Squash merge from dev

Update recipe.yaml

fix: figure_resource

use call_async in all service to avoid deadlock

fix: prcxi import error

临时兼容错误的driver写法

fix protocol node

fix filter protocol

bugfixes on organic protocols

fix and remove redundant info

feat: 新增use_remote_resource参数

fix all protocol_compilers and remove deprecated devices

feat: 优化protocol node节点运行日志

fix pumps and liquid_handler handle

feat: workstation example

add: prcxi res
fix: startup slow

fix: prcxi_res

fix: discard_tips

fix: discard_tips error

fix: drop_tips not using auto resource select

feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

feat: add trace log level

modify default discovery_interval to 15s

fix: working dir error when input config path
feat: report publish topic when error

fix: workstation handlers and vessel_id parsing

Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

unilabos/registry/devices/liquid_handler.yaml

@@ -978,6 +978,8 @@ liquid_handler:
           use_channels:
           - 0
         handles: []
+        placeholder_keys:
+          tip_spots: unilabos_resources
         result:
           name: name
         schema:
@@ -3995,7 +3997,34 @@ liquid_handler:
           touch_tip: false
           use_channels:
           - 0
-        handles: []
+        handles:
+          input:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
+            handler_key: sources
+            label: sources
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: targets
+            label: targets
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: tip_rack
+            label: tip_rack
+          output:
+          - data_key: liquid
+            data_source: handle
+            data_type: resource
+            handler_key: sources_out
+            label: sources
+          - data_key: liquid
+            data_source: executor
+            data_type: resource
+            handler_key: targets_out
+            label: targets
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -4361,21 +4390,7 @@ liquid_handler:
     type: python
   config_info: []
   description: Liquid handler device controlled by pylabrobot
-  handles:
-    input:
-    - data_key: liquid
-      data_source: handle
-      data_type: resource
-      handler_key: liquid-input
-      io_type: target
-      label: Liquid Input
-    output:
-    - data_key: liquid
-      data_source: executor
-      data_type: resource
-      handler_key: liquid-output
-      io_type: source
-      label: Liquid Output
+  handles: []
   icon: icon_yiyezhan.webp
   init_param_schema:
     config:
@@ -6014,36 +6029,6 @@ liquid_handler.prcxi:
           title: custom_delay参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-discard_tips:
-        feedback: {}
-        goal: {}
-        goal_default:
-          allow_nonzero_volume: true
-          offsets: null
-          use_channels: null
-        handles: []
-        result: {}
-        schema:
-          description: discard_tips的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                allow_nonzero_volume:
-                  default: true
-                  type: boolean
-                offsets:
-                  type: string
-                use_channels:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: discard_tips参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-iter_tips:
         feedback: {}
         goal: {}
@@ -6144,6 +6129,51 @@ liquid_handler.prcxi:
           title: touch_tip参数
           type: object
         type: UniLabJsonCommandAsync
+      discard_tips:
+        feedback: {}
+        goal:
+          use_channels: use_channels
+        goal_default:
+          use_channels:
+          - 0
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerDiscardTips_Feedback
+              type: object
+            goal:
+              properties:
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - use_channels
+              title: LiquidHandlerDiscardTips_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerDiscardTips_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerDiscardTips
+          type: object
+        type: LiquidHandlerDiscardTips
       dispense:
         feedback: {}
         goal:
@@ -6343,7 +6373,11 @@ liquid_handler.prcxi:
         type: LiquidHandlerDispense
       drop_tips:
         feedback: {}
-        goal: {}
+        goal:
+          allow_nonzero_volume: allow_nonzero_volume
+          offsets: offsets
+          tip_spots: tip_spots
+          use_channels: use_channels
         goal_default:
           allow_nonzero_volume: false
           offsets:
@@ -6373,6 +6407,8 @@ liquid_handler.prcxi:
           use_channels:
           - 0
         handles: []
+        placeholder_keys:
+          tip_spots: unilabos_resources
         result: {}
         schema:
           description: ''