Merge branch 'main' into pr/39

.gitignore

@@ -6,6 +6,7 @@ __pycache__/
 .vscode
 *.py[cod]
 *$py.class
+service
 
 # C extensions
 *.so

README.md

@@ -4,83 +4,90 @@
 
 # Uni-Lab-OS
 
+<!-- Language switcher -->
+**English** | [中文](README_zh.md)
+
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
 [![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
 
-## 核心特点
+## 🏆 Competition
 
-- 多设备集成管理
+Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
-- 自动化实验流程
-- 云端连接能力
-- 灵活的配置系统
-- 支持多种实验协议
 
-## 文档
+## Key Features
 
-详细文档可在以下位置找到:
+- Multi-device integration management
+- Automated experimental workflows
+- Cloud connectivity capabilities
+- Flexible configuration system
+- Support for multiple experimental protocols
 
-- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+## Documentation
 
-## 快速开始
+Detailed documentation can be found at:
 
-1. 配置Conda环境
+- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
 
-Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+## Quick Start
+
+1. Configure Conda Environment
+
+Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
-# 创建新环境
+# Create new environment
 mamba env create -f unilabos-[YOUR_OS].yaml
 mamba activate unilab
 
-# 或更新现有环境
+# Or update existing environment
-# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
-conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
-# 现阶段，需要安装 `unilabos_msgs` 包
+# Currently, you need to install the `unilabos_msgs` package
-# 可以前往 Release 页面下载系统对应的包进行安装
+# You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.0-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
 
-# 安装PyLabRobot等前置
+# Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo
 cd plr_repo
 pip install .[opentrons]
 ```
 
-2. 安装 Uni-Lab-OS:
+2. Install Uni-Lab-OS:
 
 ```bash
-# 克隆仓库
+# Clone the repository
 git clone https://github.com/dptech-corp/Uni-Lab-OS.git
 cd Uni-Lab-OS
 
-# 安装 Uni-Lab-OS
+# Install Uni-Lab-OS
 pip install .
 ```
 
-3. 启动 Uni-Lab 系统:
+3. Start Uni-Lab System:
 
-请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
 
-## 消息格式
+## Message Format
 
-Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
 
-## 许可证
+## License
 
-此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
 
-## 项目统计
+## Project Statistics
 
-### Stars 趋势
+### Stars Trend
 
 <a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
   <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
 </a>
 
-## 联系我们
+## Contact Us
 
 - GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -0,0 +1,93 @@
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# Uni-Lab-OS
+
+<!-- Language switcher -->
+[English](README.md) | **中文**
+
+[![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+[![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
+
+Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+
+## 🏆 比赛
+
+欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
+
+## 核心特点
+
+- 多设备集成管理
+- 自动化实验流程
+- 云端连接能力
+- 灵活的配置系统
+- 支持多种实验协议
+
+## 文档
+
+详细文档可在以下位置找到:
+
+- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## 快速开始
+
+1. 配置Conda环境
+
+Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
+
+```bash
+# 创建新环境
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+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-0.9.1-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
+```
+
+2. 安装 Uni-Lab-OS:
+
+```bash
+# 克隆仓库
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
+```
+
+3. 启动 Uni-Lab 系统:
+
+请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## 消息格式
+
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+
+## 许可证
+
+此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+
+## 项目统计
+
+### Stars 趋势
+
+<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
+  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
+</a>
+
+## 联系我们
+
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 

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

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.0
+  version: 0.9.1
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.0"
+  version: "0.9.1"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.0',
+    version='0.9.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/commands/resource_add.md

@@ -1,5 +1,5 @@
 使用plr_test.json启动，将Well加入Plate中
 
 ```bash
-ros2 action send_goal /devices/host_node/add_resource_from_outer 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: [ '{}' ] }"
+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: [ '{}' ] }"
 ```

unilabos-linux-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   # - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-arm64.yaml

@@ -58,6 +58,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-win64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs

unilabos/app/controler.py

@@ -31,6 +31,6 @@ def job_add(req: JobAddReq) -> JobData:
         action_kwargs = {"command": json.dumps(action_kwargs)}
     elif "command" in action_kwargs:
         action_kwargs = action_kwargs["command"]
-    print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
+    # 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)
+    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)
     return JobData(jobId=req.job_id)

unilabos/app/main.py

@@ -18,7 +18,6 @@ if unilabos_dir not in sys.path:
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
 
 def parse_args():
@@ -188,11 +187,12 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:
+            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
             resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
             server_thread = threading.Thread(target=start_server, kwargs=dict(
-                open_browser=not args_dict["disable_browser"]
+                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
             ))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
@@ -201,10 +201,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(open_browser=not args_dict["disable_browser"])
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
     else:
         start_backend(**args_dict)
-        start_server(open_browser=not args_dict["disable_browser"])
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -51,8 +51,9 @@ class Resp(BaseModel):
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
     data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
-    job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
+    job_id: str = Field(examples=["job_id"], description="goal uuid")
-    node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
+    node_id: str = Field(examples=["node_id"], description="node uuid")
+    server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
 
 
 class JobStepFinishReq(BaseModel):

unilabos/app/mq.py

@@ -12,7 +12,7 @@ import tempfile
 import os
 
 from unilabos.config.config import MQConfig
-from unilabos.app.controler import devices, job_add
+from unilabos.app.controler import job_add
 from unilabos.app.model import JobAddReq
 from unilabos.utils import logger
 from unilabos.utils.type_check import TypeEncoder
@@ -26,6 +26,7 @@ class MQTTClient:
     def __init__(self):
         self.mqtt_disable = not MQConfig.lab_id
         self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
+        logger.info("[MQTT] Client_id: " + self.client_id)
         self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
         self._setup_callbacks()
 
@@ -42,20 +43,14 @@ class MQTTClient:
     def _on_connect(self, client, userdata, flags, rc, properties=None):
         logger.info("[MQTT] Connected with result code " + str(rc))
         client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
-        isok, data = devices()
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
-        if not isok:
-            logger.error("[MQTT] on_connect ErrorHostNotInit")
-            return
 
     def _on_message(self, client, userdata, msg) -> None:
-        logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
         try:
             payload_str = msg.payload.decode("utf-8")
             payload_json = json.loads(payload_str)
-            logger.debug(f"Topic: {msg.topic}")
-            logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
             if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                logger.debug("job_add", type(payload_json), payload_json)
                 if "data" not in payload_json:
                     payload_json["data"] = {}
                 if "action" in payload_json:
@@ -65,6 +60,14 @@ class MQTTClient:
                 job_req = JobAddReq.model_validate(payload_json)
                 data = job_add(job_req)
                 return
+            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
+                # 处理pong响应，通知HostNode
+                from unilabos.ros.nodes.presets.host_node import HostNode
+
+                host_instance = HostNode.get_instance(0)
+                if host_instance:
+                    host_instance.handle_pong_response(payload_json)
+                return
 
         except json.JSONDecodeError as e:
             logger.error(f"[MQTT] JSON 解析错误: {e}")
@@ -181,6 +184,28 @@ class MQTTClient:
         self.client.publish(address, json.dumps(action_info), qos=2)
         logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
 
+    def send_ping(self, ping_id: str, timestamp: float):
+        """发送ping消息到服务端"""
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/ping/"
+        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
+        self.client.publish(address, json.dumps(ping_data), qos=2)
+
+    def setup_pong_subscription(self):
+        """设置pong消息订阅"""
+        if self.mqtt_disable:
+            return
+        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
+        self.client.subscribe(pong_topic, 0)
+        logger.debug(f"Subscribed to pong topic: {pong_topic}")
+
+    def handle_pong(self, pong_data: dict):
+        """处理pong响应（这个方法会在收到pong消息时被调用）"""
+        logger.debug(f"Pong received: {pong_data}")
+        # 这里会被HostNode的ping-pong处理逻辑调用
+        pass
+
 
 mqtt_client = MQTTClient()
 

unilabos/app/web/utils/host_utils.py

@@ -42,7 +42,7 @@ def get_host_node_info() -> Dict[str, Any]:
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
     # 获取动作客户端信息
     for action_id, client in host_node._action_clients.items():
-        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
+        host_info["action_clients"][action_id] = get_action_info(client, full_name=action_id)
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -14,7 +14,7 @@ from pylabrobot.resources import (
     Well
 )
 
-class DPLiquidHandler(LiquidHandler):
+class LiquidHandlerAbstract(LiquidHandler):
     """Extended LiquidHandler with additional operations."""
 
     # ---------------------------------------------------------------

unilabos/registry/devices/liquid_handler.yaml

@@ -1,11 +1,96 @@
 liquid_handler:
   description: Liquid handler device controlled by pylabrobot
   class:
-    module: pylabrobot.liquid_handling:LiquidHandler
+    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
     type: python
     status_types:
       name: String
     action_value_mappings:
+      remove:
+        type: LiquidHandlerRemove
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      add_liquid:
+        type: LiquidHandlerAdd
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      transfer_liquid:
+        type: LiquidHandlerTransfer
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      mix:
+        type: LiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      move_to:
+        type: LiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: { }
+        result: { }
       aspirate:
         type: LiquidHandlerAspirate
         goal:
@@ -170,127 +255,6 @@ liquid_handler:
     - name
     additionalProperties: false
 
-dp_liquid_handler:
-  description: 通用液体处理
-  class:
-    module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
-    type: python
-    status_types:
-      status: String
-    action_value_mappings:
-      remove_liquid:
-        type: DPLiquidHandlerRemoveLiquid
-        goal:
-          vols: vols
-          sources: sources
-          waste_liquid: waste_liquid
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          delays: delays
-          is_96_well: is_96_well
-          top: top
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      add_liquid:
-        type: DPLiquidHandlerAddLiquid
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          reagent_sources: reagent_sources
-          targets: targets
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_time: mix_time
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      transfer_liquid:
-        type: DPLiquidHandlerTransferLiquid
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          sources: sources
-          targets: targets
-          tip_racks: tip_racks
-          use_channels: use_channels
-          asp_flow_rates: asp_flow_rates
-          dis_flow_rates: dis_flow_rates
-          offsets: offsets
-          touch_tip: touch_tip
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          delays: delays
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      custom_delay:
-        type: DPLiquidHandlerCustomDelay
-        goal:
-          seconds: seconds
-          msg: msg
-        feedback: {}
-        result: {}
-      touch_tip:
-        type: DPLiquidHandlerTouchTip
-        goal:
-          targets: targets
-        feedback: {}
-        result: {}
-      mix:
-        type: DPLiquidHandlerMix
-        goal:
-          targets: targets
-          mix_time: mix_time
-          mix_vol: mix_vol
-          height_to_bottom: height_to_bottom
-          offsets: offsets
-          mix_rate: mix_rate
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      set_tiprack:
-        type: DPLiquidHandlerSetTiprack
-        goal:
-          tip_racks: tip_racks
-        feedback: {}
-        result: {}
-      move_to:
-        type: DPLiquidHandlerMoveTo
-        goal:
-          well: well
-          dis_to_top: dis_to_top
-          channel: channel
-        feedback: {}
-        result: {}
-  schema:
-    type: object
-    properties:
-      name:
-        type: string
-        description: 物料名
-    required:
-    - name
-
 liquid_handler.revvity:
   class:
     module: unilabos.devices.liquid_handling.revvity:Revvity

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -12,7 +12,7 @@ separator.homemade:
         goal:
           stir_time: stir_time,
           stir_speed: stir_speed
-          settling_time": settling_time
+          settling_time: settling_time
         feedback:
           status: status
         result: 

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -3,6 +3,25 @@ vacuum_pump.mock:
   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: {}
 
 gas_source.mock:
   description: Mock gas source

unilabos/registry/registry.py

@@ -1,5 +1,4 @@
 import io
-import json
 import os
 import sys
 from pathlib import Path
@@ -7,10 +6,9 @@ from typing import Any
 
 import yaml
 
-from unilabos.utils import logger
 from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
+from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
-from unilabos.utils.type_check import TypeEncoder
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -21,43 +19,16 @@ class Registry:
         self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
         if registry_paths:
             self.registry_paths.extend(registry_paths)
-        action_type = self._replace_type_with_class(
+        self.ResourceCreateFromOuter = self._replace_type_with_class(
-            "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
+            "ResourceCreateFromOuter", "host_node", f"动作 create_resource_detailed"
         )
-        schema = ros_action_to_json_schema(action_type)
+        self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
-        self.device_type_registry = {
+            "ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
-            "host_node": {
+        )
-                "description": "UniLabOS主机节点",
+        self.EmptyIn = self._replace_type_with_class(
-                "class": {
+            "EmptyIn", "host_node", f""
-                    "module": "unilabos.ros.nodes.presets.host_node",
+        )
-                    "type": "python",
+        self.device_type_registry = {}
-                    "status_types": {},
-                    "action_value_mappings": {
-                        "add_resource_from_outer": {
-                            "type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
-                            "goal": {
-                                "resources": "resources",
-                                "device_ids": "device_ids",
-                                "bind_parent_ids": "bind_parent_ids",
-                                "bind_locations": "bind_locations",
-                                "other_calling_params": "other_calling_params",
-                            },
-                            "feedback": {},
-                            "result": {
-                                "success": "success"
-                            },
-                            "schema": schema
-                        }
-                    }
-                },
-                "schema": {
-                    "properties": {},
-                    "additionalProperties": False,
-                    "type": "object"
-                },
-                "file_path": "/"
-            }
-        }
         self.resource_type_registry = {}
         self._setup_called = False  # 跟踪setup是否已调用
         # 其他状态变量
@@ -69,9 +40,70 @@ class Registry:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
             return
 
-        # 标记setup已被调用
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
-        self._setup_called = True
 
+        self.device_type_registry.update(
+            {
+                "host_node": {
+                    "description": "UniLabOS主机节点",
+                    "class": {
+                        "module": "unilabos.ros.nodes.presets.host_node",
+                        "type": "python",
+                        "status_types": {},
+                        "action_value_mappings": {
+                            "create_resource_detailed": {
+                                "type": self.ResourceCreateFromOuter,
+                                "goal": {
+                                    "resources": "resources",
+                                    "device_ids": "device_ids",
+                                    "bind_parent_ids": "bind_parent_ids",
+                                    "bind_locations": "bind_locations",
+                                    "other_calling_params": "other_calling_params",
+                                },
+                                "feedback": {},
+                                "result": {"success": "success"},
+                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
+                                "goal_default": yaml.safe_load(
+                                    io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
+                                ),
+                            },
+                            "create_resource": {
+                                "type": self.ResourceCreateFromOuterEasy,
+                                "goal": {
+                                    "res_id": "res_id",
+                                    "class_name": "class_name",
+                                    "parent": "parent",
+                                    "device_id": "device_id",
+                                    "bind_locations": "bind_locations",
+                                    "liquid_input_slot": "liquid_input_slot[]",
+                                    "liquid_type": "liquid_type[]",
+                                    "liquid_volume": "liquid_volume[]",
+                                    "slot_on_deck": "slot_on_deck",
+                                },
+                                "feedback": {},
+                                "result": {"success": "success"},
+                                "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
+                                "goal_default": yaml.safe_load(
+                                    io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
+                                ),
+                            },
+                            "test_latency": {
+                                "type": self.EmptyIn,
+                                "goal": {},
+                                "feedback": {},
+                                "result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
+                                "schema": ros_action_to_json_schema(self.EmptyIn),
+                                "goal_default": {},
+                            },
+                        },
+                    },
+                    "icon": "icon_device.webp",
+                    "registry_type": "device",
+                    "schema": {"properties": {}, "additionalProperties": False, "type": "object"},
+                    "file_path": "/",
+                }
+            }
+        )
         logger.debug(f"[UniLab Registry] ----------Setup----------")
         self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
         for i, path in enumerate(self.registry_paths):
@@ -81,6 +113,8 @@ class Registry:
             self.load_device_types(path)
             self.load_resource_types(path)
         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):
         abs_path = Path(path).absolute()
@@ -96,6 +130,9 @@ class Registry:
                     resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
                     if "description" not in resource_info:
                         resource_info["description"] = ""
+                    if "icon" not in resource_info:
+                        resource_info["icon"] = ""
+                    resource_info["registry_type"] = "resource"
                 self.resource_type_registry.update(data)
                 logger.debug(
                     f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
@@ -145,6 +182,7 @@ class Registry:
         )
         current_device_number = len(self.device_type_registry) + 1
         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"))
             if data:
@@ -154,6 +192,9 @@ class Registry:
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     if "description" not in device_config:
                         device_config["description"] = ""
+                    if "icon" not in device_config:
+                        device_config["icon"] = ""
+                    device_config["registry_type"] = "device"
                     if "class" in device_config:
                         # 处理状态类型
                         if "status_types" in device_config["class"]:
@@ -169,8 +210,15 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
-                                    action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
+                                    if action_config["type"] is not None:
+                                        action_config["goal_default"] = yaml.safe_load(
+                                            io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
+                                        )
                                         action_config["schema"] = ros_action_to_json_schema(action_config["type"])
+                                    else:
+                                        logger.warning(
+                                            f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
+                                        )
 
                 self.device_type_registry.update(data)
 
@@ -188,13 +236,17 @@ class Registry:
     def obtain_registry_device_info(self):
         devices = []
         for device_id, device_info in self.device_type_registry.items():
-            msg = {
+            msg = {"id": device_id, **device_info}
-                "id": device_id,
-                **device_info
-            }
             devices.append(msg)
         return devices
 
+    def obtain_registry_resource_info(self):
+        resources = []
+        for resource_id, resource_info in self.resource_type_registry.items():
+            msg = {"id": resource_id, **resource_info}
+            resources.append(msg)
+        return resources
+
 
 # 全局单例实例
 lab_registry = Registry()

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -1,35 +1,35 @@
 agilent_1_reservoir_290ml:
   description: Agilent 1 reservoir 290ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:agilent_1_reservoir_290ml
+    module: pylabrobot.resources.opentrons.reservoirs:agilent_1_reservoir_290ml
     type: pylabrobot
 
 axygen_1_reservoir_90ml:
   description: Axygen 1 reservoir 90ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:axygen_1_reservoir_90ml
+    module: pylabrobot.resources.opentrons.reservoirs:axygen_1_reservoir_90ml
     type: pylabrobot
 
 nest_12_reservoir_15ml:
   description: Nest 12 reservoir 15ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_12_reservoir_15ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_12_reservoir_15ml
     type: pylabrobot
 
 nest_1_reservoir_195ml:
   description: Nest 1 reservoir 195ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_195ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_195ml
     type: pylabrobot
 
 nest_1_reservoir_290ml:
   description: Nest 1 reservoir 290ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_290ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_290ml
     type: pylabrobot
 
 usascientific_12_reservoir_22ml:
   description: USAScientific 12 reservoir 22ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:usascientific_12_reservoir_22ml
+    module: pylabrobot.resources.opentrons.reservoirs:usascientific_12_reservoir_22ml
     type: pylabrobot

unilabos/resources/graphio.py

@@ -189,6 +189,7 @@ def dict_from_graph(graph: nx.Graph) -> dict:
 def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
+    id_list = [node["id"] for node in nodes_list]
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
@@ -196,7 +197,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
 
     # 找到根节点并返回
     root_nodes = [
-        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or node.get("parent", node.get("parent_name")) not in id_list
     ]
 
     # 如果存在多个根节点，返回所有根节点
@@ -430,7 +431,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
     return r
 
 
-def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]:
+def initialize_resource(resource_config: dict) -> list[dict]:
     """Initializes a resource based on its configuration.
 
     If the config is detailed, then do nothing;
@@ -442,6 +443,7 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]
     Returns:
         None
     """
+    from unilabos.registry.registry import lab_registry
     resource_class_config = resource_config.get("class", None)
     if resource_class_config is None:
         return [resource_config]
@@ -485,11 +487,8 @@ def initialize_resources(resources_config) -> list[dict]:
         None
     """
 
-    from unilabos.registry.registry import lab_registry
     resources = []
     for resource_config in resources_config:
-        if resource_config["parent"] == "tip_rack" or resource_config["parent"] == "plate_well":
+        resources.extend(initialize_resource(resource_config))
-            continue
-        resources.extend(initialize_resource(resource_config, lab_registry))
 
     return resources

unilabos/ros/msgs/message_converter.py

@@ -348,9 +348,15 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
                 if isinstance(td, NamespacedType):
                     target_class = msg_converter_manager.get_class(f"{'.'.join(td.namespaces)}.{td.name}")
                     setattr(ros_msg, key, [convert_to_ros_msg(target_class, v) for v in value])
+                elif isinstance(td, UnboundedString):
+                    setattr(ros_msg, key, value)
                 else:
+                    logger.warning(f"Not Supported type: {td}")
                     setattr(ros_msg, key, [])  # FIXME
             elif "array.array" in str(type(attr)):
+                if attr.typecode == "f":
+                    setattr(ros_msg, key, [float(i) for i in value])
+                else:
                     setattr(ros_msg, key, value)
             else:
                 nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
@@ -574,6 +580,7 @@ basic_type_map = {
     'int64': {'type': 'integer'},
     'uint64': {'type': 'integer', 'minimum': 0},
     'double': {'type': 'number'},
+    'float': {'type': 'number'},
     'float32': {'type': 'number'},
     'float64': {'type': 'number'},
     'string': {'type': 'string'},

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,5 @@
+import copy
+import functools
 import json
 import threading
 import time
@@ -19,7 +21,7 @@ from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
-    initialize_resources
+    initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -311,7 +313,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 物料传输到对应的node节点
             rclient = self.create_client(ResourceAdd, "/resources/add")
             rclient.wait_for_service()
+            rclient2 = self.create_client(ResourceAdd, "/resources/add")
+            rclient2.wait_for_service()
             request = ResourceAdd.Request()
+            request2 = ResourceAdd.Request()
             command_json = json.loads(req.command)
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
@@ -320,11 +325,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             other_calling_param = command_json["other_calling_param"]
             resources = command_json["resource"]
             initialize_full = other_calling_param.pop("initialize_full", False)
+            # 用来增加液体
+            ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
+            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)
+            if slot >= 0:  # 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?
             if isinstance(resources, list):
-                if initialize_full:
+                if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full:  # 取消，不存在的情况
+                    # 预先initialize过，以整组的形式传入
+                    request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
+                elif initialize_full:
                     resources = initialize_resources(resources)
                     request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+                else:
+                    request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
             else:
                 if initialize_full:
                     resources = initialize_resources([resources])
@@ -334,20 +351,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = "OK"
             # 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})
-            request.resources = [convert_to_ros_msg(Resource, resources)]
+            # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
                 from pylabrobot.resources.resource import Resource as ResourcePLR
                 from pylabrobot.resources.deck import Deck
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.resources import OTDeck
+                from pylabrobot.resources import Plate
                 contain_model = not isinstance(resource, Deck)
                 if isinstance(resource, ResourcePLR):
                     # resources.list()
-                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
+                    plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
+                    if isinstance(plr_instance, Plate):
+                        empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
+                        for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
+                            empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
+                        plr_instance.set_well_liquids(empty_liquid_info_in)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
+                    else:
+                        _discard_slot = other_calling_param.pop("slot", -1)
                         resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                    request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
+                    rclient2.call(request2)
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
                     self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
@@ -404,6 +432,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # 加入全局注册表
         registered_devices[self.device_id] = device_info
         from unilabos.config.config import BasicConfig
+        from unilabos.ros.nodes.presets.host_node import HostNode
         if not BasicConfig.is_host_mode:
             sclient = self.create_client(SerialCommand, "/node_info_update")
             # 启动线程执行发送任务
@@ -413,6 +442,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 daemon=True,
                 name=f"ROSDevice{self.device_id}_send_slave_node_info"
             ).start()
+        else:
+            host_node = HostNode.get_instance(0)
+            if host_node is not None:
+                host_node.device_machine_names[self.device_id] = "本地"
 
     def send_slave_node_info(self, sclient):
         sclient.wait_for_service()
@@ -481,6 +514,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
 
+    def get_real_function(self, instance, attr_name):
+        if hasattr(instance.__class__, attr_name):
+            obj = getattr(instance.__class__, attr_name)
+            if isinstance(obj, property):
+                return lambda *args, **kwargs: obj.fset(instance, *args, **kwargs), get_type_hints(obj.fset)
+            obj = getattr(instance, attr_name)
+            return obj, get_type_hints(obj)
+        else:
+            obj = getattr(instance, attr_name)
+            return obj, get_type_hints(obj)
+
     def _create_execute_callback(self, action_name, action_value_mapping):
         """创建动作执行回调函数"""
 
@@ -495,22 +539,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     for i, action in enumerate(self._action_value_mappings["sequence"]):
                         if i == 0:
                             self.lab_logger().info(f"执行序列动作第一步: {action}")
-                            getattr(self.driver_instance, action)(**kwargs)
+                            self.get_real_function(self.driver_instance, action)[0](**kwargs)
                         else:
                             self.lab_logger().info(f"执行序列动作后续步骤: {action}")
-                            getattr(self.driver_instance, action)()
+                            self.get_real_function(self.driver_instance, action)[0]()
 
                 action_paramtypes = get_type_hints(
-                    getattr(self.driver_instance, self._action_value_mappings["sequence"][0])
+                    self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0])
-                )
+                )[1]
             else:
-                ACTION = getattr(self.driver_instance, action_name)
+                ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
-                action_paramtypes = get_type_hints(ACTION)
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
@@ -609,7 +652,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
@@ -748,7 +791,7 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -12,11 +12,18 @@ from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
 from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
+from unilabos_msgs.srv import (
-    SerialCommand  # type: ignore
+    ResourceAdd,
+    ResourceGet,
+    ResourceDelete,
+    ResourceUpdate,
+    ResourceList,
+    SerialCommand,
+)  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
+from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -86,6 +93,7 @@ class HostNode(BaseROS2DeviceNode):
         self.__class__._instance = self
 
         # 初始化配置
+        self.server_latest_timestamp = 0.0  #
         self.devices_config = devices_config
         self.resources_config = resources_config
         self.physical_setup_graph = physical_setup_graph
@@ -99,9 +107,32 @@ class HostNode(BaseROS2DeviceNode):
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
-        self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
+        self.device_machine_names: Dict[str, str] = {
-        self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
+            device_id: "本地",
-        self._action_value_mappings: Dict[str, Dict] = {}  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
+        }  # 存储设备ID到机器名称的映射
+        self._action_clients: Dict[str, ActionClient] = {  # 为了方便了解实际的数据类型，host的默认写好
+            "/devices/host_node/create_resource": ActionClient(
+                self,
+                lab_registry.ResourceCreateFromOuterEasy,
+                "/devices/host_node/create_resource",
+                callback_group=self.callback_group,
+            ),
+            "/devices/host_node/create_resource_detailed": ActionClient(
+                self,
+                lab_registry.ResourceCreateFromOuter,
+                "/devices/host_node/create_resource_detailed",
+                callback_group=self.callback_group,
+            ),
+            "/devices/host_node/test_latency": ActionClient(
+                self,
+                lab_registry.EmptyIn,
+                "/devices/host_node/test_latency",
+                callback_group=self.callback_group,
+            ),
+        }  # 用来存储多个ActionClient实例
+        self._action_value_mappings: Dict[str, Dict] = (
+            {}
+        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
         self._last_discovery_time = 0.0  # 上次设备发现的时间
@@ -115,8 +146,11 @@ class HostNode(BaseROS2DeviceNode):
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
 
         from unilabos.app.mq import mqtt_client
-        for device_config in lab_registry.obtain_registry_device_info():
+
-            mqtt_client.publish_registry(device_config["id"], device_config)
+        for device_info in lab_registry.obtain_registry_device_info():
+            mqtt_client.publish_registry(device_info["id"], device_info)
+        for resource_info in lab_registry.obtain_registry_resource_info():
+            mqtt_client.publish_registry(resource_info["id"], resource_info)
 
         # 首次发现网络中的设备
         self._discover_devices()
@@ -141,12 +175,36 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
-
+        resources_config.insert(
+            0,
+            {
+                "id": "host_node",
+                "name": "host_node",
+                "parent": None,
+                "type": "device",
+                "class": "host_node",
+                "position": {"x": 0, "y": 0, "z": 0},
+                "config": {},
+                "data": {},
+                "children": [],
+            },
+        )
+        resource_with_parent_name = []
+        resource_ids_to_instance = {i["id"]: i for i in resources_config}
+        for res in resources_config:
+            if res.get("parent") and res.get("type") == "device" and res.get("class"):
+                parent_id = res.get("parent")
+                parent_res = resource_ids_to_instance[parent_id]
+                if parent_res.get("type") == "device" and parent_res.get("class"):
+                    resource_with_parent_name.append(copy.deepcopy(res))
+                    resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
+                    continue
+            resource_with_parent_name.append(copy.deepcopy(res))
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
                     self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
-                    bridge.resource_add(add_schema(resources_config))
+                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -156,6 +214,10 @@ class HostNode(BaseROS2DeviceNode):
             discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
         )
 
+        # 添加ping-pong相关属性
+        self._ping_responses = {}  # 存储ping响应
+        self._ping_lock = threading.Lock()
+
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
@@ -191,7 +253,7 @@ class HostNode(BaseROS2DeviceNode):
 
             # 如果是新设备，记录并创建ActionClient
             if edge_device_id not in self.devices_names:
-                self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
+                self.lab_logger().info(f"[Host Node] Discovered new device: {edge_device_id}")
                 self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
@@ -200,7 +262,7 @@ class HostNode(BaseROS2DeviceNode):
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
                 ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
@@ -211,7 +273,7 @@ class HostNode(BaseROS2DeviceNode):
                     target=self._send_re_register,
                     args=(sclient,),
                     daemon=True,
-                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
                 ).start()
 
         # 检测离线设备
@@ -255,7 +317,7 @@ class HostNode(BaseROS2DeviceNode):
                         self, action_type, action_id, callback_group=self.callback_group
                     )
                     self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
-                    action_name = action_id[len(namespace) + 1:]
+                    action_name = action_id[len(namespace) + 1 :]
                     edge_device_id = namespace[9:]
                     # from unilabos.app.mq import mqtt_client
                     # info_with_schema = ros_action_to_json_schema(action_type)
@@ -268,16 +330,26 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+    def create_resource_detailed(
-        for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
+        self,
+        resources: list["Resource"],
+        device_ids: list[str],
+        bind_parent_ids: list[str],
+        bind_locations: list[Point],
+        other_calling_params: list[str],
+    ):
+        for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
+            resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
+        ):
             # 这里要求device_id传入必须是edge_device_id
             namespace = "/devices/" + device_id
             srv_address = f"/srv{namespace}/append_resource"
             sclient = self.create_client(SerialCommand, srv_address)
             sclient.wait_for_service()
             request = SerialCommand.Request()
-            request.command = json.dumps({
+            request.command = json.dumps(
-                "resource": resource,
+                {
+                    "resource": resource,  # 单个/单组 可为 list[list[Resource]]
                     "namespace": namespace,
                     "edge_device_id": device_id,
                     "bind_parent_id": bind_parent_id,
@@ -287,11 +359,55 @@ class HostNode(BaseROS2DeviceNode):
                         "z": bind_location.z,
                     },
                     "other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
-            }, ensure_ascii=False)
+                },
+                ensure_ascii=False,
+            )
             response = sclient.call(request)
             pass
         pass
 
+    def create_resource(
+        self,
+        device_id: str,
+        res_id: str,
+        class_name: str,
+        parent: str,
+        bind_locations: Point,
+        liquid_input_slot: list[int],
+        liquid_type: list[str],
+        liquid_volume: list[int],
+        slot_on_deck: int,
+    ):
+        init_new_res = initialize_resource(
+            {
+                "name": res_id,
+                "class": class_name,
+                "parent": parent,
+                "position": {
+                    "x": bind_locations.x,
+                    "y": bind_locations.y,
+                    "z": bind_locations.z,
+                },
+            }
+        )  # flatten的格式
+        resources = init_new_res  # initialize_resource已经返回list[dict]
+        device_ids = [device_id]
+        bind_parent_id = [parent]
+        bind_location = [bind_locations]
+        other_calling_param = [
+            json.dumps(
+                {
+                    "ADD_LIQUID_TYPE": liquid_type,
+                    "LIQUID_VOLUME": liquid_volume,
+                    "LIQUID_INPUT_SLOT": liquid_input_slot,
+                    "initialize_full": False,
+                    "slot": slot_on_deck,
+                }
+            )
+        ]
+
+        return self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
+
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
         根据配置初始化设备，
@@ -319,7 +435,9 @@ class HostNode(BaseROS2DeviceNode):
             if action_id not in self._action_clients:
                 action_type = action_value_mapping["type"]
                 self._action_clients[action_id] = ActionClient(self, action_type, action_id)
-                self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}")  # 子设备再创建用的是Discover发现的
+                self.lab_logger().debug(
+                    f"[Host Node] Created ActionClient (Local): {action_id}"
+                )  # 子设备再创建用的是Discover发现的
                 # from unilabos.app.mq import mqtt_client
                 # info_with_schema = ros_action_to_json_schema(action_type)
                 # mqtt_client.publish_actions(action_name, {
@@ -419,7 +537,12 @@ class HostNode(BaseROS2DeviceNode):
                         )
 
     def send_goal(
-        self, device_id: str, action_name: str, action_kwargs: Dict[str, Any], goal_uuid: Optional[str] = None
+        self,
+        device_id: str,
+        action_name: str,
+        action_kwargs: Dict[str, Any],
+        goal_uuid: Optional[str] = None,
+        server_info: Optional[Dict[str, Any]] = None,
     ) -> None:
         """
         向设备发送目标请求
@@ -431,6 +554,8 @@ class HostNode(BaseROS2DeviceNode):
             goal_uuid: 目标UUID，如果为None则自动生成
         """
         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:
             self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
             return
@@ -725,3 +850,148 @@ class HostNode(BaseROS2DeviceNode):
         # 这里可以实现返回资源列表的逻辑
         self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
         return response
+
+    def test_latency(self):
+        """
+        测试网络延迟的action实现
+        通过5次ping-pong机制校对时间误差并计算实际延迟
+        """
+        import time
+        import uuid as uuid_module
+
+        self.lab_logger().info("=" * 60)
+        self.lab_logger().info("开始网络延迟测试...")
+
+        # 记录任务开始执行的时间
+        task_start_time = time.time()
+
+        # 进行5次ping-pong测试
+        ping_results = []
+
+        for i in range(5):
+            self.lab_logger().info(f"第{i+1}/5次ping-pong测试...")
+
+            # 生成唯一的ping ID
+            ping_id = str(uuid_module.uuid4())
+
+            # 记录发送时间
+            send_timestamp = time.time()
+
+            # 发送ping
+            from unilabos.app.mq import mqtt_client
+
+            mqtt_client.send_ping(ping_id, send_timestamp)
+
+            # 等待pong响应
+            timeout = 10.0
+            start_wait_time = time.time()
+
+            while time.time() - start_wait_time < timeout:
+                with self._ping_lock:
+                    if ping_id in self._ping_responses:
+                        pong_data = self._ping_responses.pop(ping_id)
+                        break
+                time.sleep(0.001)
+            else:
+                self.lab_logger().error(f"❌ 第{i+1}次测试超时")
+                continue
+
+            # 计算本次测试结果
+            receive_timestamp = time.time()
+            client_timestamp = pong_data["client_timestamp"]
+            server_timestamp = pong_data["server_timestamp"]
+
+            # 往返时间
+            rtt_ms = (receive_timestamp - send_timestamp) * 1000
+
+            # 客户端与服务端时间差（客户端时间 - 服务端时间）
+            # 假设网络延迟对称，取中间点的服务端时间
+            mid_point_time = send_timestamp + (receive_timestamp - send_timestamp) / 2
+            time_diff_ms = (mid_point_time - server_timestamp) * 1000
+
+            ping_results.append({"rtt_ms": rtt_ms, "time_diff_ms": time_diff_ms})
+
+            self.lab_logger().info(f"✅ 第{i+1}次: 往返时间={rtt_ms:.2f}ms, 时间差={time_diff_ms:.2f}ms")
+
+            time.sleep(0.1)
+
+        if not ping_results:
+            self.lab_logger().error("❌ 所有ping-pong测试都失败了")
+            return {"status": "all_timeout"}
+
+        # 统计分析
+        rtts = [r["rtt_ms"] for r in ping_results]
+        time_diffs = [r["time_diff_ms"] for r in ping_results]
+
+        avg_rtt_ms = sum(rtts) / len(rtts)
+        avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
+        max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
+
+        self.lab_logger().info("-" * 50)
+        self.lab_logger().info("[测试统计]")
+        self.lab_logger().info(f"有效测试次数: {len(ping_results)}/5")
+        self.lab_logger().info(f"平均往返时间: {avg_rtt_ms:.2f}ms")
+        self.lab_logger().info(f"平均时间差: {avg_time_diff_ms:.2f}ms")
+        self.lab_logger().info(f"时间差范围: {min(time_diffs):.2f}ms ~ {max(time_diffs):.2f}ms")
+        self.lab_logger().info(f"最大时间误差: ±{max_time_diff_error_ms:.2f}ms")
+
+        # 计算任务执行延迟
+        if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0:
+            self.lab_logger().info("-" * 50)
+            self.lab_logger().info("[任务执行延迟分析]")
+            self.lab_logger().info(f"服务端任务下发时间: {self.server_latest_timestamp:.6f}")
+            self.lab_logger().info(f"客户端任务开始时间: {task_start_time:.6f}")
+
+            # 原始时间差（不考虑时间同步误差）
+            raw_delay_ms = (task_start_time - self.server_latest_timestamp) * 1000
+
+            # 考虑时间同步误差后的延迟（用平均时间差校正）
+            corrected_delay_ms = raw_delay_ms - avg_time_diff_ms
+
+            self.lab_logger().info(f"📊 原始时间差: {raw_delay_ms:.2f}ms")
+            self.lab_logger().info(f"🔧 时间同步校正: {avg_time_diff_ms:.2f}ms")
+            self.lab_logger().info(f"⏰ 实际任务延迟: {corrected_delay_ms:.2f}ms")
+            self.lab_logger().info(f"📏 误差范围: ±{max_time_diff_error_ms:.2f}ms")
+
+            # 给出延迟范围
+            min_delay = corrected_delay_ms - max_time_diff_error_ms
+            max_delay = corrected_delay_ms + max_time_diff_error_ms
+            self.lab_logger().info(f"📋 延迟范围: {min_delay:.2f}ms ~ {max_delay:.2f}ms")
+
+        else:
+            self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
+            corrected_delay_ms = -1
+
+        self.lab_logger().info("=" * 60)
+
+        return {
+            "avg_rtt_ms": avg_rtt_ms,
+            "avg_time_diff_ms": avg_time_diff_ms,
+            "max_time_error_ms": max_time_diff_error_ms,
+            "task_delay_ms": corrected_delay_ms if corrected_delay_ms > 0 else -1,
+            "raw_delay_ms": (
+                raw_delay_ms if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0 else -1
+            ),
+            "test_count": len(ping_results),
+            "status": "success",
+        }
+
+    def handle_pong_response(self, pong_data: dict):
+        """
+        处理pong响应
+        """
+        ping_id = pong_data.get("ping_id")
+        if ping_id:
+            with self._ping_lock:
+                self._ping_responses[ping_id] = pong_data
+
+            # 详细信息合并为一条日志
+            client_timestamp = pong_data.get("client_timestamp", 0)
+            server_timestamp = pong_data.get("server_timestamp", 0)
+            current_time = time.time()
+
+            self.lab_logger().debug(
+                f"📨 Pong | ID:{ping_id[:8]}.. | C→S→C: {client_timestamp:.3f}→{server_timestamp:.3f}→{current_time:.3f}"
+            )
+        else:
+            self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")

unilabos_msgs/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-include cstdint)
 endif()
 
 # find dependencies
@@ -43,14 +44,10 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
-  "action/DPLiquidHandlerAddLiquid.action"
+  "action/LiquidHandlerAdd.action"
-  "action/DPLiquidHandlerCustomDelay.action"
+  "action/LiquidHandlerMix.action"
-  "action/DPLiquidHandlerMix.action"
+  "action/LiquidHandlerMoveTo.action"
-  "action/DPLiquidHandlerMoveTo.action"
+  "action/LiquidHandlerRemove.action"
-  "action/DPLiquidHandlerRemoveLiquid.action"
-  "action/DPLiquidHandlerSetTiprack.action"
-  "action/DPLiquidHandlerTouchTip.action"
-  "action/DPLiquidHandlerTransferLiquid.action"
 
   "action/EmptyIn.action"
   "action/FloatSingleInput.action"
@@ -59,6 +56,7 @@ set(action_files
   "action/Point3DSeparateInput.action"
 
   "action/ResourceCreateFromOuter.action"
+  "action/ResourceCreateFromOuterEasy.action"
 
   "action/SolidDispenseAddPowderTube.action"
 

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

@@ -1,6 +0,0 @@
-float64 seconds
-string msg
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

@@ -1,5 +0,0 @@
-Resource[] tip_racks
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

@@ -1,5 +0,0 @@
-Resource[] targets
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

@@ -1,25 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] sources
-Resource[] targets
-Resource[] tip_racks
-int32[] use_channels
-float64[] asp_flow_rates
-float64[] dis_flow_rates
-geometry_msgs/Point[] offsets
-bool touch_tip
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-string mix_stage
-int32[] mix_times
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-int32[] delays
-string[] none_keys
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerAspirate.action

@@ -5,7 +5,7 @@ float64[] flow_rates
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -5,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 # 结果字段
 bool success

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,11 +1,25 @@
-# Bio
+float64[] asp_vols
-Resource source
+float64[] dis_vols
+Resource[] sources
 Resource[] targets
-float64 source_vol
+Resource[] tip_racks
-float64[] ratios
+int32[] use_channels
-float64[] target_vols
+float64[] asp_flow_rates
-float64 aspiration_flow_rate
+float64[] dis_flow_rates
-float64[] dispense_flow_rates
+geometry_msgs/Point[] offsets
+bool touch_tip
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+string mix_stage
+int32[] mix_times
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+int32[] delays
+string[] none_keys
 ---
 bool success
 ---
+# 反馈

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -0,0 +1,12 @@
+string res_id
+string device_id
+string class_name
+string parent
+geometry_msgs/Point bind_locations
+int32[] liquid_input_slot
+string[] liquid_type
+float32[] liquid_volume
+int32 slot_on_deck
+---
+bool success
+---