                  description: '参数: force'
+                  type: string
+                pos:
+                  description: '参数: pos'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - pos
+              - speed
+              - force
+              type: object
+            result: {}
+          required:
+          - goal
+          title: rotate_move_abs 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_cmd:
+        feedback: {}
+        goal: {}
+        goal_default:
+          address: null
+          data: null
+          fun: null
+          id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_cmd 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_cmd 的参数schema
+              properties:
+                address:
+                  description: '参数: address'
+                  type: string
+                data:
+                  description: '参数: data'
+                  type: string
+                fun:
+                  description: '参数: fun'
+                  type: string
+                id:
+                  description: '参数: id'
+                  type: string
+              required:
+              - id
+              - fun
+              - address
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_cmd 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_gripper 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_gripper 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_gripper_init:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_gripper_init 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_gripper_init 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_gripper_init 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_rotate:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_for_rotate 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_for_rotate 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_rotate 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 115200
+            description: '参数: baudrate'
+            type: integer
+          id:
+            default: 9
+            description: '参数: id'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          pos_error:
+            default: -11
+            description: '参数: pos_error'
+            type: integer
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    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: UniLabJsonCommand edit_id 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand edit_id 的参数schema
+              properties:
+                params:
+                  default: '{}'
+                  description: '参数: params'
+                  type: string
+                resource:
+                  default:
+                    Gripper1: {}
+                  description: '参数: resource'
+                  type: object
+                wf_name:
+                  default: gripper_run
+                  description: '参数: wf_name'
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: edit_id 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+          torque: null
+          velocity: 0.0
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand push_to 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand push_to 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: number
+                torque:
+                  description: '参数: torque'
+                  type: number
+                velocity:
+                  default: 0.0
+                  description: '参数: velocity'
+                  type: number
+              required:
+              - position
+              - torque
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_to 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties: {}
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/robot_linear_motion.yaml

@@ -1,57 +1,709 @@
 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
+      auto-initialize:
-        type: NavigateThroughPoses
+        feedback: {}
-        goal: 
+        goal: {}
-          poses[].pose.position: positions[]
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand initialize 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand initialize 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_through_points:
+        feedback: {}
+        goal: {}
+        goal_default:
+          positions: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_through_points 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_through_points 的参数schema
+              properties:
+                positions:
+                  description: '参数: positions'
+                  type: array
+              required:
+              - positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_through_points 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_position 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_position 的参数schema
+              properties:
+                position:
+                  description: '参数: position'
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_spindle_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: 500
+          spindle_speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_spindle_speed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_spindle_speed 的参数schema
+              properties:
+                max_velocity:
+                  default: 500
+                  description: '参数: max_velocity'
+                  type: number
+                spindle_speed:
+                  description: '参数: spindle_speed'
+                  type: number
+              required:
+              - spindle_speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_spindle_speed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stop_operation 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stop_operation 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand wait_error 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand wait_error 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error 命令参数
+          type: object
+        type: UniLabJsonCommandAsync
+      move_through_points:
         feedback:
           current_pose.pose.position: position
-          navigation_time.sec: time_spent
           estimated_time_remaining.sec: time_remaining
+          navigation_time.sec: time_spent
           number_of_poses_remaining: pose_number_remaining
-        result: {}
-      set_spindle_speed:
-        type: SingleJointPosition
         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:
+        schema:
-    type: object
+          description: ROS Action SingleJointPosition 的 JSON Schema
-    properties:
+          properties:
-      position:
+            feedback:
-        type: array
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-        items:
+              properties:
-          type: number
+                error:
-        description: The position of the device
+                  type: number
-      spindle_speed:
+                header:
-        type: number
+                  properties:
-        description: The spindle speed of the device
+                    frame_id:
-    required:
+                      type: string
-      - position
+                    stamp:
-      - spindle_speed
+                      properties:
-    additionalProperties: false
+                        nanosec:
-
+                          maximum: 4294967295
-
+                          minimum: 0
-motor.iCL42:
+                          type: integer
-  description: iCL42 motor
+                        sec:
-  class:
+                          maximum: 2147483647
-    module: unilabos.devices.motor.iCL42:iCL42Driver
+                          minimum: -2147483648
-    type: python
+                          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:
-      motor_position: Int64
+      position: unilabos.messages:Point3D
-      is_executing_run: Bool
+      spindle_speed: float
-      success: Bool
+      status: str
+    type: python
+  description: Grbl CNC
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          address:
+            default: '1'
+            description: '参数: address'
+            type: string
+          limits:
+            default:
+            - -150
+            - 150
+            - -200
+            - 0
+            - -80
+            - 0
+            description: '参数: limits'
+            type: string
+          port:
+            description: '参数: port'
+            type: string
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+motor.iCL42:
+  class:
     action_value_mappings:
+      auto-execute_run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand execute_run_motor 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand execute_run_motor 的参数schema
+              properties:
+                mode:
+                  description: '参数: mode'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: number
+                velocity:
+                  description: '参数: velocity'
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_run_motor 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-init_device:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand init_device 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand init_device 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: init_device 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-run_motor:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mode: null
+          position: null
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand run_motor 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand run_motor 的参数schema
+              properties:
+                mode:
+                  description: '参数: mode'
+                  type: string
+                position:
+                  description: '参数: position'
+                  type: number
+                velocity:
+                  description: '参数: velocity'
+                  type: integer
+              required:
+              - mode
+              - position
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: run_motor 命令参数
+          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.iCL42:iCL42Driver
+    status_types:
+      is_executing_run: bool
+      motor_position: int
+      success: bool
+    type: python
+  description: iCL42 motor
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_address:
+            default: 1
+            description: '参数: device_address'
+            type: integer
+          device_com:
+            default: COM9
+            description: '参数: device_com'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/sim_nodes.yaml

@@ -1,5 +1,355 @@
 lh_joint_publisher:
   class:
+    action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand check_tf_update_actions 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand check_tf_update_actions 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-find_resource_parent:
+        feedback: {}
+        goal: {}
+        goal_default:
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand find_resource_parent 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand find_resource_parent 的参数schema
+              properties:
+                resource_id:
+                  description: '参数: resource_id'
+                  type: string
+              required:
+              - resource_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: find_resource_parent 命令参数
+          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: UniLabJsonCommand inverse_kinematics 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand inverse_kinematics 的参数schema
+              properties:
+                parent_id:
+                  description: '参数: parent_id'
+                  type: string
+                x:
+                  description: '参数: x'
+                  type: string
+                x_joint:
+                  description: '参数: x_joint'
+                  type: object
+                y:
+                  description: '参数: y'
+                  type: string
+                y_joint:
+                  description: '参数: y_joint'
+                  type: object
+                z:
+                  description: '参数: z'
+                  type: string
+                z_joint:
+                  description: '参数: z_joint'
+                  type: object
+              required:
+              - x
+              - y
+              - z
+              - parent_id
+              - x_joint
+              - y_joint
+              - z_joint
+              type: object
+            result: {}
+          required:
+          - goal
+          title: inverse_kinematics 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_action_callback:
+        feedback: {}
+        goal: {}
+        goal_default:
+          goal_handle: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand lh_joint_action_callback 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand lh_joint_action_callback 的参数schema
+              properties:
+                goal_handle:
+                  description: '参数: goal_handle'
+                  type: string
+              required:
+              - goal_handle
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_action_callback 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-lh_joint_pub_callback:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: lh_joint_pub_callback 命令参数
+          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: UniLabJsonCommand move_joints 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_joints 的参数schema
+              properties:
+                option:
+                  description: '参数: option'
+                  type: string
+                resource_names:
+                  description: '参数: resource_names'
+                  type: string
+                speed:
+                  default: 0.1
+                  description: '参数: speed'
+                  type: string
+                x:
+                  description: '参数: x'
+                  type: string
+                x_joint:
+                  description: '参数: x_joint'
+                  type: string
+                y:
+                  description: '参数: y'
+                  type: string
+                y_joint:
+                  description: '参数: y_joint'
+                  type: string
+                z:
+                  description: '参数: z'
+                  type: string
+                z_joint:
+                  description: '参数: z_joint'
+                  type: string
+              required:
+              - resource_names
+              - x
+              - y
+              - z
+              - option
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_joints 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_positions: null
+          parent_id: null
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand move_to 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand move_to 的参数schema
+              properties:
+                joint_positions:
+                  description: '参数: joint_positions'
+                  type: string
+                parent_id:
+                  description: '参数: parent_id'
+                  type: string
+                speed:
+                  description: '参数: speed'
+                  type: string
+              required:
+              - joint_positions
+              - speed
+              - parent_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_move:
+        feedback: {}
+        goal: {}
+        goal_default:
+          channels: null
+          link_name: null
+          resource_id: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand resource_move 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand resource_move 的参数schema
+              properties:
+                channels:
+                  description: '参数: channels'
+                  type: array
+                link_name:
+                  description: '参数: link_name'
+                  type: string
+                resource_id:
+                  description: '参数: resource_id'
+                  type: string
+              required:
+              - resource_id
+              - link_name
+              - channels
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_move 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default:
+          link_name: null
+          resource_id_list: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_resource_action 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_resource_action 的参数schema
+              properties:
+                link_name:
+                  description: '参数: link_name'
+                  type: string
+                resource_id_list:
+                  description: '参数: resource_id_list'
+                  type: array
+              required:
+              - resource_id_list
+              - link_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_resource_action 命令参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
+    status_types: {}
     type: ros2
-
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          device_id:
+            default: lh_joint_publisher
+            description: '参数: device_id'
+            type: string
+          rate:
+            default: 50
+            description: '参数: rate'
+            type: integer
+          resource_tracker:
+            description: '参数: resource_tracker'
+            type: string
+          resources_config:
+            description: '参数: resources_config'
+            type: array
+        required:
+        - resources_config
+        - resource_tracker
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/temperature.yaml

@@ -1,65 +1,841 @@
-heaterstirrer.dalong:
+chiller:
-  description: DaLong heater stirrer
   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:
+      auto-build_modbus_frame:
-        type: SendCmd
-        goal:
-          command: temp
         feedback: {}
+        goal: {}
+        goal_default:
+          device_address: null
+          function_code: null
+          register_address: null
+          value: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand build_modbus_frame 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand build_modbus_frame 的参数schema
+              properties:
+                device_address:
+                  description: '参数: device_address'
+                  type: integer
+                function_code:
+                  description: '参数: function_code'
+                  type: integer
+                register_address:
+                  description: '参数: register_address'
+                  type: integer
+                value:
+                  description: '参数: value'
+                  type: integer
+              required:
+              - device_address
+              - function_code
+              - register_address
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_frame 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-convert_temperature_to_modbus_value:
+        feedback: {}
+        goal: {}
+        goal_default:
+          decimal_points: 1
+          temperature: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand convert_temperature_to_modbus_value 的参数schema
+              properties:
+                decimal_points:
+                  default: 1
+                  description: '参数: decimal_points'
+                  type: integer
+                temperature:
+                  description: '参数: temperature'
+                  type: number
+              required:
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: convert_temperature_to_modbus_value 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-modbus_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand modbus_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand modbus_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: modbus_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temperature:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temperature 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temperature 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temperature 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand stop 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand stop 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop 命令参数
+          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:
+    module: unilabos.devices.temperature.chiller:Chiller
-          command: temp
+    status_types: {}
+    type: python
+  description: Chiller
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            description: '参数: port'
+            type: string
+          rate:
+            default: 9600
+            description: '参数: rate'
+            type: integer
+        required:
+        - port
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object
+heaterstirrer.dalong:
+  class:
+    action_value_mappings:
+      auto-close:
         feedback: {}
-        result:
+        goal: {}
-          success: success
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          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: UniLabJsonCommand heatchill 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand heatchill 的参数schema
+              properties:
+                purpose:
+                  default: reaction
+                  description: '参数: purpose'
+                  type: string
+                stir:
+                  default: true
+                  description: '参数: stir'
+                  type: boolean
+                stir_speed:
+                  default: 300
+                  description: '参数: stir_speed'
+                  type: number
+                temp:
+                  description: '参数: temp'
+                  type: number
+                time:
+                  default: 3600
+                  description: '参数: time'
+                  type: number
+                vessel:
+                  description: '参数: vessel'
+                  type: string
+              required:
+              - vessel
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: heatchill 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_stir_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          speed: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_stir_speed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_stir_speed 的参数schema
+              properties:
+                speed:
+                  description: '参数: speed'
+                  type: number
+              required:
+              - speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_stir_speed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_inner:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+          type: warning
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_inner 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_inner 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: number
+                type:
+                  default: warning
+                  description: '参数: type'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_inner 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_target:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_target 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_target 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_target 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_temp_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          temp: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_temp_warning 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_temp_warning 的参数schema
+              properties:
+                temp:
+                  description: '参数: temp'
+                  type: string
+              required:
+              - temp
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_temp_warning 命令参数
+          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
+          purpose: purpose
-        feedback: {}
+          temp: temp
+          time: time
+          vessel: vessel
+        goal_default:
+          purpose: ''
+          stir: false
+          stir_speed: 0.0
+          temp: 0.0
+          time: 0.0
+          vessel: ''
+        handles: []
         result:
           success: success
-tempsensor:
+        schema:
-  description: Temperature sensor
+          description: ROS Action HeatChill 的 JSON Schema
-  class:
+          properties:
-    module: unilabos.devices.temperature.sensor_node:TempSensorNode
+            feedback:
-    type: python
+              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:
+                purpose:
+                  type: string
+                stir:
+                  type: boolean
+                stir_speed:
+                  type: number
+                temp:
+                  type: number
+                time:
+                  type: number
+                vessel:
+                  type: string
+              required:
+              - vessel
+              - temp
+              - time
+              - 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:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              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
+      status: str
-      warning: Float64
+      stir_speed: float
+      temp: float
+      temp_target: float
+      temp_warning: float
+    type: python
+  description: DaLong heater stirrer
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+          temp_warning:
+            default: 50.0
+            description: '参数: temp_warning'
+            type: number
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    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: UniLabJsonCommand build_modbus_request 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand build_modbus_request 的参数schema
+              properties:
+                device_id:
+                  description: '参数: device_id'
+                  type: string
+                function_code:
+                  description: '参数: function_code'
+                  type: string
+                register_address:
+                  description: '参数: register_address'
+                  type: string
+                register_count:
+                  description: '参数: register_count'
+                  type: string
+              required:
+              - device_id
+              - function_code
+              - register_address
+              - register_count
+              type: object
+            result: {}
+          required:
+          - goal
+          title: build_modbus_request 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-calculate_crc:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand calculate_crc 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand calculate_crc 的参数schema
+              properties:
+                data:
+                  description: '参数: data'
+                  type: string
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: calculate_crc 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_modbus_response:
+        feedback: {}
+        goal: {}
+        goal_default:
+          response: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand read_modbus_response 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand read_modbus_response 的参数schema
+              properties:
+                response:
+                  description: '参数: response'
+                  type: string
+              required:
+              - response
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_modbus_response 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_prototype_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand send_prototype_command 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand send_prototype_command 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_prototype_command 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_warning:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_warning 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_warning 的参数schema
+              properties:
+                command:
+                  description: '参数: command'
+                  type: string
+              required:
+              - command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_warning 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          address:
+            description: '参数: address'
+            type: string
+          baudrate:
+            default: 9600
+            description: '参数: baudrate'
+            type: integer
+          port:
+            description: '参数: port'
+            type: string
+          warning:
+            description: '参数: warning'
+            type: string
+        required:
+        - port
+        - warning
+        - address
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -1,97 +1,514 @@
-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:
+      auto-close:
-        type: EmptyIn
-        goal: {}
         feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
         result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          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:
+  - data_key: fluid_out
-    - handler_key: fluid-input
+    data_source: executor
-      label: Fluid Input
+    data_type: fluid
-      data_type: fluid
+    handler_key: out
-      io_type: target
+    io_type: source
-      data_source: handle
+    label: out
-      data_key: fluid_in
+  icon: ''
-    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
+    description: UniLabJsonCommand __init__ 的参数schema
     properties:
-      port:
+      feedback: {}
-        type: string
+      goal:
-        description: "通信端口"
+        description: UniLabJsonCommand __init__ 的参数schema
-        default: "COM6"
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
     required:
-    - port
+    - goal
+    title: __init__ 命令参数
+    type: object
+vacuum_pump.mock:
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_closed:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_closed 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_closed 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_closed 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-is_open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand is_open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand is_open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: is_open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-open:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand open 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand open 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: open 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_status:
+        feedback: {}
+        goal: {}
+        goal_default:
+          string: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand set_status 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand set_status 的参数schema
+              properties:
+                string:
+                  description: '参数: string'
+                  type: string
+              required:
+              - string
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_status 命令参数
+          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:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          port:
+            default: COM6
+            description: '参数: port'
+            type: string
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/devices/zhida_hplc.yaml

@@ -1,27 +1,239 @@
 zhida_hplc:
-  description: Zhida HPLC
   class:
-    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
-    type: python
-    status_types:
-      status: String
     action_value_mappings:
+      abort:
+        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
+      auto-abort:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand abort 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand abort 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: abort 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand close 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand close 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand connect 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand connect 的参数schema
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect 命令参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start:
+        feedback: {}
+        goal: {}
+        goal_default:
+          text: null
+        handles: []
+        result: {}
+        schema:
+          description: UniLabJsonCommand start 的参数schema
+          properties:
+            feedback: {}
+            goal:
+              description: UniLabJsonCommand start 的参数schema
+              properties:
+                text:
+                  description: '参数: text'
+                  type: string
+              required:
+              - text
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start 命令参数
+          type: object
+        type: UniLabJsonCommand
+      get_methods:
+        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
       start:
-        type: StrSingleInput
+        feedback: {}
         goal:
           string: string
-        feedback: {}
+        goal_default:
+          string: ''
+        handles: []
         result: {}
-      abort:
+        schema:
-        type: EmptyIn
+          description: ROS Action StrSingleInput 的 JSON Schema
-        goal: {}
+          properties:
-        feedback: {}
+            feedback:
-        result: {}
+              description: Action 反馈 - 执行过程中从服务器发送到客户端
-      get_methods:
+              properties: {}
-        type: EmptyIn
+              required: []
-        goal: {}
+              title: StrSingleInput_Feedback
-        feedback: {}
+              type: object
-        result: {}
+            goal:
-
+              description: Action 目标 - 从客户端发送到服务器
-  schema:
+              properties:
-    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.zhida_hplc.zhida:ZhidaClient
+    status_types:
+      methods: dict
+      status: dict
+    type: python
+  description: Zhida HPLC
+  handles: []
+  icon: ''
+  init_param_schema:
+    description: UniLabJsonCommand __init__ 的参数schema
+    properties:
+      feedback: {}
+      goal:
+        description: UniLabJsonCommand __init__ 的参数schema
+        properties:
+          host:
+            default: 192.168.1.47
+            description: '参数: host'
+            type: string
+          port:
+            default: 5792
+            description: '参数: port'
+            type: integer
+          timeout:
+            default: 10.0
+            description: '参数: timeout'
+            type: number
+        required: []
+        type: object
+      result: {}
+    required:
+    - goal
+    title: __init__ 命令参数
+    type: object

unilabos/registry/registry.py

@@ -1,14 +1,17 @@
+import copy
 import io
 import os
 import sys
 from pathlib import Path
-from typing import Any
+from typing import Any, Dict, List
 
 import yaml
 
-from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
 from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
+from unilabos.utils.import_manager import get_enhanced_class_info
+from unilabos.utils.type_check import NoAliasDumper
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -32,7 +35,7 @@ class Registry:
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
-    def setup(self):
+    def setup(self, complete_registry=False):
         # 检查是否已调用过setup
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -86,13 +89,15 @@ class Registry:
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
                                 "handles": {
-                                    "output": [{
+                                    "output": [
-                                        "handler_key": "labware",
+                                        {
-                                        "label": "Labware",
+                                            "handler_key": "labware",
-                                        "data_type": "resource",
+                                            "label": "Labware",
-                                        "data_source": "handle",
+                                            "data_type": "resource",
-                                        "data_key": "liquid"
+                                            "data_source": "handle",
-                                    }]
+                                            "data_key": "liquid",
+                                        }
+                                    ]
                                 },
                             },
                             "test_latency": {
@@ -110,7 +115,6 @@ class Registry:
                     "registry_type": "device",
                     "handles": [],
                     "init_param_schema": {},
-                    "schema": {"properties": {}, "additionalProperties": False, "type": "object"},
                     "file_path": "/",
                 }
             }
@@ -121,13 +125,13 @@ class Registry:
             sys_path = path.parent
             logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
             sys.path.append(str(sys_path))
-            self.load_device_types(path)
+            self.load_device_types(path, complete_registry)
-            self.load_resource_types(path)
+            self.load_resource_types(path, complete_registry)
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True
 
-    def load_resource_types(self, path: os.PathLike):
+    def load_resource_types(self, path: os.PathLike, complete_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
@@ -176,7 +180,14 @@ class Registry:
         if not type_name or type_name == "":
             logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
             return type_name
-        if "." in type_name:
+        convert_manager = {  # 将python基本对象转为ros2基本对象
+            "str": "String",
+            "bool": "Bool",
+            "int": "Int64",
+            "float": "Float64",
+        }
+        type_name = convert_manager.get(type_name, type_name)  # 替换为ROS2类型
+        if ":" in type_name:
             type_class = msg_converter_manager.get_class(type_name)
         else:
             type_class = msg_converter_manager.search_class(type_name)
@@ -186,7 +197,74 @@ class Registry:
             logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
             sys.exit(1)
 
-    def load_device_types(self, path: os.PathLike):
+    def _generate_unilab_json_command_schema(
+        self, method_args: List[Dict[str, Any]], method_name: str
+    ) -> Dict[str, Any]:
+        """
+        根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
+
+        Args:
+            method_args: 方法信息字典，包含args等
+            method_name: 方法名称
+
+        Returns:
+            JSON Schema格式的参数schema
+        """
+        schema = {
+            "description": f"UniLabJsonCommand {method_name} 的参数schema",
+            "type": "object",
+            "properties": {},
+            "required": [],
+        }
+
+        for arg_info in method_args:
+            param_name = arg_info.get("name", "")
+            param_type = arg_info.get("type")
+            param_default = arg_info.get("default")
+            param_required = arg_info.get("required", True)
+
+            prop_schema = {"description": f"参数: {param_name}"}
+
+            # 根据类型设置schema FIXME 不完整
+            if param_type:
+                param_type_lower = param_type.lower()
+                if param_type_lower in ["str", "string"]:
+                    prop_schema["type"] = "string"
+                elif param_type_lower in ["int", "integer"]:
+                    prop_schema["type"] = "integer"
+                elif param_type_lower in ["float", "number"]:
+                    prop_schema["type"] = "number"
+                elif param_type_lower in ["bool", "boolean"]:
+                    prop_schema["type"] = "boolean"
+                elif param_type_lower in ["list", "array"]:
+                    prop_schema["type"] = "array"
+                elif param_type_lower in ["dict", "object"]:
+                    prop_schema["type"] = "object"
+                else:
+                    # 默认为字符串类型
+                    prop_schema["type"] = "string"
+            else:
+                # 如果没有类型信息，默认为字符串
+                prop_schema["type"] = "string"
+
+            # 设置默认值
+            if param_default is not None:
+                prop_schema["default"] = param_default
+
+            schema["properties"][param_name] = prop_schema
+
+            # 如果是必需参数，添加到required列表
+            if param_required:
+                schema["required"].append(param_name)
+        return {
+            "title": f"{method_name} 命令参数",
+            "description": f"UniLabJsonCommand {method_name} 的参数schema",
+            "type": "object",
+            "properties": {"goal": schema, "feedback": {}, "result": {}},
+            "required": ["goal"],
+        }
+
+    def load_device_types(self, path: os.PathLike, complete_registry: bool):
         abs_path = Path(path).absolute()
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
@@ -199,12 +277,18 @@ class Registry:
         from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
 
         for i, file in enumerate(files):
-            data = yaml.safe_load(open(file, encoding="utf-8"))
+            with open(file, encoding="utf-8", mode="r") as f:
+                data = yaml.safe_load(io.StringIO(f.read()))
+            complete_data = {}
+            action_str_type_mapping = {
+                "UniLabJsonCommand": "UniLabJsonCommand",
+                "UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
+            }
+            status_str_type_mapping = {}
             if data:
                 # 在添加到注册表前处理类型替换
                 for device_id, device_config in data.items():
                     # 添加文件路径信息 - 使用规范化的完整文件路径
-                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     if "description" not in device_config:
                         device_config["description"] = ""
                     if "icon" not in device_config:
@@ -213,42 +297,116 @@ class Registry:
                         device_config["handles"] = []
                     if "init_param_schema" not in device_config:
                         device_config["init_param_schema"] = {}
-                    device_config["registry_type"] = "device"
                     if "class" in device_config:
-                        # 处理状态类型
+                        if "status_types" not in device_config["class"]:
-                        if "status_types" in device_config["class"]:
+                            device_config["class"]["status_types"] = {}
-                            for status_name, status_type in device_config["class"]["status_types"].items():
+                        if "action_value_mappings" not in device_config["class"]:
-                                device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
+                            device_config["class"]["action_value_mappings"] = {}
-                                    status_type, device_id, f"状态 {status_name}"
+                        enhanced_info = {}
-                                )
+                        if complete_registry:
-
+                            device_config["class"]["status_types"].clear()
-                        # 处理动作值映射
+                            enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
-                        if "action_value_mappings" in device_config["class"]:
+                            device_config["class"]["status_types"].update(
-                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
-                                if "handles" not in action_config:
+                            )
-                                    action_config["handles"] = []
+                        for status_name, status_type in device_config["class"]["status_types"].items():
-                                if "type" in action_config:
+                            if status_type in ["Any", "None"]:
-                                    action_config["type"] = self._replace_type_with_class(
+                                status_type = "String"  # 替换成ROS的String，便于显示
-                                        action_config["type"], device_id, f"动作 {action_name}"
+                                device_config["class"]["status_types"][status_name] = status_type
+                            target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
+                            if target_type in [dict]:  # 对于字典和对象的返回类型，要处理成字符串，直接进行转换
+                                target_type = String
+                            status_str_type_mapping[status_type] = target_type
+                        device_config["class"]["status_types"] = dict(
+                            sorted(device_config["class"]["status_types"].items())
+                        )
+                        if complete_registry:
+                            device_config["class"]["action_value_mappings"] = {k:v for k, v in device_config["class"]["action_value_mappings"].items() if not k.startswith("auto-")}
+                            # 处理动作值映射
+                            device_config["class"]["action_value_mappings"].update(
+                                {
+                                    f"auto-{k}": {
+                                        "type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
+                                        "goal": {},
+                                        "feedback": {},
+                                        "result": {},
+                                        "schema": self._generate_unilab_json_command_schema(v["args"], k),
+                                        "goal_default": {i["name"]: i["default"] for i in v["args"]},
+                                        "handles": [],
+                                    }
+                                    for k, v in enhanced_info["action_methods"].items()
+                                }
+                            )
+                            device_config["init_param_schema"] = self._generate_unilab_json_command_schema(
+                                enhanced_info["init_params"], "__init__"
+                            )
+                        device_config.pop("schema", None)
+                        device_config["class"]["action_value_mappings"] = dict(
+                            sorted(device_config["class"]["action_value_mappings"].items())
+                        )
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            if "handles" not in action_config:
+                                action_config["handles"] = []
+                            if "type" in action_config:
+                                action_type_str: str = action_config["type"]
+                                # 通过Json发放指令，而不是通过特殊的ros action进行处理
+                                if not action_type_str.startswith("UniLabJsonCommand"):
+                                    target_type = self._replace_type_with_class(
+                                        action_type_str, device_id, f"动作 {action_name}"
                                     )
-                                    if action_config["type"] is not None:
+                                    action_str_type_mapping[action_type_str] = target_type
+                                    if target_type is not None:
                                         action_config["goal_default"] = yaml.safe_load(
-                                            io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
+                                            io.StringIO(get_yaml_from_goal_type(target_type.Goal))
                                         )
-                                        action_config["schema"] = ros_action_to_json_schema(action_config["type"])
+                                        action_config["schema"] = ros_action_to_json_schema(target_type)
                                     else:
                                         logger.warning(
                                             f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
                                         )
-
+                        complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))  # 稍后dump到文件
-                self.device_type_registry.update(data)
+                        for status_name, status_type in device_config["class"]["status_types"].items():
-
+                            device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
-                for device_id in data.keys():
+                        for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                            action_config["type"] = action_str_type_mapping[action_config["type"]]
+                        for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
+                            device_config["class"]["action_value_mappings"][additional_action] = {
+                                "type": self._replace_type_with_class(
+                                    "StrSingleInput", device_id, f"动作 {additional_action}"
+                                ),
+                                "goal": {"string": "string"},
+                                "feedback": {},
+                                "result": {},
+                                "schema": ros_action_to_json_schema(
+                                    self._replace_type_with_class(
+                                        "StrSingleInput", device_id, f"动作 {additional_action}"
+                                    )
+                                ),
+                                "goal_default": yaml.safe_load(
+                                    io.StringIO(
+                                        get_yaml_from_goal_type(
+                                            self._replace_type_with_class(
+                                                "StrSingleInput", device_id, f"动作 {additional_action}"
+                                            ).Goal
+                                        )
+                                    )
+                                ),
+                                "handles": [],
+                            }
+                    if "registry_type" not in device_config:
+                        device_config["registry_type"] = "device"
+                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+                    device_config["registry_type"] = "device"
                     logger.debug(
                         f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
                     current_device_number += 1
+                complete_data = dict(sorted(complete_data.items()))
+                complete_data = copy.deepcopy(complete_data)
+                with open(file, "w", encoding="utf-8") as f:
+                    yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
+                self.device_type_registry.update(data)
             else:
                 logger.debug(
                     f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
@@ -257,7 +415,28 @@ class Registry:
     def obtain_registry_device_info(self):
         devices = []
         for device_id, device_info in self.device_type_registry.items():
-            msg = {"id": device_id, **device_info}
+            device_info_copy = copy.deepcopy(device_info)
+            if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
+                action_mappings = device_info_copy["class"]["action_value_mappings"]
+                for action_name, action_config in action_mappings.items():
+                    if "schema" in action_config and action_config["schema"]:
+                        schema = action_config["schema"]
+                        # 确保schema结构存在
+                        if (
+                            "properties" in schema
+                            and "goal" in schema["properties"]
+                            and "properties" in schema["properties"]["goal"]
+                        ):
+                            schema["properties"]["goal"]["properties"] = {
+                                "unilabos_device_id": {
+                                    "type": "string",
+                                    "default": "",
+                                    "description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
+                                },
+                                **schema["properties"]["goal"]["properties"],
+                            }
+
+            msg = {"id": device_id, **device_info_copy}
             devices.append(msg)
         return devices
 
@@ -273,7 +452,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None):
+def build_registry(registry_paths=None, complete_registry=False):
     """
     构建或获取Registry单例实例
 
@@ -297,6 +476,6 @@ def build_registry(registry_paths=None):
                 lab_registry.registry_paths.append(path)
 
     # 初始化注册表
-    lab_registry.setup()
+    lab_registry.setup(complete_registry)
 
     return lab_registry

unilabos/registry/resources/organic/container.yaml

@@ -0,0 +1,28 @@
+container:
+  description: regular organic container
+  icon: Flask.webp
+  class: 
+    module: unilabos.resources.container:RegularContainer
+    type: unilabos
+  handles:
+    - handler_key: top
+      label: top
+      io_type: target
+      data_type: fluid
+      side: NORTH
+      data_source: handle
+      data_key: fluid_in
+    - handler_key: bottom
+      label: bottom
+      io_type: source
+      data_type: fluid
+      side: SOUTH
+      data_source: handle
+      data_key: fluid_out
+    - handler_key: bind
+      label: bind
+      io_type: target
+      data_type: mechanical
+      side: SOUTH
+      data_source: handle
+      data_key: mechanical_port

unilabos/resources/container.py

@@ -0,0 +1,67 @@
+import json
+
+from unilabos_msgs.msg import Resource
+
+from unilabos.ros.msgs.message_converter import convert_from_ros_msg
+
+
+class RegularContainer(object):
+    # 第一个参数必须是id传入
+    # noinspection PyShadowingBuiltins
+    def __init__(self, id: str):
+        self.id = id
+        self.ulr_resource = Resource()
+        self._data = None
+
+    @property
+    def ulr_resource_data(self):
+        if self._data is None:
+            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+        return self._data
+
+    @ulr_resource_data.setter
+    def ulr_resource_data(self, value: dict):
+        self._data = value
+        self.ulr_resource.data = json.dumps(self._data)
+
+    @property
+    def liquid_type(self):
+        return self.ulr_resource_data.get("liquid_type", None)
+
+    @liquid_type.setter
+    def liquid_type(self, value: str):
+        if value is not None:
+            self.ulr_resource_data["liquid_type"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_type", None)
+
+    @property
+    def liquid_volume(self):
+        return self.ulr_resource_data.get("liquid_volume", None)
+
+    @liquid_volume.setter
+    def liquid_volume(self, value: float):
+        if value is not None:
+            self.ulr_resource_data["liquid_volume"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_volume", None)
+
+    def get_ulr_resource(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+        return self.ulr_resource
+
+    def get_ulr_resource_as_dict(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        to_dict = convert_from_ros_msg(self.get_ulr_resource())
+        to_dict["type"] = "container"
+        return to_dict
+
+    def __str__(self):
+        return f"{self.id}"

unilabos/resources/graphio.py

@@ -1,9 +1,13 @@
 import importlib
 import inspect
 import json
-from typing import Union
+from typing import Union, Any
 import numpy as np
 import networkx as nx
+from unilabos_msgs.msg import Resource
+
+from unilabos.resources.container import RegularContainer
+from unilabos.ros.msgs.message_converter import convert_from_ros_msg_with_mapping, convert_to_ros_msg
 
 try:
     from pylabrobot.resources.resource import Resource as ResourcePLR
@@ -80,6 +84,8 @@ def canonicalize_links_ports(data: dict) -> dict:
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in data.get("links", []):
         port = link.get("port")
+        if link["type"] == "physical":
+            link["type"] = "fluid"
         if isinstance(port, int):
             port = str(port)
         if isinstance(port, str):
@@ -153,7 +159,27 @@ def read_node_link_json(json_file):
 
     physical_setup_graph = nx.node_link_graph(data, multigraph=False)  # edges="links" 3.6 warning
     handle_communications(physical_setup_graph)
-    return physical_setup_graph
+    return physical_setup_graph, data
+
+
+def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]:
+    for edge in data:
+        port = edge.pop("port", {})
+        source = edge["source"]
+        target = edge["target"]
+        if source in port:
+            edge["sourceHandle"] = port[source]
+        elif "source_port" in edge:
+            edge["sourceHandle"] = edge.pop("source_port")
+        if target in port:
+            edge["targetHandle"] = port[target]
+        elif "target_port" in edge:
+            edge["targetHandle"] = edge.pop("target_port")
+        edge["id"] = f"reactflow__edge-{source}-{edge['sourceHandle']}-{target}-{edge['targetHandle']}"
+        for key in ["source_port", "target_port"]:
+            if key in edge:
+                edge.pop(key)
+    return data
 
 
 def read_graphml(graphml_file):
@@ -178,7 +204,7 @@ def read_graphml(graphml_file):
 
     physical_setup_graph = nx.node_link_graph(data, edges="links", multigraph=False)  # edges="links" 3.6 warning
     handle_communications(physical_setup_graph)
-    return physical_setup_graph
+    return physical_setup_graph, data
 
 
 def dict_from_graph(graph: nx.Graph) -> dict:
@@ -466,6 +492,10 @@ def initialize_resource(resource_config: dict) -> list[dict]:
             if resource_config.get("position") is not None:
                 r["position"] = resource_config["position"]
             r = tree_to_list([r])
+        elif resource_class_config["type"] == "unilabos":
+            res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
+            res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})
+            r = [res_instance.get_ulr_resource_as_dict()]
         elif isinstance(RESOURCE, dict):
             r = [RESOURCE.copy()]
 

unilabos/ros/device_node_wrapper.py

@@ -55,7 +55,7 @@ def ros2_device_node(
             "read": "read_data",
             "extra_info": [],
         }
-
+    # FIXME 后面要删除
     for k, v in cls.__dict__.items():
         if not k.startswith("_") and isinstance(v, property):
             # noinspection PyUnresolvedReferences

unilabos/ros/main_slave_run.py

@@ -45,6 +45,7 @@ def exit() -> None:
 def main(
     devices_config: Dict[str, Any] = {},
     resources_config: list=[],
+    resources_edge_config: list=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -62,6 +63,7 @@ def main(
         "host_node",
         devices_config,
         resources_config,
+        resources_edge_config,
         graph,
         controllers_config,
         bridges,
@@ -97,6 +99,7 @@ def main(
 def slave(
     devices_config: Dict[str, Any] = {},
     resources_config=[],
+    resources_edge_config=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],

unilabos/ros/msgs/message_converter.py

@@ -100,7 +100,7 @@ _action_mapping: Dict[Type, Dict[str, Any]] = {
 
 # 添加Protocol action类型到映射
 for py_msgtype in imsg.__all__:
-    if py_msgtype not in _action_mapping and py_msgtype.endswith("Protocol"):
+    if py_msgtype not in _action_mapping and (py_msgtype.endswith("Protocol") or py_msgtype.startswith("Protocol")):
         try:
             protocol_class = msg_converter_manager.get_class(f"unilabos.messages.{py_msgtype}")
             action_name = py_msgtype.replace("Protocol", "")
@@ -117,6 +117,7 @@ for py_msgtype in imsg.__all__:
                     "result": {k: k for k in action_type.Result().get_fields_and_field_types().keys()},
                 }
         except Exception:
+            traceback.print_exc()
             logger.debug(f"Failed to load Protocol class: {py_msgtype}")
 
 # Python到ROS消息转换器
@@ -726,7 +727,6 @@ def ros_action_to_json_schema(action_class: Any) -> Dict[str, Any]:
     
     # 创建基础 schema
     schema = {
-        '$schema': 'http://json-schema.org/draft-07/schema#',
         'title': action_class.__name__,
         'description': f"ROS Action {action_class.__name__} 的 JSON Schema",
         'type': 'object',

unilabos/ros/nodes/base_device_node.py

@@ -1,4 +1,5 @@
 import copy
+import io
 import json
 import threading
 import time
@@ -10,6 +11,7 @@ from concurrent.futures import ThreadPoolExecutor
 import asyncio
 
 import rclpy
+import yaml
 from rclpy.node import Node
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
@@ -19,6 +21,7 @@ from rclpy.service import Service
 from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
+from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import (
     convert_resources_to_type,
     convert_resources_from_type,
@@ -165,7 +168,10 @@ class PropertyPublisher:
         self.print_publish = print_publish
 
         self._value = None
-        self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
+        try:
+            self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
+        except AttributeError as ex:
+            logger.error(f"创建发布者失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
         self.timer = node.create_timer(self.timer_period, self.publish_property)
         self.__loop = get_event_loop()
         str_msg_type = str(msg_type)[8:-2]
@@ -301,6 +307,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 创建动作服务
         if self.create_action_server:
             for action_name, action_value_mapping in self._action_value_mappings.items():
+                if action_name.startswith("auto-"):
+                    continue
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
@@ -344,6 +352,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
             LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
             slot = other_calling_param.pop("slot", "-1")
+            resource = None
             if slot != "-1":  # slot为负数的时候采用assign方法
                 other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
@@ -362,6 +371,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if initialize_full:
                     resources = initialize_resources([resources])
                 request.resources = [convert_to_ros_msg(Resource, resources)]
+            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
+                container_instance = request.resources[0]
+                container_query_dict: dict = resources
+                found_resources = self.resource_tracker.figure_resource({"id": container_query_dict["name"]}, try_mode=True)
+                if not len(found_resources):
+                    self.resource_tracker.add_resource(container_instance)
+                    logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
+                else:
+                    assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
+                    resource = found_resources[0]
+                    if isinstance(resource, Resource):
+                        regular_container = RegularContainer(resource.id)
+                        regular_container.ulr_resource = resource
+                        regular_container.ulr_resource_data.update(json.loads(container_instance.data))
+                        logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR")
+                    elif isinstance(resource, dict):
+                        if "data" not in resource:
+                            resource["data"] = {}
+                        resource["data"].update(json.loads(container_instance.data))
+                        logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
+                    else:
+                        logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
             response = rclient.call(request)
             # 应该先add_resource了
             res.response = "OK"
@@ -385,7 +416,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     res.response = serialize_result_info(traceback.format_exc(), False, {})
                 return res
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
-            resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
+            if bind_parent_id != self.node_name:
+                resource = self.resource_tracker.figure_resource({"name": bind_parent_id})  # 拿到父节点，进行具体assign等操作
             # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
@@ -435,7 +467,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         "bind_parent_id": bind_parent_id,
                     }
                 )
-                future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
+                future = action_client.send_goal_async(goal)
 
                 def done_cb(*args):
                     self.lab_logger().info(f"向meshmanager发送新增resource完成")
@@ -813,6 +845,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 class DeviceInitError(Exception):
     pass
 
+class JsonCommandInitError(Exception):
+    pass
 
 class ROS2DeviceNode:
     """
@@ -901,9 +935,9 @@ class ROS2DeviceNode:
             from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
 
             if self._driver_class is ROS2ProtocolNode:
-                self._driver_creator = ProtocolNodeCreator(driver_class, children=children)
+                self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
             else:
-                self._driver_creator = DeviceClassCreator(driver_class)
+                self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
@@ -929,12 +963,51 @@ class ROS2DeviceNode:
         self._ros_node: BaseROS2DeviceNode
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
+        self.driver_instance._execute_driver_command = self._execute_driver_command  # type: ignore
+        self.driver_instance._execute_driver_command_async = self._execute_driver_command_async  # type: ignore
         if hasattr(self.driver_instance, "post_init"):
             try:
                 self.driver_instance.post_init(self._ros_node)  # type: ignore
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
+    def _execute_driver_command(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            return function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+
+    async def _execute_driver_command_async(self, string: str):
+        try:
+            target = json.loads(string)
+        except Exception as ex:
+            try:
+                target = yaml.safe_load(io.StringIO(string))
+            except Exception as ex2:
+                raise JsonCommandInitError(f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}")
+        try:
+            function_name = target["function_name"]
+            function_args = target["function_args"]
+            assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
+            function = getattr(self.driver_instance, function_name)
+            assert callable(function), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
+            assert asyncio.iscoroutinefunction(function), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
+            return await function(**function_args)
+        except KeyError as ex:
+            raise JsonCommandInitError(f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}")
+
     def _start_loop(self):
         def run_event_loop():
             loop = asyncio.new_event_loop()

unilabos/ros/nodes/presets/host_node.py

@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
@@ -58,6 +59,7 @@ class HostNode(BaseROS2DeviceNode):
         device_id: str,
         devices_config: Dict[str, Any],
         resources_config: list,
+        resources_edge_config: list[dict],
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
         bridges: Optional[List[Any]] = None,
@@ -96,6 +98,7 @@ class HostNode(BaseROS2DeviceNode):
         self.server_latest_timestamp = 0.0  #
         self.devices_config = devices_config
         self.resources_config = resources_config
+        self.resources_edge_config = resources_edge_config
         self.physical_setup_graph = physical_setup_graph
         if controllers_config is None:
             controllers_config = {}
@@ -144,13 +147,15 @@ class HostNode(BaseROS2DeviceNode):
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
+        if BasicConfig.upload_registry:
+            from unilabos.app.mq import mqtt_client
 
-        from unilabos.app.mq import mqtt_client
+            for device_info in lab_registry.obtain_registry_device_info():
-
+                mqtt_client.publish_registry(device_info["id"], device_info)
-        for device_info in lab_registry.obtain_registry_device_info():
+            for resource_info in lab_registry.obtain_registry_resource_info():
-            mqtt_client.publish_registry(device_info["id"], device_info)
+                mqtt_client.publish_registry(resource_info["id"], resource_info)
-        for resource_info in lab_registry.obtain_registry_resource_info():
+        else:
-            mqtt_client.publish_registry(resource_info["id"], resource_info)
+            self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送，或者在启动命令增加--upload_registry")
         time.sleep(1) # 等待MQTT连接稳定
         # 首次发现网络中的设备
         self._discover_devices()
@@ -191,24 +196,36 @@ class HostNode(BaseROS2DeviceNode):
         )
         resource_with_parent_name = []
         resource_ids_to_instance = {i["id"]: i for i in resources_config}
+        resource_name_to_with_parent_name = {}
         for res in resources_config:
-            if res.get("parent") and res.get("type") == "device" and res.get("class"):
+            # if res.get("parent") and res.get("type") == "device" and res.get("class"):
-                parent_id = res.get("parent")
+            #     parent_id = res.get("parent")
-                parent_res = resource_ids_to_instance[parent_id]
+            #     parent_res = resource_ids_to_instance[parent_id]
-                if parent_res.get("type") == "device" and parent_res.get("class"):
+            #     if parent_res.get("type") == "device" and parent_res.get("class"):
-                    resource_with_parent_name.append(copy.deepcopy(res))
+            #         resource_with_parent_name.append(copy.deepcopy(res))
-                    resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
+            #         resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
-                    continue
+            #         resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
+            #         continue
             resource_with_parent_name.append(copy.deepcopy(res))
+        # for edge in self.resources_edge_config:
+        #     edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
+        #     edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
+                    from unilabos.app.web.client import HTTPClient
+                    client: HTTPClient = bridge
                     resource_start_time = time.time()
-                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
+                    resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
                     resource_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
                     )
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config, False)
+                    resource_edge_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -383,18 +400,24 @@ class HostNode(BaseROS2DeviceNode):
         liquid_volume: list[int],
         slot_on_deck: str,
     ):
-        init_new_res = initialize_resource(
+        res_creation_input = {
-            {
+            "name": res_id,
-                "name": res_id,
+            "class": class_name,
-                "class": class_name,
+            "parent": parent,
-                "parent": parent,
+            "position": {
-                "position": {
+                "x": bind_locations.x,
-                    "x": bind_locations.x,
+                "y": bind_locations.y,
-                    "y": bind_locations.y,
+                "z": bind_locations.z,
-                    "z": bind_locations.z,
+            },
-                },
+        }
-            }
+        if len(liquid_input_slot) and liquid_input_slot[0] == -1:  # 目前container只逐个创建
-        )  # flatten的格式
+            res_creation_input.update({
+                "data": {
+                    "liquid_type": liquid_type[0] if liquid_type else None,
+                    "liquid_volume": liquid_volume[0] if liquid_volume else None,
+                }
+            })
+        init_new_res = initialize_resource(res_creation_input)  # flatten的格式
         resources = init_new_res  # initialize_resource已经返回list[dict]
         device_ids = [device_id]
         bind_parent_id = [parent]
@@ -436,6 +459,8 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
+            if action_name.startswith("auto-"):
+                continue
             action_id = f"/devices/{device_id}/{action_name}"
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
@@ -544,6 +569,7 @@ class HostNode(BaseROS2DeviceNode):
     def send_goal(
         self,
         device_id: str,
+        action_type: str,
         action_name: str,
         action_kwargs: Dict[str, Any],
         goal_uuid: Optional[str] = None,
@@ -554,11 +580,26 @@ class HostNode(BaseROS2DeviceNode):
 
         Args:
             device_id: 设备ID
+            action_type: 动作类型
             action_name: 动作名称
             action_kwargs: 动作参数
             goal_uuid: 目标UUID，如果为None则自动生成
+            server_info: 服务器发送信息，包含发送时间戳等
         """
-        action_id = f"/devices/{device_id}/{action_name}"
+        if action_type.startswith("UniLabJsonCommand"):
+            if action_name.startswith("auto-"):
+                action_name = action_name[5:]
+            action_id = f"/devices/{device_id}/_execute_driver_command"
+            action_kwargs = {
+                "string": json.dumps({
+                    "function_name": action_name,
+                    "function_args": action_kwargs,
+                })
+            }
+            if action_type.startswith("UniLabJsonCommandAsync"):
+                action_id = f"/devices/{device_id}/_execute_driver_command_async"
+        else:
+            action_id = f"/devices/{device_id}/{action_name}"
         if action_name == "test_latency" and server_info is not None:
             self.server_latest_timestamp = server_info.get("send_timestamp", 0.0)
         if action_id not in self._action_clients:
@@ -751,8 +792,10 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node-Resource] Add request received: {len(resources)} resources")
 
         success = False
-        if len(self.bridges) > 0:
+        if len(self.bridges) > 0:  # 边的提交待定
-            r = self.bridges[-1].resource_add(add_schema(resources))
+            from unilabos.app.web.client import HTTPClient
+            client: HTTPClient = self.bridges[-1]
+            r = client.resource_add(add_schema(resources), False)
             success = bool(r)
 
         response.success = success

unilabos/ros/nodes/presets/protocol_node.py

@@ -1,7 +1,5 @@
 import time
-import asyncio
 import traceback
-from types import MethodType
 from typing import Union
 
 import rclpy
@@ -22,6 +20,8 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
+from unilabos.utils.log import error
+from unilabos.utils.type_check import serialize_result_info
 
 
 class ROS2ProtocolNode(BaseROS2DeviceNode):
@@ -33,7 +33,15 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     # create_action_server = False  # Action Server要自己创建
 
-    def __init__(self, device_id: str, children: dict, protocol_type: Union[str, list[str]], resource_tracker: DeviceNodeResourceTracker, *args, **kwargs):
+    def __init__(
+        self,
+        device_id: str,
+        children: dict,
+        protocol_type: Union[str, list[str]],
+        resource_tracker: DeviceNodeResourceTracker,
+        *args,
+        **kwargs,
+    ):
         self._setup_protocol_names(protocol_type)
 
         # 初始化其它属性
@@ -60,7 +68,9 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
         for device_id, device_config in self.children.items():
             if device_config.get("type", "device") != "device":
-                self.lab_logger().debug(f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
+                self.lab_logger().debug(
+                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
                 continue
             try:
                 d = self.initialize_device(device_id, device_config)
@@ -76,22 +86,27 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
             # 设置硬件接口代理
             if d:
+                hardware_interface = d.ros_node_instance._hardware_interface
                 if (
-                    hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
+                    hasattr(d.driver_instance, hardware_interface["name"])
-                    and hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["write"])
+                    and hasattr(d.driver_instance, hardware_interface["write"])
-                    and (d.ros_node_instance._hardware_interface["read"] is None or hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["read"]))
+                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
                 ):
 
-                    name = getattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
+                    name = getattr(d.driver_instance, hardware_interface["name"])
-                    read = d.ros_node_instance._hardware_interface.get("read", None)
+                    read = hardware_interface.get("read", None)
-                    write = d.ros_node_instance._hardware_interface.get("write", None)
+                    write = hardware_interface.get("write", None)
 
                     # 如果硬件接口是字符串，通过通信设备提供
                     if isinstance(name, str) and name in self.sub_devices:
                         communicate_device = self.sub_devices[name]
                         communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
                         self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
-                        self.lab_logger().info(f"\n通信代理：为子设备{device_id}\n    添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    添加了{write}方法(来源：{name} {communicate_hardware_info['read']})")
+                        self.lab_logger().info(
+                            f"\n通信代理：为子设备{device_id}\n    "
+                            f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
+                            f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
+                        )
 
     def _setup_protocol_names(self, protocol_type):
         # 处理协议类型
@@ -110,7 +125,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     def initialize_device(self, device_id, device_config):
         """初始化设备并创建相应的动作客户端"""
-        device_id_abs = f"{self.device_id}/{device_id}"
+        # device_id_abs = f"{self.device_id}/{device_id}"
+        device_id_abs = f"{device_id}"
         self.lab_logger().info(f"初始化子设备: {device_id_abs}")
         d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
 
@@ -148,63 +164,126 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
     def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
         async def execute_protocol(goal_handle: ServerGoalHandle):
             """执行完整的工作流"""
-            self.get_logger().info(f'Executing {protocol_name} action...')
+            # 初始化结果信息变量
+            execution_error = ""
+            execution_success = False
+            protocol_return_value = None
+            self.get_logger().info(f"Executing {protocol_name} action...")
             action_value_mapping = self._action_value_mappings[protocol_name]
-            print('+'*30)
+            try:
-            print(protocol_steps_generator)
+                print("+" * 30)
-            # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
+                print(protocol_steps_generator)
-            goal = goal_handle.request
+                # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
-            protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
+                goal = goal_handle.request
+                protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
 
-            # 向Host查询物料当前状态
+                # 向Host查询物料当前状态
-            for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    r = ResourceGet.Request()
+                        r = ResourceGet.Request()
-                    r.id = protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        resource_id = (
-                    r.with_children = True
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                    response = await self._resource_clients["resource_get"].call_async(r)
+                        )
-                    protocol_kwargs[k] = list_to_nested_dict([convert_from_ros_msg(rs) for rs in response.resources])
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )
 
-            from unilabos.resources.graphio import physical_setup_graph
+                from unilabos.resources.graphio import physical_setup_graph
-            self.get_logger().info(f'Working on physical setup: {physical_setup_graph}')
-            protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
 
-            self.get_logger().info(f'Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}')
+                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
+                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
 
-            time_start = time.time()
+                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
-            time_overall = 100
-            self._busy = True
 
-            # 逐步执行工作流
+                time_start = time.time()
-            for i, action in enumerate(protocol_steps):
+                time_overall = 100
-                self.get_logger().info(f'Running step {i+1}: {action}')
+                self._busy = True
-                if type(action) == dict:
-                    # 如果是单个动作，直接执行
-                    if action["action_name"] == "wait":
-                        time.sleep(action["action_kwargs"]["time"])
-                    else:
-                        result = await self.execute_single_action(**action)
-                elif type(action) == list:
-                    # 如果是并行动作，同时执行
-                    actions = action
-                    futures = [rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions]
-                    results = [await f for f in futures]
 
-            # 向Host更新物料当前状态
+                # 逐步执行工作流
-            for k, v in goal.get_fields_and_field_types().items():
+                step_results = []
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                for i, action in enumerate(protocol_steps):
-                    r = ResourceUpdate.Request()
+                    self.get_logger().info(f"Running step {i + 1}: {action}")
-                    r.resources = [
+                    if isinstance(action, dict):
-                        convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        # 如果是单个动作，直接执行
-                    ]
+                        if action["action_name"] == "wait":
-                    response = await self._resource_clients["resource_update"].call_async(r)
+                            time.sleep(action["action_kwargs"]["time"])
+                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
+                        else:
+                            result = await self.execute_single_action(**action)
+                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                    elif isinstance(action, list):
+                        # 如果是并行动作，同时执行
+                        actions = action
+                        futures = [
+                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
+                        ]
+                        results = [await f for f in futures]
+                        step_results.append(
+                            {
+                                "step": i + 1,
+                                "parallel_actions": [a["action_name"] for a in actions],
+                                "results": results,
+                            }
+                        )
 
-            goal_handle.succeed()
+                # 向Host更新物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceUpdate.Request()
+                        r.resources = [
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)
+
+                # 设置成功状态和返回值
+                execution_success = True
+                protocol_return_value = {
+                    "protocol_name": protocol_name,
+                    "steps_executed": len(protocol_steps),
+                    "step_results": step_results,
+                    "total_time": time.time() - time_start,
+                }
+
+                goal_handle.succeed()
+
+            except Exception as e:
+                # 捕获并记录错误信息
+                execution_error = traceback.format_exc()
+                execution_success = False
+                error(f"协议 {protocol_name} 执行失败")
+                error(traceback.format_exc())
+                self.lab_logger().error(f"协议执行出错: {str(e)}")
+
+                # 设置动作失败
+                goal_handle.abort()
+
+            finally:
+                self._busy = False
+
+            # 创建结果消息
             result = action_value_mapping["type"].Result()
-            result.success = True
+            result.success = execution_success
 
-            self._busy = False
+            # 获取结果消息类型信息，检查是否有return_info字段
+            result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
+
+            # 设置return_info字段（如果存在）
+            for attr_name in result_msg_types.keys():
+                if attr_name in ["success", "reached_goal"]:
+                    setattr(result, attr_name, execution_success)
+                elif attr_name == "return_info":
+                    setattr(
+                        result,
+                        attr_name,
+                        serialize_result_info(execution_error, execution_success, protocol_return_value),
+                    )
+
+            self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
             return result
+
         return execute_protocol
 
     async def execute_single_action(self, device_id, action_name, action_kwargs):
@@ -213,7 +292,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         if device_id in ["", None, "self"]:
             action_id = f"/devices/{self.device_id}/{action_name}"
         else:
-            action_id = f"/devices/{self.device_id}/{device_id}/{action_name}"
+            action_id = f"/devices/{device_id}/{action_name}"  # 执行时取消了主节点信息 /{self.device_id}
 
         # 检查动作客户端是否存在
         if action_id not in self._action_clients:
@@ -240,14 +319,19 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
         return result_future.result
 
-
     """还没有改过的部分"""
 
-    def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method):
+    def _setup_hardware_proxy(
+        self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
+    ):
         """为设备设置硬件接口代理"""
         # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
-        write_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"])
+        write_func = getattr(
-        read_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"])
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
+        )
+        read_func = getattr(
+            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
+        )
 
         def _read(*args, **kwargs):
             return read_func(*args, **kwargs)
@@ -263,7 +347,6 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             # bound_write = MethodType(_write, device.driver_instance)
             setattr(device.driver_instance, write_method, _write)
 
-
     async def _update_resources(self, goal, protocol_kwargs):
         """更新资源状态"""
         for k, v in goal.get_fields_and_field_types().items():

unilabos/ros/nodes/resource_tracker.py

@@ -25,7 +25,7 @@ class DeviceNodeResourceTracker(object):
     def clear_resource(self):
         self.resources = []
 
-    def figure_resource(self, query_resource):
+    def figure_resource(self, query_resource, try_mode=False):
         if isinstance(query_resource, list):
             return [self.figure_resource(r) for r in query_resource]
         res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
@@ -45,10 +45,14 @@ class DeviceNodeResourceTracker(object):
                 res_list.extend(
                     self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
                 )
-        assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
+        if not try_mode:
+            assert len(res_list) > 0, f"没有找到资源 {query_resource}，请检查资源是否存在"
+            assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
+        else:
+            return [i[1] for i in res_list]
+        # 后续加入其他对比方式
         self.resource2parent_resource[id(query_resource)] = res_list[0][0]
         self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0]
-        # 后续加入其他对比方式
         return res_list[0][1]
 
     def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]:
@@ -57,8 +61,12 @@ class DeviceNodeResourceTracker(object):
         children = getattr(resource, "children", [])
         for child in children:
             res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource))
-        if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
+        if target_resource_cls_type == type(resource):
-            if hasattr(resource, identifier_key):
+            if target_resource_cls_type == dict:
+                if identifier_key in resource:
+                    if resource[identifier_key] == compare_value:
+                        res_list.append((parent_res, resource))
+            elif hasattr(resource, identifier_key):
                 if getattr(resource, identifier_key) == compare_value:
                     res_list.append((parent_res, resource))
         return res_list

unilabos/ros/utils/driver_creator.py

@@ -33,7 +33,7 @@ class DeviceClassCreator(Generic[T]):
     这个类提供了从任意类创建实例的通用方法。
     """
 
-    def __init__(self, cls: Type[T]):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -42,6 +42,18 @@ class DeviceClassCreator(Generic[T]):
         """
         self.device_cls = cls
         self.device_instance: Optional[T] = None
+        self.children = children
+        self.resource_tracker = resource_tracker
+
+    def attach_resource(self):
+        """
+        附加资源到设备类实例
+        """
+        if self.device_instance is not None:
+            for c in self.children.values():
+                if c["type"] == "container":
+                    self.resource_tracker.add_resource(c)
+
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -60,6 +72,7 @@ class DeviceClassCreator(Generic[T]):
             }
         )
         self.post_create()
+        self.attach_resource()
         return self.device_instance
 
     def get_instance(self) -> Optional[T]:
@@ -90,14 +103,15 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             cls: PyLabRobot设备类
             children: 子资源字典，用于资源替换
         """
-        super().__init__(cls)
+        super().__init__(cls, children, resource_tracker)
-        self.children = children
-        self.resource_tracker = resource_tracker
         # 检查类是否具有deserialize方法
         self.has_deserialize = hasattr(cls, "deserialize") and callable(getattr(cls, "deserialize"))
         if not self.has_deserialize:
             logger.warning(f"类 {cls.__name__} 没有deserialize方法，将使用标准构造函数")
 
+    def attach_resource(self):
+        pass  # 只能增加实例化物料，原来默认物料仅为字典查询
+
     def _process_resource_mapping(self, resource, source_type):
         if source_type == dict:
             from pylabrobot.resources.resource import Resource
@@ -260,7 +274,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
     这个类提供了针对ProtocolNode设备类的实例创建方法，处理children参数。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any]):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化ProtocolNode设备类创建器
 
@@ -268,8 +282,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
             cls: ProtocolNode设备类
             children: 子资源字典，用于资源替换
         """
-        super().__init__(cls)
+        super().__init__(cls, children, resource_tracker)
-        self.children = children
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -282,8 +295,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
             ProtocolNode设备类实例
         """
         try:
-
+            # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
-            # 创建实例
             data["children"] = self.children
             self.device_instance = super(ProtocolNodeCreator, self).create_instance(data)
             self.post_create()