Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev

2026-02-05 14:05:12 +00:00 · 2025-07-19 13:18:52 +08:00
parent de4da95616 3c9cca88ea
commit 826b04f515
20 changed files with 272 additions and 84 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -242,4 +242,3 @@ unilabos/device_mesh/view_robot.rviz
 **/.certs
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
-ros-humble-unilabos-msgs-0.9.12-h6403a04_5.tar.bz2
--- a/README.md
+++ b/README.md
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name

 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.14-xxxxx.tar.bz2

 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo
--- a/README_zh.md
+++ b/README_zh.md
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名

 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.14-xxxxx.tar.bz2

 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.9.13
+  version: 0.9.14
 source:
  path: ../../unilabos_msgs
  folder: ros-humble-unilabos-msgs/src/work
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.9.13"
+  version: "0.9.14"

 source:
  path: ../..
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.9.13',
+    version='0.9.14',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
--- a/test/experiments/prcxi.json
+++ b/test/experiments/prcxi.json
@@ -21,7 +21,7 @@
                "timeout": 10.0,
                "axis": "Right",
                "channel_num": 1,
-                "setup": false,
+                "setup": true,
                "debug": false,
                "simulator": false,
                "matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"
--- a/unilabos/app/register.py
+++ b/unilabos/app/register.py
@@ -18,10 +18,22 @@ def register_devices_and_resources(mqtt_client, lab_registry):
        mqtt_client.publish_registry(device_info["id"], device_info, False)
        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")

-    # 注册资源信息
+    # 注册资源信息 - 使用HTTP方式
+    from unilabos.app.web.client import http_client
+
+    resources_to_register = {}
    for resource_info in lab_registry.obtain_registry_resource_info():
-        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+        resources_to_register[resource_info["id"]] = resource_info
+        logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
+
+    if resources_to_register:
+        start_time = time.time()
+        response = http_client.resource_registry(resources_to_register)
+        cost_time = time.time() - start_time
+        if response.status_code in [200, 201]:
+            logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+        else:
+            logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")

    time.sleep(10)

@@ -53,11 +65,9 @@ def main():
        help="是否补全注册表",
    )
    args = parser.parse_args()
-
+    load_config_from_file(args.config)
    # 构建注册表
    build_registry(args.registry, args.complete_registry)
-    load_config_from_file(args.config)
-
    from unilabos.app.mq import mqtt_client

    # 连接mqtt
@@ -70,4 +80,4 @@ def main():


 if __name__ == "__main__":
-    main()
+    main()
--- a/unilabos/app/web/client.py
+++ b/unilabos/app/web/client.py
@@ -40,8 +40,9 @@ class HTTPClient:
        Returns:
            Response: API响应对象
        """
+        database_param = 1 if database_process_later else 0
        response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
            json=resources,
            headers={"Authorization": f"lab {self.auth}"},
            timeout=100,
@@ -149,6 +150,26 @@ class HTTPClient:
            )
        return response

+    def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
+        """
+        注册资源到服务器
+
+        Args:
+            registry_data: 注册表数据，格式为 {resource_id: resource_info}
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/registry/",
+            json=registry_data,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=30,
+        )
+        if response.status_code not in [200, 201]:
+            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
+        return response
+

 # 创建默认客户端实例
 http_client = HTTPClient()
--- a/unilabos/compile/adjustph_protocol.py
+++ b/unilabos/compile/adjustph_protocol.py
@@ -1,6 +1,6 @@
 import networkx as nx
 import logging
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Union
 from .pump_protocol import generate_pump_protocol_with_rinsing

 logger = logging.getLogger(__name__)
@@ -216,7 +216,7 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume

 def generate_adjust_ph_protocol(
    G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel:Union[dict,str],  # 🔧 修改：从字符串改为字典类型
    ph_value: float,
    reagent: str,
    **kwargs
@@ -235,8 +235,17 @@ def generate_adjust_ph_protocol(
        List[Dict[str, Any]]: 动作序列
    """
    
-    # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    # 统一处理vessel参数
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    
+    if not vessel_id:
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
+        raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
    
    debug_print("=" * 60)
    debug_print("🧪 开始生成pH调节协议")
--- a/unilabos/compile/evaporate_protocol.py
+++ b/unilabos/compile/evaporate_protocol.py
@@ -22,7 +22,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
    """
    if isinstance(time_input, (int, float)):
        debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
-        return float(time_input)
+        return float(time_input)  # 🔧 确保返回float
    
    if not time_input or not str(time_input).strip():
        debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
@@ -48,7 +48,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
        try:
            value = float(time_str)
            debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
-            return value
+            return float(value)  # 🔧 确保返回float
        except ValueError:
            debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
            return 180.0
@@ -70,7 +70,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
        time_sec = value  # 已经是s
        debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
    
-    return time_sec
+    return float(time_sec)  # 🔧 确保返回float

 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
    """
@@ -389,12 +389,12 @@ def generate_evaporate_protocol(
        "device_id": rotavap_device,
        "action_name": "evaporate",
        "action_kwargs": {
-            "vessel": target_vessel,  # 使用 target_vessel
-            "pressure": pressure,
-            "temp": temp,
-            "time": final_time,
-            "stir_speed": stir_speed,
-            "solvent": solvent
+            "vessel": target_vessel,
+            "pressure": float(pressure),
+            "temp": float(temp),
+            "time": float(final_time),  # 🔧 强制转换为float类型
+            "stir_speed": float(stir_speed),
+            "solvent": str(solvent)
        }
    }
    action_sequence.append(evaporate_action)
--- a/unilabos/compile/recrystallize_protocol.py
+++ b/unilabos/compile/recrystallize_protocol.py
@@ -170,33 +170,94 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
            debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
            return vessel_name
    
-    # 第二步：通过模糊匹配
+    # 第二步：通过模糊匹配（节点ID和名称）
    debug_print("  🔍 步骤2: 模糊名称匹配...")
    for node_id in G.nodes():
        if G.nodes[node_id].get('type') == 'container':
            node_name = G.nodes[node_id].get('name', '').lower()
            
            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
-                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} ✨")
+                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
                return node_id
    
-    # 第三步：通过液体类型匹配
-    debug_print("  🧪 步骤3: 液体类型匹配...")
+    # 第三步：通过配置中的试剂信息匹配
+    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查 config 中的 reagent 字段
+            node_config = G.nodes[node_id].get('config', {})
+            config_reagent = node_config.get('reagent', '').lower()
+            
+            if config_reagent and solvent.lower() == config_reagent:
+                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
+                return node_id
+    
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤4: 数据试剂信息匹配...")
    for node_id in G.nodes():
        if G.nodes[node_id].get('type') == 'container':
            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
            
+            # 检查 data 中的 reagent_name 字段
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            if reagent_name and solvent.lower() == reagent_name:
+                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
+                return node_id
+            
+            # 检查 data 中的液体信息
+            liquids = vessel_data.get('liquid', [])
            for liquid in liquids:
                if isinstance(liquid, dict):
                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
-                    reagent_name = vessel_data.get('reagent_name', '').lower()
                    
-                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
-                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} ✨")
+                    if solvent.lower() in liquid_type:
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
                        return node_id
    
+    # 第五步：部分匹配（如果前面都没找到）
+    debug_print("  🔍 步骤5: 部分匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            config_reagent = node_config.get('reagent', '').lower()
+            data_reagent = node_data.get('reagent_name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if (solvent.lower() in config_reagent or 
+                solvent.lower() in data_reagent or 
+                solvent.lower() in node_name or
+                solvent.lower() in node_id.lower()):
+                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
+                debug_print(f"    - 节点名称: {node_name}")
+                debug_print(f"    - 配置试剂: {config_reagent}")
+                debug_print(f"    - 数据试剂: {data_reagent}")
+                return node_id
+    
+    # 调试信息：列出所有容器
+    debug_print("  🔎 调试信息：列出所有容器...")
+    container_list = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '')
+            
+            container_info = {
+                'id': node_id,
+                'name': node_name,
+                'config_reagent': node_config.get('reagent', ''),
+                'data_reagent': node_data.get('reagent_name', '')
+            }
+            container_list.append(container_info)
+            debug_print(f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
+    
    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
+    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
+    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
+    
    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")


--- a/unilabos/compile/stir_protocol.py
+++ b/unilabos/compile/stir_protocol.py
@@ -149,7 +149,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
        str: vessel_id
    """
    if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
        return vessel_id
    elif isinstance(vessel, str):
--- a/unilabos/compile/wash_solid_protocol.py
+++ b/unilabos/compile/wash_solid_protocol.py
@@ -165,7 +165,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
        str: vessel_id
    """
    if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
        return vessel_id
    elif isinstance(vessel, str):
--- a/unilabos/devices/virtual/virtual_multiway_valve.py
+++ b/unilabos/devices/virtual/virtual_multiway_valve.py
@@ -70,11 +70,32 @@ class VirtualMultiwayValve:
            command: 目标位置 (0-8) 或位置字符串
                    0: transfer pump位置
                    1-8: 其他设备位置
+                    'default': 默认位置（0号位）
        """
        try:
-            # 如果是字符串形式的位置，先转换为数字
+            # 🔧 处理特殊字符串命令
            if isinstance(command, str):
-                pos = int(command)
+                command_lower = command.lower().strip()
+                
+                # 处理特殊命令
+                if command_lower in ['default', 'pump', 'transfer_pump', 'home']:
+                    pos = 0  # 默认位置为0号位（transfer pump）
+                    self.logger.info(f"🔧 特殊命令 '{command}' 映射到位置 {pos}")
+                elif command_lower in ['open']:
+                    pos = 0  # open命令也映射到0号位
+                    self.logger.info(f"🔧 OPEN命令映射到位置 {pos}")
+                elif command_lower in ['close', 'closed']:
+                    # 关闭命令保持当前位置
+                    pos = self._current_position
+                    self.logger.info(f"🔧 CLOSE命令保持当前位置 {pos}")
+                else:
+                    # 尝试转换为数字
+                    try:
+                        pos = int(command)
+                    except ValueError:
+                        error_msg = f"无法识别的命令: '{command}'"
+                        self.logger.error(f"❌ {error_msg}")
+                        raise ValueError(error_msg)
            else:
                pos = int(command)
                
--- a/unilabos/devices/virtual/virtual_rotavap.py
+++ b/unilabos/devices/virtual/virtual_rotavap.py
@@ -88,6 +88,20 @@ class VirtualRotavap:
    ) -> bool:
        """Execute evaporate action - 简化版 🌪️"""
        
+        # 🔧 新增：确保time参数是数值类型
+        if isinstance(time, str):
+            try:
+                time = float(time)
+            except ValueError:
+                self.logger.error(f"❌ 无法转换时间参数 '{time}' 为数值，使用默认值180.0秒")
+                time = 180.0
+        elif not isinstance(time, (int, float)):
+            self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
+            time = 180.0
+        
+        # 确保time是float类型
+        time = float(time)
+        
        # 🔧 简化处理：如果vessel就是设备自己，直接操作
        if vessel == self.device_id:
            debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
@@ -158,7 +172,7 @@ class VirtualRotavap:
            })
            return False

-        # 开始蒸发
+        # 开始蒸发 - 🔧 现在time已经确保是float类型
        self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
        
        self.data.update({
--- a/unilabos/registry/devices/work_station.yaml
+++ b/unilabos/registry/devices/work_station.yaml
@@ -245,8 +245,13 @@ workstation:
        feedback: {}
        goal:
          amount: amount
+          equiv: equiv
+          event: event
          mass: mass
+          mol: mol
          purpose: purpose
+          rate_spec: rate_spec
+          ratio: ratio
          reagent: reagent
          stir: stir
          stir_speed: stir_speed
@@ -469,7 +474,12 @@ workstation:
        goal:
          ph_value: ph_value
          reagent: reagent
+          settling_time: settling_time
+          stir: stir
+          stir_speed: stir_speed
+          stir_time: stir_time
          vessel: vessel
+          volume: volume
        goal_default:
          ph_value: 0.0
          reagent: ''
@@ -511,6 +521,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -674,6 +686,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -853,6 +867,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -1060,6 +1076,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -1191,6 +1209,10 @@ workstation:
        feedback: {}
        goal:
          amount: amount
+          event: event
+          mass: mass
+          mol: mol
+          reagent: reagent
          solvent: solvent
          stir_speed: stir_speed
          temp: temp
@@ -1246,6 +1268,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -1429,6 +1453,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -1585,6 +1611,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -1778,6 +1806,8 @@ workstation:
            data_type: resource
            handler_key: vessel_out
            label: Evaporation Vessel
+        placeholder_keys:
+          vessel: unilabos_nodes
        result: {}
        schema:
          description: ''
@@ -2014,6 +2044,9 @@ workstation:
            data_type: resource
            handler_key: filtrate_out
            label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_nodes
        result: {}
        schema:
          description: ''
@@ -2325,6 +2358,9 @@ workstation:
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -2656,6 +2692,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -2835,6 +2873,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -2986,6 +3026,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -3135,6 +3177,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -3354,6 +3398,9 @@ workstation:
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
        result: {}
        schema:
          description: ''
@@ -3667,6 +3714,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -4019,6 +4068,10 @@ workstation:
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
+        placeholder_keys:
+          column: unilabos_devices
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -4422,6 +4475,11 @@ workstation:
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
+          waste_phase_to_vessel: unilabos_resources
+          waste_vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -5053,6 +5111,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -5225,6 +5285,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -5391,6 +5453,8 @@ workstation:
            data_type: resource
            handler_key: VesselOut
            label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
@@ -5556,6 +5620,9 @@ workstation:
            data_type: resource
            handler_key: ToVesselOut
            label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
        result: {}
        schema:
          description: ''
@@ -5722,6 +5789,9 @@ workstation:
            data_type: resource
            handler_key: filtrate_vessel_out
            label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_resources
        result: {}
        schema:
          description: ''
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -127,6 +127,8 @@ class Registry:
                        },
                    },
                    "version": "1.0.0",
+                    "category": [],
+                    "config_info": [],
                    "icon": "icon_device.webp",
                    "registry_type": "device",
                    "handles": [],
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -248,7 +248,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
    root_nodes = {
        node["id"]: node
        for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
    }

    # 如果存在多个根节点，返回所有根节点
--- a/unilabos/ros/nodes/presets/protocol_node.py
+++ b/unilabos/ros/nodes/presets/protocol_node.py
@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):

                # # 🔧 完全禁用Host查询，直接使用转换后的数据
                # print(f"🔧 跳过Host查询，直接使用转换后的数据")
-                
-                # 🔧 额外验证：确保vessel数据完整
-                if 'vessel' in protocol_kwargs:
-                    vessel_data = protocol_kwargs['vessel']
-                    #print(f"🔍 验证vessel数据: {vessel_data}")
-                    
-                    # 如果vessel是空字典，尝试重新构建
-                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
-                    #    print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
-                        
-                        # 直接从原始goal提取vessel
-                        if hasattr(goal, 'vessel') and goal.vessel:
-                    #        print(f"🔍 原始goal.vessel: {goal.vessel}")
-                            # 手动转换vessel
-                            vessel_data = {
-                                'id': goal.vessel.id,
-                                'name': goal.vessel.name,
-                                'type': goal.vessel.type,
-                                'category': goal.vessel.category,
-                                'config': goal.vessel.config,
-                                'data': goal.vessel.data
-                            }
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"✅ 手动重建vessel数据: {vessel_data}")
-                        else:
-                    #        print(f"❌ 无法从原始goal提取vessel数据")
-                            # 创建一个基本的vessel
-                            vessel_data = {'id': 'default_vessel'}
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"🔧 创建默认vessel: {vessel_data}")
+                # 向Host查询物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceGet.Request()
+                        resource_id = (
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        )
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )

-                #print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
-                #print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+                self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
+                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")

                from unilabos.resources.graphio import physical_setup_graph

                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
-                self.lab_logger().info(f"Protocol kwargs: {goal}")
-                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
                
                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                            }
                        )

-                # # 向Host更新物料当前状态
-                # for k, v in goal.get_fields_and_field_types().items():
-                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                #         r = ResourceUpdate.Request()
-                #         r.resources = [
-                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                #         ]
-                #         response = await self._resource_clients["resource_update"].call_async(r)
+                # 向Host更新物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceUpdate.Request()
+                        r.resources = [
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)

                # 设置成功状态和返回值
                execution_success = True