Adapt to new scheduler, sampels, and edge upload format (#230)

* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.

docs/user_guide/best_practice.md

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

unilabos/app/model.py

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

unilabos/app/ws_client.py

@@ -657,6 +657,8 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
+            if not data.get("sample_material"):
+                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)

unilabos/compile/pump_protocol.py

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

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -690,16 +690,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         )
 
     def set_liquid_from_plate(
-        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
-        if isinstance(plate, list):  # 未来移除
-            plate = plate[0]
         assert issubclass(plate.__class__, Plate), "plate must be a Plate"
-        plate: Plate = cast(Plate, plate)
+        plate: Plate = cast(Plate, cast(Resource, plate))
         # 根据 well_names 获取对应的 Well 对象
         wells = [plate.get_well(name) for name in well_names]
         res_volumes = []

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -595,7 +595,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return super().set_liquid(wells, liquid_names, volumes)
 
     def set_liquid_from_plate(
-        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
 

unilabos/devices/virtual/virtual_transferpump.py

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

unilabos/devices/virtual/workbench.py

@@ -11,9 +11,10 @@ Virtual Workbench Device - 模拟工作台设备
 
 注意：调用来自线程池，使用 threading.Lock 进行同步
 """
+
 import logging
 import time
-from typing import Dict, Any, Optional
+from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
@@ -22,37 +23,46 @@ from typing_extensions import TypedDict
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 from unilabos.utils.decorator import not_action
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
 
 
 # ============ TypedDict 返回类型定义 ============
 
+
 class MoveToHeatingStationResult(TypedDict):
     """move_to_heating_station 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class StartHeatingResult(TypedDict):
     """start_heating 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class MoveToOutputResult(TypedDict):
     """move_to_output 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
+    unilabos_samples: List[LabSample]
 
 
 class PrepareMaterialsResult(TypedDict):
     """prepare_materials 返回类型 - 批量准备物料"""
+
     success: bool
     count: int
     material_1: int  # 物料编号1
@@ -61,12 +71,15 @@ class PrepareMaterialsResult(TypedDict):
     material_4: int  # 物料编号4
     material_5: int  # 物料编号5
     message: str
+    unilabos_samples: List[LabSample]
 
 
 # ============ 状态枚举 ============
 
+
 class HeatingStationState(Enum):
     """加热台状态枚举"""
+
     IDLE = "idle"  # 空闲
     OCCUPIED = "occupied"  # 已放置物料，等待加热
     HEATING = "heating"  # 加热中
@@ -75,6 +88,7 @@ class HeatingStationState(Enum):
 
 class ArmState(Enum):
     """机械臂状态枚举"""
+
     IDLE = "idle"  # 空闲
     BUSY = "busy"  # 工作中
 
@@ -82,6 +96,7 @@ class ArmState(Enum):
 @dataclass
 class HeatingStation:
     """加热台数据结构"""
+
     station_id: int
     state: HeatingStationState = HeatingStationState.IDLE
     current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
@@ -137,8 +152,7 @@ class VirtualWorkbench:
 
         # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i)
-            for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()  # 可重入锁，保护加热台状态
 
@@ -178,14 +192,16 @@ class VirtualWorkbench:
                 station.heating_progress = 0.0
 
         # 初始化状态
-        self.data.update({
-            "status": "Ready",
-            "arm_state": ArmState.IDLE.value,
-            "arm_current_task": None,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": 0,
-            "message": "工作台就绪",
-        })
+        self.data.update(
+            {
+                "status": "Ready",
+                "arm_state": ArmState.IDLE.value,
+                "arm_current_task": None,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": 0,
+                "message": "工作台就绪",
+            }
+        )
 
         self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
         return True
@@ -204,12 +220,14 @@ class VirtualWorkbench:
         with self._tasks_lock:
             self._active_tasks.clear()
 
-        self.data.update({
-            "status": "Offline",
-            "arm_state": ArmState.IDLE.value,
-            "heating_stations": {},
-            "message": "工作台已关闭",
-        })
+        self.data.update(
+            {
+                "status": "Offline",
+                "arm_state": ArmState.IDLE.value,
+                "heating_stations": {},
+                "message": "工作台已关闭",
+            }
+        )
         return True
 
     def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
@@ -227,12 +245,14 @@ class VirtualWorkbench:
 
     def _update_data_status(self, message: Optional[str] = None):
         """更新状态数据"""
-        self.data.update({
-            "arm_state": self._arm_state.value,
-            "arm_current_task": self._arm_current_task,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": len(self._active_tasks),
-        })
+        self.data.update(
+            {
+                "arm_state": self._arm_state.value,
+                "arm_current_task": self._arm_current_task,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": len(self._active_tasks),
+            }
+        )
         if message:
             self.data["message"] = message
 
@@ -280,6 +300,7 @@ class VirtualWorkbench:
 
     def prepare_materials(
         self,
+        sample_uuids: SampleUUIDsType,
         count: int = 5,
     ) -> PrepareMaterialsResult:
         """
@@ -297,10 +318,7 @@ class VirtualWorkbench:
         # 生成物料列表 A1 - A{count}
         materials = [i for i in range(1, count + 1)]
 
-        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: "
-            f"A1-A{count} -> material_1~material_{count}"
-        )
+        self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
 
         return {
             "success": True,
@@ -311,10 +329,12 @@ class VirtualWorkbench:
             "material_4": materials[3] if len(materials) > 3 else 0,
             "material_5": materials[4] if len(materials) > 4 else 0,
             "message": f"已准备 {count} 个物料: A1-A{count}",
+            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
         }
 
     def move_to_heating_station(
         self,
+        sample_uuids: SampleUUIDsType,
         material_number: int,
     ) -> MoveToHeatingStationResult:
         """
@@ -391,6 +411,9 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"{material_id}已成功移动到加热台{station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         except Exception as e:
@@ -403,10 +426,14 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
     def start_heating(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> StartHeatingResult:
@@ -429,6 +456,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "material_number": material_number,
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         with self._stations_lock:
@@ -441,6 +471,9 @@ class VirtualWorkbench:
                     "material_id": "",
                     "material_number": material_number,
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             if station.state == HeatingStationState.HEATING:
@@ -450,6 +483,9 @@ class VirtualWorkbench:
                     "material_id": station.current_material,
                     "material_number": material_number,
                     "message": f"加热台{station_id}已经在加热中",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             material_id = station.current_material
@@ -499,10 +535,14 @@ class VirtualWorkbench:
             "material_id": material_id,
             "material_number": material_number,
             "message": f"加热台{station_id}加热完成",
+            "unilabos_samples": [
+                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                sample_uuid, content in sample_uuids.items()]
         }
 
     def move_to_output(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> MoveToOutputResult:
@@ -525,6 +565,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": f"C{output_number}",
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         with self._stations_lock:
@@ -538,6 +581,9 @@ class VirtualWorkbench:
                     "material_id": "",
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             if station.state != HeatingStationState.COMPLETED:
@@ -547,6 +593,9 @@ class VirtualWorkbench:
                     "material_id": material_id,
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
         output_position = f"C{output_number}"
@@ -595,6 +644,9 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "output_position": output_position,
                 "message": f"{material_id}已成功移动到{output_position}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         except Exception as e:
@@ -607,6 +659,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": output_position,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
     # ============ 状态属性 ============

unilabos/registry/devices/liquid_handler.yaml

@@ -9468,7 +9468,7 @@ liquid_handler.prcxi:
           well_names: null
         handles:
           input:
-          - data_key: plate
+          - data_key: '@this.0@@@plate'
             data_source: handle
             data_type: resource
             handler_key: input_plate
@@ -9503,81 +9503,78 @@ liquid_handler.prcxi:
                     type: string
                   type: array
                 plate:
-                  items:
-                    properties:
-                      category:
+                  properties:
+                    category:
+                      type: string
+                    children:
+                      items:
                         type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: plate
-                    type: object
+                      type: array
+                    config:
+                      type: string
+                    data:
+                      type: string
+                    id:
+                      type: string
+                    name:
+                      type: string
+                    parent:
+                      type: string
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: orientation
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: position
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: pose
+                      type: object
+                    sample_id:
+                      type: string
+                    type:
+                      type: string
+                  required:
+                  - id
+                  - name
+                  - sample_id
+                  - children
+                  - parent
+                  - type
+                  - category
+                  - pose
+                  - config
+                  - data
                   title: plate
-                  type: array
+                  type: object
                 volumes:
                   items:
                     type: number
@@ -9593,17 +9590,207 @@ liquid_handler.prcxi:
               - volumes
               type: object
             result:
+              $defs:
+                ResourceDict:
+                  properties:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
+                      type: string
+                  required:
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
               properties:
                 plate:
-                  items: {}
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
                   title: Plate
                   type: array
                 volumes:
-                  items: {}
+                  items:
+                    type: number
                   title: Volumes
                   type: array
                 wells:
-                  items: {}
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
                   title: Wells
                   type: array
               required:

unilabos/registry/devices/virtual_device.yaml

@@ -5835,6 +5835,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: move_to_heating_station 返回类型
               properties:
                 material_id:
@@ -5853,12 +5872,18 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
               - material_number
               - message
+              - unilabos_samples
               title: MoveToHeatingStationResult
               type: object
           required:
@@ -5903,6 +5928,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: move_to_output 返回类型
               properties:
                 material_id:
@@ -5914,10 +5958,16 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
+              - unilabos_samples
               title: MoveToOutputResult
               type: object
           required:
@@ -5972,6 +6022,25 @@ virtual_workbench:
               required: []
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: prepare_materials 返回类型 - 批量准备物料
               properties:
                 count:
@@ -5998,6 +6067,11 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - count
@@ -6007,6 +6081,7 @@ virtual_workbench:
               - material_4
               - material_5
               - message
+              - unilabos_samples
               title: PrepareMaterialsResult
               type: object
           required:
@@ -6062,6 +6137,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: start_heating 返回类型
               properties:
                 material_id:
@@ -6079,12 +6173,18 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
               - material_number
               - message
+              - unilabos_samples
               title: StartHeatingResult
               type: object
           required:

unilabos/resources/resource_tracker.py

@@ -5,6 +5,8 @@ from pydantic import BaseModel, field_serializer, field_validator, ValidationErr
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
+from typing_extensions import TypedDict
+
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
@@ -30,6 +32,12 @@ RETURN_UNILABOS_SAMPLES = "unilabos_samples"
 SampleUUIDsType = Dict[str, Optional["PLRResource"]]
 
 
+class LabSample(TypedDict):
+    sample_uuid: str
+    oss_path: str
+    extra: Dict[str, Any]
+
+
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x

unilabos/ros/nodes/base_device_node.py

@@ -412,16 +412,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             else:
                 for r in rts.root_nodes:
                     r.res_content.parent_uuid = self.uuid
-
-            if (
-                len(LIQUID_INPUT_SLOT)
-                and LIQUID_INPUT_SLOT[0] == -1
-                and len(rts.root_nodes) == 1
-                and isinstance(rts.root_nodes[0], RegularContainer)
-            ):
+            rts_plr_instances = rts.to_plr_resources()
+            if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
                 # noinspection PyTypeChecker
-                container_instance: RegularContainer = rts.root_nodes[0]
-                found_resources = self.resource_tracker.figure_resource({"id": container_instance.name}, try_mode=True)
+                container_instance: RegularContainer = rts_plr_instances[0]
+                found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_instance.name}到资源跟踪器")
@@ -430,7 +425,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     found_resource = found_resources[0]
                     if isinstance(found_resource, RegularContainer):
                         logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
-                        found_resource.state.update(json.loads(container_instance.state))
+                        found_resource.state.update(container_instance.state)
                     elif isinstance(found_resource, dict):
                         raise ValueError("已不支持 字典 版本的RegularContainer")
                     else:
@@ -443,7 +438,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     "action": "add",
                     "data": {
                         "data": rts.dump(),
-                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
+                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
                         "first_add": False,
                     },
                 }
@@ -1538,11 +1533,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if isinstance(rs, list):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
+                                    if res is None:
+                                        res = rs
+                                    if id(res) not in seen:
+                                        seen.add(id(res))
+                                        unique_resources.append(res)
                             else:
                                 res = self.resource_tracker.parent_resource(rs)
-                            if id(res) not in seen:
-                                seen.add(id(res))
-                                unique_resources.append(res)
+                                if res is None:
+                                    res = rs
+                                if id(res) not in seen:
+                                    seen.add(id(res))
+                                    unique_resources.append(res)
 
                         # 使用新的资源树接口
                         if unique_resources:

unilabos/ros/nodes/presets/host_node.py

@@ -863,7 +863,7 @@ class HostNode(BaseROS2DeviceNode):
                                     f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
                                     f"{'...' if len(unilabos_samples) > 5 else ''}"
                                 )
-                                return_info[RETURN_UNILABOS_SAMPLES] = unilabos_samples
+                                return_info["samples"] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"

unilabos/ros/nodes/presets/workstation.py

@@ -340,6 +340,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
                             # 获取父资源
                             res = self.resource_tracker.parent_resource(plr)
+                            if res is None:
+                                res = plr
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)

unilabos/ros/utils/driver_creator.py

@@ -52,7 +52,8 @@ class DeviceClassCreator(Generic[T]):
         if self.device_instance is not None:
             for c in self.children:
                 if c.res_content.type != "device":
-                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
+                    res = ResourceTreeSet([ResourceTreeInstance(c)]).to_plr_resources()[0]
+                    self.resource_tracker.add_resource(res)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -119,7 +120,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     #     return resource, source_type
 
     def _process_resource_references(
-        self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
+        self, data: Any, processed_child_names: Optional[Dict[str, Any]], to_dict=False, states=None, prefix_path="", name_to_uuid=None
     ) -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
@@ -164,6 +165,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 states[prefix_path] = resource_instance.serialize_all_state()
                                 return serialized
                             else:
+                                processed_child_names[child_name] = resource_instance
                                 self.resource_tracker.add_resource(resource_instance)
                                 # 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
                                 if name_to_uuid:
@@ -182,12 +184,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             result = {}
             for key, value in data.items():
                 new_prefix = f"{prefix_path}.{key}" if prefix_path else key
-                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
+                result[key] = self._process_resource_references(value, processed_child_names, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
+                self._process_resource_references(item, processed_child_names, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -234,7 +236,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             # 首先处理资源引用
             states = {}
             processed_data = self._process_resource_references(
-                data, to_dict=True, states=states, name_to_uuid=name_to_uuid
+                data, {}, to_dict=True, states=states, name_to_uuid=name_to_uuid
             )
 
             try:
@@ -270,7 +272,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         arg_value = spec_args[param_name].annotation
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
-                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
+                processed_child_names = {}
+                processed_data = self._process_resource_references(data, processed_child_names, to_dict=False, name_to_uuid=name_to_uuid)
+                for child_name, resource_instance in processed_data.items():
+                    for ind, name in enumerate([child.res_content.name for child in self.children]):
+                        if name == child_name:
+                            self.children.pop(ind)
                 self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)  # 补全变量后直接调用，调用的自身的attach_resource
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
@@ -342,9 +349,10 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for child in self.children:
-                if child.res_content.type != "device":
-                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
+            # super(WorkstationNodeCreator, self).create_instance(data)的时候会attach
+            # for child in self.children:
+            #     if child.res_content.type != "device":
+            #         self.resource_tracker.add_resource(child.get_plr_nested_dict())
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource