Merge remote-tracking branch 'upstream/dev' into device_visualization

README.md

@@ -42,10 +42,11 @@ 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-0.8.0-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.0-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
-git clone https://github.com/PyLabRobot/pylabrobot
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
 pip install .[opentrons]
 ```
 

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

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.8.0
+  version: 0.9.0
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.8.0"
+  version: "0.9.0"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.8.0',
+    version='0.9.0',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/commands/resource_add.md

@@ -0,0 +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: [ '{}' ] }"
+```

test/experiments/plr_test.json

@@ -6679,8 +6679,7 @@
                 "plate_well_11_3",
                 "plate_well_11_4",
                 "plate_well_11_5",
-                "plate_well_11_6",
+                "plate_well_11_6"
-                "plate_well_11_7"
             ],
             "parent": "deck",
             "type": "device",
@@ -10508,45 +10507,6 @@
                 "pending_liquids": [],
                 "liquid_history": []
             }
-        },
-        {
-            "id": "plate_well_11_7",
-            "name": "plate_well_11_7",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 109.87,
-                "y": 7.77,
-                "z": 3.03
-            },
-            "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": []
-            }
         }
     ],
     "links": []

test/experiments/test_copy.json

@@ -62,6 +62,7 @@
             "name": "teaching_carrier",
             "sample_id": null,
             "children": [
+                "teaching_carrier_A1"
             ],
             "parent": "deck",
             "type": "plate",
@@ -86,6 +87,46 @@
                 "model": null
             },
             "data": {}
+        },
+        {
+            "id": "teaching_carrier_A1",
+            "name": "teaching_carrier_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "teaching_carrier",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.87,
+                "y": 70.77,
+                "z": 10
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 6.86,
+                "size_y": 6.86,
+                "size_z": 10.67,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
         }
     ],
     "links": [

unilabos-linux-64.yaml

@@ -59,3 +59,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-osx-64.yaml

@@ -59,3 +59,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-osx-arm64.yaml

@@ -61,3 +61,5 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos-win64.yaml

@@ -58,4 +58,6 @@ dependencies:
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  # ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt

unilabos/app/backend.py

@@ -7,7 +7,7 @@ from unilabos.utils import logger
 def start_backend(
     backend: str,
     devices_config: dict = {},
-    resources_config: dict = {},
+    resources_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],

unilabos/app/main.py

@@ -1,30 +1,24 @@
 import argparse
 import asyncio
+import json
 import os
 import signal
 import sys
-import json
+import threading
 import time
+from copy import deepcopy
 
 import yaml
-from copy import deepcopy
-import threading
-
-import rclpy
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
-ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
+unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
-if ilabos_dir not in sys.path:
+if unilabos_dir not in sys.path:
-    sys.path.append(ilabos_dir)
+    sys.path.append(unilabos_dir)
 
 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
-from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
-from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
-from rclpy.executors import MultiThreadedExecutor
 
 
 def parse_args():
@@ -83,9 +77,9 @@ def parse_args():
     )
     parser.add_argument(
         "--visual",
-        choices=["rviz", "web","None"],
+        choices=["rviz", "web", "deck", "disable"],
-        default="rviz",
+        default="disable",
-        help="选择可视化工具: 'rviz' 或 'web' 或 'None'，默认'rviz'",
+        help="选择可视化工具: rviz, web, deck(2D bird view)",
     )
     return parser.parse_args()
 
@@ -137,7 +131,7 @@ def main():
     # 注册表
     build_registry(args_dict["registry_path"])
 
-
+    devices_and_resources = None
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
         graph_res.physical_setup_graph = (
@@ -185,24 +179,22 @@ def main():
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
-    
+    # web visiualize 2D
-    if args_dict["visual"] != "None":
+    if args_dict["visual"] != "disable":
-        if args_dict["visual"] == "rviz":
+        enable_rviz = args_dict["visual"] == "rviz"
-            enable_rviz=True
+        if devices_and_resources is not None:
-        elif args_dict["visual"] == "web":
+            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
-            enable_rviz=False
+            args_dict["resources_mesh_config"] = resource_visualization.resource_model
-        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+            start_backend(**args_dict)
-
+            server_thread = threading.Thread(target=start_server)
-        args_dict["resources_mesh_config"] = resource_visualization.resource_model
+            server_thread.start()
-        # 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中
+            asyncio.set_event_loop(asyncio.new_event_loop())
-        
+            resource_visualization.start()
-        start_backend(**args_dict)
+            while True:
-        server_thread = threading.Thread(target=start_server)
+                time.sleep(1)
-        server_thread.start()
+        else:
-        asyncio.set_event_loop(asyncio.new_event_loop())
+            start_backend(**args_dict)
-        resource_visualization.start()
+            start_server()
-        while True:
-            time.sleep(1)
     else:
         start_backend(**args_dict)
         start_server()

unilabos/app/web/client.py

@@ -9,6 +9,7 @@ from typing import List, Dict, Any, Optional
 import requests
 from unilabos.utils.log import info
 from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.utils import logger
 
 
 class HTTPClient:
@@ -102,6 +103,30 @@ class HTTPClient:
         )
         return response
 
+    def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
+        """
+        上传文件到服务器
+
+        使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
+
+        Args:
+            file_path: 要上传的文件路径
+            scene: 上传场景，可选值为"user"或"models"，默认为"models"
+
+        Returns:
+            Response: API响应对象
+        """
+        with open(file_path, "rb") as file:
+            files = {"files": file}
+            logger.info(f"上传文件: {file_path} 到 {scene}")
+            response = requests.post(
+                f"{self.remote_addr}/api/account/file_upload/{scene}",
+                files=files,
+                headers={"Authorization": f"lab {self.auth}"},
+                timeout=30,  # 上传文件可能需要更长的超时时间
+            )
+        return response
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/utils/action_utils.py

@@ -8,7 +8,7 @@ import traceback
 from typing import Dict, Any, Type, TypedDict, Optional
 
 from rclpy.action import ActionClient, ActionServer
-from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
 
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
         for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
             slot_name, slot_type = slot_info
             type_info = goal_type.SLOT_TYPES[ind]
-            default_value = "unknown"
             if isinstance(type_info, UnboundedSequence):
                 inner_type = type_info.value_type
                 if isinstance(inner_type, NamespacedType):
@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
                     default_value = [get_ros_msg_instance_as_dict(type_class())]
                 elif isinstance(inner_type, BasicType):
                     default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                elif isinstance(inner_type, UnboundedString):
+                    default_value = [""]
                 else:
-                    default_value = "unknown"
+                    default_value = []
             elif isinstance(type_info, NamespacedType):
                 cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
                 type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
                 default_value = get_ros_msg_instance_as_dict(type_class())
             elif isinstance(type_info, BasicType):
                 default_value = get_default_value_for_ros_type(type_info.typename)
+            elif isinstance(type_info, UnboundedString):
+                default_value = ""
             else:
                 type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
                 if type_class is not None:

unilabos/devices/laiyu_add_solid/laiyu.py

@@ -0,0 +1,304 @@
+import serial
+import time
+import pandas as pd
+
+
+class Laiyu:
+    @property
+    def status(self) -> str:
+        return ""
+    
+
+    def __init__(self, port, baudrate=115200, timeout=0.5):
+        """
+        初始化串口参数，默认波特率115200，8位数据位、1位停止位、无校验
+        """
+        self.ser = serial.Serial(port, baudrate=baudrate, timeout=timeout)
+    
+    def calculate_crc(self, data: bytes) -> bytes:
+        """
+        计算Modbus CRC-16，返回低字节和高字节（little-endian）
+        """
+        crc = 0xFFFF
+        for pos in data:
+            crc ^= pos
+            for _ in range(8):
+                if crc & 0x0001:
+                    crc = (crc >> 1) ^ 0xA001
+                else:
+                    crc >>= 1
+        return crc.to_bytes(2, byteorder='little')
+    
+    def send_command(self, command: bytes) -> bytes:
+        """
+        构造完整指令帧（加上CRC校验），发送指令后一直等待设备响应，直至响应结束或超时（最大3分钟）
+        """
+        crc = self.calculate_crc(command)
+        full_command = command + crc
+        # 清空接收缓存
+        self.ser.reset_input_buffer()
+        self.ser.write(full_command)
+        print("发送指令：", full_command.hex().upper())  # 打印发送的指令帧
+        
+        # 持续等待响应，直到连续0.5秒没有新数据或超时（3分钟）
+        start_time = time.time()
+        last_data_time = time.time()
+        response = bytearray()
+        while True:
+            if self.ser.in_waiting > 0:
+                new_data = self.ser.read(self.ser.in_waiting)
+                response.extend(new_data)
+                last_data_time = time.time()
+            # 如果已有数据，并且0.5秒内无新数据，则认为响应结束
+            if response and (time.time() - last_data_time) > 0.5:
+                break
+            # 超过最大等待时间，退出循环
+            if time.time() - start_time > 180:
+                break
+            time.sleep(0.1)
+        return bytes(response)
+
+    def pick_powder_tube(self, int_input: int) -> bytes:
+        """
+        拿取粉筒指令：
+         - 功能码06
+         - 寄存器地址0x0037（取粉筒）
+         - 数据：粉筒编号（如1代表A，2代表B，以此类推）
+        示例：拿取A粉筒指令帧：01 06 00 37 00 01 + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x06
+        register_addr = 0x0037
+        # 数据部分：粉筒编号转换为2字节大端
+        data = int_input.to_bytes(2, byteorder='big')
+        command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
+        return self.send_command(command)
+    
+    def put_powder_tube(self, int_input: int) -> bytes:
+        """
+        放回粉筒指令：
+         - 功能码06
+         - 寄存器地址0x0038（放回粉筒）
+         - 数据：粉筒编号
+        示例：放回A粉筒指令帧：01 06 00 38 00 01 + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x06
+        register_addr = 0x0038
+        data = int_input.to_bytes(2, byteorder='big')
+        command = bytes([slave_addr, function_code]) + register_addr.to_bytes(2, byteorder='big') + data
+        return self.send_command(command)
+
+    def reset(self) -> bytes:
+        """
+        重置指令：
+         - 功能码   0x06
+         - 寄存器地址 0x0042 （示例中用了 00 42）
+         - 数据     0x0001
+        示例发送：01 06 00 42 00 01 E8 1E
+        """
+        slave_addr    = 0x01
+        function_code = 0x06
+        register_addr = 0x0042               # 对应示例中的 00 42
+        payload       = (0x0001).to_bytes(2, 'big')  # 重置命令
+
+        cmd = (
+            bytes([slave_addr, function_code])
+            + register_addr.to_bytes(2, 'big')
+            + payload
+        )
+        return self.send_command(cmd)
+
+
+    def move_to_xyz(self, x: float, y: float, z: float) -> bytes:
+        """
+        移动到指定位置指令：
+         - 功能码10（写多个寄存器）
+         - 寄存器起始地址0x0030
+         - 寄存器数量：3个（x,y,z）
+         - 字节计数：6
+         - 数据：x,y,z各2字节，单位为0.1mm（例如1mm对应数值10）
+        示例帧：01 10 00 30 00 03 06 00C8 02BC 02EE + CRC
+        """
+        slave_addr = 0x01
+        function_code = 0x10
+        register_addr = 0x0030
+        num_registers = 3
+        byte_count = num_registers * 2  # 6字节
+        
+        # 将mm转换为0.1mm单位（乘以10），转换为2字节大端表示
+        x_val = int(x * 10)
+        y_val = int(y * 10)
+        z_val = int(z * 10)
+        data = x_val.to_bytes(2, 'big') + y_val.to_bytes(2, 'big') + z_val.to_bytes(2, 'big')
+        
+        command = (bytes([slave_addr, function_code]) +
+                   register_addr.to_bytes(2, 'big') +
+                   num_registers.to_bytes(2, 'big') +
+                   byte_count.to_bytes(1, 'big') +
+                   data)
+        return self.send_command(command)
+    
+    def discharge(self, float_in: float) -> bytes:
+        """
+        出料指令：
+        - 使用写多个寄存器命令（功能码 0x10）
+        - 寄存器起始地址设为 0x0039
+        - 寄存器数量为 0x0002（两个寄存器：出料质量和误差范围）
+        - 字节计数为 0x04（每个寄存器2字节，共4字节）
+        - 数据：出料质量（单位0.1mg，例如10mg对应100，即0x0064）、误差范围固定为0x0005
+        示例发送帧：01 10 00 39 0002 04 00640005 + CRC
+        """
+        mass = float_in
+        slave_addr = 0x01
+        function_code = 0x10            # 修改为写多个寄存器的功能码
+        start_register = 0x0039         # 寄存器起始地址
+        quantity = 0x0002               # 寄存器数量
+        byte_count = 0x04               # 字节数：2寄存器*2字节=4
+        mass_val = int(mass * 10)       # 质量转换，单位0.1mg
+        error_margin = 5                # 固定误差范围，0x0005
+
+        command = (bytes([slave_addr, function_code]) +
+                start_register.to_bytes(2, 'big') +
+                quantity.to_bytes(2, 'big') +
+                byte_count.to_bytes(1, 'big') +
+                mass_val.to_bytes(2, 'big') +
+                error_margin.to_bytes(2, 'big'))
+        return self.send_command(command)
+
+
+    '''
+    示例：这个是标智96孔板的坐标转换，但是不同96孔板的坐标可能不同
+    所以需要根据实际情况进行修改
+    '''
+
+    def move_to_plate(self, string):
+        #只接受两位数的str，比如a1，a2，b1，b2
+        # 解析位置字符串
+        if len(string) != 2 and len(string) != 3:
+            raise ValueError("Invalid plate position")
+        if not string[0].isalpha() or not string[1:].isdigit():
+            raise ValueError("Invalid plate position")
+        a = string[0]  # 字母部分s
+        b = string[1:]  # 数字部分
+
+        if a.isalpha():
+            a = ord(a.lower()) - ord('a') + 1
+        else:
+            print('1')
+            raise ValueError("Invalid plate position")
+        a = int(a)
+        b = int(b)
+        # max a = 8, max b = 12, 否则报错
+        if a > 8 or b > 12:
+            print('2')
+            raise ValueError("Invalid plate position")
+        # 计算移动到指定位置的坐标
+        #  a=1, x=3.0; a=12, x=220.0
+        #  b=1, y=62.0; b=8, y=201.0
+        # z = 110.0
+        x = float((b-1) * (220-4.0)/11 + 4.0)
+        y = float((a-1) * (201.0-62.0)/7 + 62.0)
+        z = 110.0
+        # 移动到指定位置
+        resp_move = self.move_to_xyz(x, y, z)
+        print("移动位置响应：", resp_move.hex().upper())
+        # 打印移动到指定位置的坐标
+        print(f"移动到位置：{string}，坐标：x={x:.2f}, y={y:.2f}, z={z:.2f}")
+        return resp_move
+
+    def add_powder_tube(self, powder_tube_number, target_tube_position, compound_mass):
+        # 拿取粉筒
+        resp_pick = self.pick_powder_tube(powder_tube_number)
+        print("拿取粉筒响应：", resp_pick.hex().upper())
+        time.sleep(1)
+        # 移动到指定位置
+        self.move_to_plate(target_tube_position)
+        time.sleep(1)
+        # 出料，设定质量
+        resp_discharge = self.discharge(compound_mass)
+        print("出料响应：", resp_discharge.hex().upper())
+        # 使用modbus协议读取实际出料质量
+        # 样例 01 06 00 40 00 64 89 F5，其中 00 64 是实际出料质量，换算为十进制为100，代表10 mg
+        # 从resp_discharge读取实际出料质量
+        # 提取字节4和字节5的两个字节
+        actual_mass_raw = int.from_bytes(resp_discharge[4:6], byteorder='big')
+        # 根据说明，将读取到的数据转换为实际出料质量（mg），这里除以10，例如：0x0064 = 100，转换后为10 mg
+        actual_mass_mg = actual_mass_raw / 10
+        print(f"孔位{target_tube_position}，实际出料质量：{actual_mass_mg}mg")
+        time.sleep(1)
+        # 放回粉筒
+        resp_put = self.put_powder_tube(powder_tube_number)
+        print("放回粉筒响应：", resp_put.hex().upper())
+        print(f"放回粉筒{powder_tube_number}")
+        resp_reset = self.reset()
+        return actual_mass_mg
+
+
+
+'''
+样例：对单个粉筒进行称量
+'''
+
+modbus = Laiyu(port="COM25") 
+
+mass_test = modbus.add_powder_tube(1, 'h12', 6.0)
+print(f"实际出料质量：{mass_test}mg")
+
+
+'''
+样例: 对一份excel文件记录的化合物进行称量
+'''
+
+excel_file = r"C:\auto\laiyu\test1.xlsx"
+# 定义输出文件路径，用于记录实际加样多少
+output_file = r"C:\auto\laiyu\test_output.xlsx"
+
+# 定义物料名称和料筒位置关系
+compound_positions = {
+    'XPhos': '1',
+    'Cu(OTf)2': '2',
+    'CuSO4': '3',
+    'PPh3': '4',
+}
+
+# read excel file
+# excel_file = r"C:\auto\laiyu\test.xlsx"
+df = pd.read_excel(excel_file, sheet_name='Sheet1')
+# 读取Excel文件中的数据
+# 遍历每一行数据
+for index, row in df.iterrows():
+    # 获取物料名称和质量
+    copper_name = row['copper']
+    copper_mass = row['copper_mass']
+    ligand_name = row['ligand']
+    ligand_mass = row['ligand_mass']
+    target_tube_position = row['position']
+    # 获取物料位置 from compound_positions
+    copper_position = compound_positions.get(copper_name)
+    ligand_position = compound_positions.get(ligand_name)
+    # 判断物料位置是否存在
+    if copper_position is None:
+        print(f"物料位置不存在：{copper_name}")
+        continue
+    if ligand_position is None:
+        print(f"物料位置不存在：{ligand_name}")
+        continue
+    # 加铜
+    copper_actual_mass = modbus.add_powder_tube(int(copper_position), target_tube_position, copper_mass)
+    time.sleep(1)
+    # 加配体
+    ligand_actual_mass = modbus.add_powder_tube(int(ligand_position), target_tube_position, ligand_mass)
+    time.sleep(1)
+    # 保存至df
+    df.at[index, 'copper_actual_mass'] = copper_actual_mass
+    df.at[index, 'ligand_actual_mass'] = ligand_actual_mass
+
+# 保存修改后的数据到新的Excel文件
+df.to_excel(output_file, index=False)
+print(f"已保存到文件：{output_file}")
+
+# 关闭串口
+modbus.ser.close()
+print("串口已关闭")
+

unilabos/devices/liquid_handling/action_definition.py

@@ -0,0 +1,355 @@
+from __future__ import annotations
+
+from typing import List, Sequence, Optional, Literal, Union, Iterator
+
+import asyncio
+import time
+
+from pylabrobot.liquid_handling import LiquidHandler
+from pylabrobot.resources import (
+    Resource,
+    TipRack,
+    Container,
+    Coordinate,
+    Well
+)
+
+class DPLiquidHandler(LiquidHandler):
+    """Extended LiquidHandler with additional operations."""
+
+    # ---------------------------------------------------------------
+    # REMOVE LIQUID --------------------------------------------------
+    # ---------------------------------------------------------------
+
+    async def remove_liquid(
+        self,
+        vols: List[float],
+        sources: Sequence[Container],
+        waste_liquid: Optional[Container] = None,
+        *,
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
+        delays: Optional[List[int]] = None,
+        is_96_well: Optional[bool] = False,
+        top: Optional[List(float)] = None,
+        none_keys: List[str] = []
+    ):
+        """A complete *remove* (aspirate → waste) operation."""
+        trash = self.deck.get_trash_area()
+        try:
+            if is_96_well:
+                pass # This mode is not verified
+            else:
+                if len(vols) != len(sources):
+                    raise ValueError("Length of `vols` must match `sources`.")
+
+                for src, vol in zip(sources, vols):
+                    self.move_to(src, dis_to_top=top[0] if top else 0)
+                    tip = next(self.current_tip)
+                    await self.pick_up_tips(tip)
+                    await self.aspirate(
+                        resources=[src],
+                        vols=[vol],
+                        use_channels=use_channels, # only aspirate96 used, default to None
+                        flow_rates=[flow_rates[0]] if flow_rates else None,
+                        offsets=[offsets[0]] if offsets else None,
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
+                        blow_out_air_volume=blow_out_air_volume[0] if blow_out_air_volume else None,
+                        spread=spread,
+                    )
+                    await self.custom_delay(seconds=delays[0] if delays else 0)
+                    await self.dispense(
+                        resources=waste_liquid,
+                         vols=[vol],
+                         use_channels=use_channels,
+                         flow_rates=[flow_rates[1]] if flow_rates else None,
+                         offsets=[offsets[1]] if offsets else None,
+                         liquid_height=[liquid_height[1]] if liquid_height else None,
+                         blow_out_air_volume=blow_out_air_volume[1] if blow_out_air_volume else None,
+                         spread=spread,
+                     )
+                    await self.discard_tips() # For now, each of tips is discarded after use
+
+        except Exception as e:
+            raise RuntimeError(f"Liquid removal failed: {e}") from e
+
+    # ---------------------------------------------------------------
+    # ADD LIQUID -----------------------------------------------------
+    # ---------------------------------------------------------------
+
+    async def add_liquid(
+        self,
+        asp_vols: Union[List[float], float],
+        dis_vols: Union[List[float], float],
+        reagent_sources: Sequence[Container],
+        targets: Sequence[Container],
+        *,
+        use_channels: Optional[List[int]] = None,
+        flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
+        is_96_well: bool = False,
+        delays: Optional[List[int]] = None,
+        mix_time: Optional[int] = None,
+        mix_vol: Optional[int] = None,
+        mix_rate: Optional[int] = None,
+        mix_liquid_height: Optional[float] = None,
+        none_keys: List[str] = []
+    ):
+        """A complete *add* (aspirate reagent → dispense into targets) operation."""
+
+        try:
+            if is_96_well:
+                pass # This mode is not verified.
+            else:
+                if len(asp_vols) != len(targets):
+                    raise ValueError("Length of `vols` must match `targets`.")
+                tip = next(self.current_tip)
+                await self.pick_up_tips(tip)
+
+                for _ in range(len(targets)):
+                    await self.aspirate(
+                        resources=reagent_sources,
+                        vols=[asp_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[flow_rates[0]] if flow_rates else None,
+                        offsets=[offsets[0]] if offsets else None,
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
+                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
+                        spread=spread
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[0])
+                    await self.dispense(
+                        resources=[targets[_]],
+                        vols=[dis_vols[_]],
+                        use_channels=use_channels,
+                        flow_rates=[flow_rates[1]] if flow_rates else None,
+                        offsets=[offsets[1]] if offsets else None,
+                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
+                        liquid_height=[liquid_height[1]] if liquid_height else None,
+                        spread=spread,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.mix(
+                        targets=targets[_],
+                        mix_time=mix_time,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None)
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.touch_tip(targets[_])
+                await self.discard_tips()
+
+        except Exception as e:
+            raise RuntimeError(f"Liquid addition failed: {e}") from e
+
+    # ---------------------------------------------------------------
+    # TRANSFER LIQUID ------------------------------------------------
+    # ---------------------------------------------------------------
+    async def transfer_liquid(
+        self,
+        asp_vols: Union[List[float], float],
+        dis_vols: Union[List[float], float],
+        sources: Sequence[Container],
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        *,
+        use_channels: Optional[List[int]] = None,
+        asp_flow_rates: Optional[List[Optional[float]]] = None,
+        dis_flow_rates: Optional[List[Optional[float]]] = None,
+        offsets: Optional[List[Coordinate]] = None,
+        touch_tip: bool = False,
+        liquid_height: Optional[List[Optional[float]]] = None,
+        blow_out_air_volume: Optional[List[Optional[float]]] = None,
+        spread: Literal["wide", "tight", "custom"] = "wide",
+        is_96_well: bool = False,
+        mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
+        mix_times: Optional[List(int)] = None,
+        mix_vol: Optional[int] = None,
+        mix_rate: Optional[int] = None,
+        mix_liquid_height: Optional[float] = None,
+        delays: Optional[List[int]] = None,
+        none_keys: List[str] = []
+    ):
+        """Transfer liquid from each *source* well/plate to the corresponding *target*.
+
+        Parameters
+        ----------
+        asp_vols, dis_vols
+            Single volume (µL) or list matching the number of transfers.
+        sources, targets
+            Same‑length sequences of containers (wells or plates). In 96‑well mode
+            each must contain exactly one plate.
+        tip_racks
+            One or more TipRacks providing fresh tips.
+        is_96_well
+            Set *True* to use the 96‑channel head.
+        """
+
+        try:
+            # ------------------------------------------------------------------
+            # 96‑channel head mode
+            # ------------------------------------------------------------------
+            if is_96_well:
+                pass # This mode is not verified
+            else:
+                if not (len(asp_vols) == len(sources) and len(dis_vols) == len(targets)):
+                    raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
+
+                tip_iter = self.iter_tips(tip_racks)
+                for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in (
+                        zip(sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates)):
+                    tip = next(tip_iter)
+                    await self.pick_up_tips(tip)
+                    # Aspirate from source
+                    await self.aspirate(
+                        resources=[src],
+                        vols=[asp_vol],
+                        use_channels=use_channels,
+                        flow_rates=[asp_flow_rate],
+                        offsets=offsets,
+                        liquid_height=liquid_height,
+                        blow_out_air_volume=blow_out_air_volume,
+                        spread=spread,
+                    )
+                    self.custom_delay(seconds=delays[0] if delays else 0)
+                    # Dispense into target
+                    await self.dispense(
+                        resources=[tgt],
+                        vols=[dis_vol],
+                        use_channels=use_channels,
+                        flow_rates=[dis_flow_rate],
+                        offsets=offsets,
+                        liquid_height=liquid_height,
+                        blow_out_air_volume=blow_out_air_volume,
+                        spread=spread,
+                    )
+                    await self.mix(
+                        targets=[tgt],
+                        mix_time=mix_times[0] if mix_times else None,
+                        mix_vol=mix_vol[0] if mix_vol else None,
+                        mix_rate=mix_rate[0] if mix_rate else None,
+                    )
+                    if touch_tip:
+                        await self.touch_tip(tgt)
+                    await self.discard_tips()
+
+        except Exception as exc:
+            raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
+
+# ---------------------------------------------------------------
+# Helper utilities
+# ---------------------------------------------------------------
+
+    async def custom_delay(self, seconds=0, msg=None):
+        """
+        seconds: seconds to wait
+        msg: information to be printed
+        """
+        if seconds != None and seconds > 0:
+            if msg:
+                print(f"Waiting time: {msg}")
+                print(f"Current time: {time.strftime('%H:%M:%S')}")
+                print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
+            await asyncio.sleep(seconds)
+            if msg:
+                print(f"Done: {msg}")
+                print(f"Current time: {time.strftime('%H:%M:%S')}")
+
+    async def touch_tip(self,
+                        targets: Sequence[Container],
+                        ):
+        """Touch the tip to the side of the well."""
+        await self.aspirate(
+            resources=[targets],
+            vols=[0],
+            use_channels=None,
+            flow_rates=None,
+            offsets=[Coordinate(x=-targets.get_size_x()/2,y=0,z=0)],
+            liquid_height=None,
+            blow_out_air_volume=None
+        )
+        #await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
+        await self.aspirate(
+            resources=[targets],
+            vols=[0],
+            use_channels=None,
+            flow_rates=None,
+            offsets=[Coordinate(x=targets.get_size_x()/2,y=0,z=0)],
+            liquid_height=None,
+            blow_out_air_volume=None
+        )
+
+    async def mix(
+        self,
+        targets: Sequence[Container],
+        mix_time: int = None,
+        mix_vol: Optional[int] = None,
+        height_to_bottom: Optional[float] = None,
+        offsets: Optional[Coordinate] = None,
+        mix_rate: Optional[float] = None,
+        none_keys: List[str] = []
+    ):
+        if mix_time is None: # No mixing required
+            return
+        """Mix the liquid in the target wells."""
+        for _ in range(mix_time):
+            await self.aspirate(
+                resources=[targets],
+                vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
+                offsets=[offsets] if offsets else None,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
+            )
+            await self.custom_delay(seconds=1)
+            await self.dispense(
+                resources=[targets],
+                vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
+                offsets=[offsets] if offsets else None,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
+            )
+
+    def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
+        """Yield tips from a list of TipRacks one-by-one until depleted."""
+        for rack in tip_racks:
+            for tip in rack:
+                yield tip
+        raise RuntimeError("Out of tips!")
+
+    def set_tiprack(self, tip_racks: Sequence[TipRack]):
+        """Set the tip racks for the liquid handler."""
+        self.tip_racks = tip_racks
+        tip_iter = self.iter_tips(tip_racks)
+        self.current_tip = tip_iter
+
+    async def move_to(self, well: Well, dis_to_top: float = 0 , channel: int = 0):
+        """
+        Move a single channel to a specific well with a given z-height.
+
+        Parameters
+        ----------
+        well : Well
+            The target well.
+        dis_to_top : float
+            Height in mm to move to relative to the well top.
+        channel : int
+            Pipetting channel to move (default: 0).
+        """
+        await self.prepare_for_manual_channel_operation(channel=channel)
+        abs_loc = well.get_absolute_location()
+        well_height = well.get_absolute_size_z()
+        await self.move_channel_x(channel, abs_loc.x)
+        await self.move_channel_y(channel, abs_loc.y)
+        await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)
+

unilabos/devices/zhida_hplc/possible_status.txt

@@ -0,0 +1,15 @@
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "RUN",
+  "message": "AcqTime:3.321049min Vial:1"
+}
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "NOTREADY",
+  "message": "AcqTime:0min Vial:1"
+}
+(base) PS C:\Users\dell\Desktop> python zhida.py getstatus
+{
+  "result": "PRERUN",
+  "message": "AcqTime:0min Vial:1"
+}

unilabos/devices/zhida_hplc/zhida.py

@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import socket
+import json
+import base64
+import argparse
+import sys
+import time
+
+
+class ZhidaClient:
+    def __init__(self, host='192.168.1.47', port=5792, timeout=10.0):
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self.sock = None
+
+    def connect(self):
+        """建立 TCP 连接，并设置超时用于后续 recv/send。"""
+        self.sock = socket.create_connection((self.host, self.port), timeout=self.timeout)
+        # 确保后续 recv/send 都会在 timeout 秒后抛 socket.timeout
+        self.sock.settimeout(self.timeout)
+
+    def close(self):
+        """关闭连接。"""
+        if self.sock:
+            self.sock.close()
+            self.sock = None
+
+    def _send_command(self, cmd: dict) -> dict:
+        """
+        发送一条命令，接收 raw bytes，直到能成功 json.loads。
+        """
+        if not self.sock:
+            raise ConnectionError("Not connected")
+
+        # 1) 发送 JSON 命令
+        payload = json.dumps(cmd, ensure_ascii=False).encode('utf-8')
+        # 如果服务端需要换行分隔，也可以加上： payload += b'\n'
+        self.sock.sendall(payload)
+
+        # 2) 循环 recv，直到能成功解析完整 JSON
+        buffer = bytearray()
+        start = time.time()
+        while True:
+            try:
+                chunk = self.sock.recv(4096)
+                if not chunk:
+                    # 对端关闭
+                    break
+                buffer.extend(chunk)
+                # 尝试解码、解析
+                text = buffer.decode('utf-8', errors='strict')
+                try:
+                    return json.loads(text)
+                except json.JSONDecodeError:
+                    # 继续 recv
+                    pass
+            except socket.timeout:
+                raise TimeoutError("recv() timed out after {:.1f}s".format(self.timeout))
+            # 可选：防止死循环，整个循环时长超过 2×timeout 就报错
+            if time.time() - start > self.timeout * 2:
+                raise TimeoutError("No complete JSON received after {:.1f}s".format(time.time() - start))
+
+        raise ConnectionError("Connection closed before JSON could be parsed")
+
+# @property
+# def xxx() -> 类型:
+#     return xxxxxx
+
+# def send_command(self, ):
+#     self.xxx = dict[xxx]
+
+# 示例响应回复：
+# {
+#   "result": "RUN",
+#   "message": "AcqTime:3.321049min Vial:1"
+# }
+
+    @property
+    def status(self) -> dict:
+        return self._send_command({"command": "getstatus"})["result"]
+
+    # def get_status(self) -> dict:
+    #     print(self._send_command({"command": "getstatus"}))
+    #     return self._send_command({"command": "getstatus"})
+
+    def get_methods(self) -> dict:
+        return self._send_command({"command": "getmethods"})
+
+    def start(self, text) -> dict:
+        b64 = base64.b64encode(text.encode('utf-8')).decode('ascii')
+        return self._send_command({"command": "start", "message": b64})
+
+    def abort(self) -> dict:
+        return self._send_command({"command": "abort"})
+
+"""
+a,b,c
+1,2,4
+2,4,5
+"""
+
+client = ZhidaClient()
+# 连接
+client.connect()
+# 获取状态
+print(client.status)
+
+
+# 命令格式：python zhida.py <subcommand> [options]

unilabos/devices/zhida_hplc/zhida_test_1.csv

@@ -0,0 +1,2 @@
+SampleName,AcqMethod,RackCode,VialPos,SmplInjVol,OutputFile
+Sample001,1028-10ul-10min.M,CStk1-01,1,10,DataSET1

unilabos/registry/devices/laiyu_add_solid.yaml

@@ -0,0 +1,56 @@
+laiyu_add_solid:
+  description: Laiyu Add Solid
+  class:
+    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
+    type: python
+    status_types: {}
+    action_value_mappings:
+      move_to_xyz:
+        type: Point3DSeparateInput
+        goal:
+          x: x
+          y: y
+          z: z
+        feedback: {}
+        result: {}
+      pick_powder_tube:
+        type: IntSingleInput
+        goal:
+          int_input: int_input
+        feedback: {}
+        result: {}
+      put_powder_tube:
+        type: IntSingleInput
+        goal:
+          int_input: int_input
+        feedback: {}
+        result: {}
+      reset:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      add_powder_tube:
+        type: SolidDispenseAddPowderTube
+        goal:
+          powder_tube_number: powder_tube_number
+          target_tube_position: target_tube_position
+          compound_mass: compound_mass
+        feedback: {}
+        result: 
+          actual_mass_mg: actual_mass_mg
+      move_to_plate:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+      discharge:
+        type: FloatSingleInput
+        goal:
+          float_input: float_input
+        feedback: {}
+        result: {}
+        
+  schema:
+    properties: {}

unilabos/registry/devices/liquid_handler.yaml

@@ -163,13 +163,134 @@ liquid_handler:
   schema:
     type: object
     properties:
-      status:
+      name:
         type: string
         description: 液体处理仪器当前状态
     required:
-      - status
+    - 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
@@ -179,7 +300,7 @@ liquid_handler.revvity:
     action_value_mappings:
       run:
         type: WorkStationRun
-        goal: 
+        goal:
           wf_name: file_path
           params: params
           resource: resource
@@ -187,4 +308,3 @@ liquid_handler.revvity:
           status: status
         result:
           success: success
-    

unilabos/registry/devices/robot_gripper.yaml

@@ -19,9 +19,6 @@ gripper.mock:
         result:
           position: position
           effort: torque
-  model:
-    type: device
-    mesh: opentrons_liquid_handler
 
 gripper.misumi_rz:
   description: Misumi RZ gripper

unilabos/registry/devices/zhida_hplc.yaml

@@ -0,0 +1,27 @@
+zhida_hplc:
+  description: Zhida HPLC
+  class:
+    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      start:
+        type: StrSingleInput
+        goal:
+          string: string
+        feedback: {}
+        result: {}
+      abort:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+      get_methods:
+        type: EmptyIn
+        goal: {}
+        feedback: {}
+        result: {}
+
+  schema:
+    properties: {}

unilabos/registry/registry.py

@@ -20,7 +20,43 @@ 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)
-        self.device_type_registry = {}
+        action_type = self._replace_type_with_class(
+            "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
+        )
+        schema = ros_action_to_json_schema(action_type)
+        self.device_type_registry = {
+            "host_node": {
+                "description": "UniLabOS主机节点",
+                "class": {
+                    "module": "unilabos.ros.nodes.presets.host_node",
+                    "type": "python",
+                    "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

unilabos/resources/registry.py

@@ -1,5 +1,5 @@
-import sys
+import traceback
-
+from unilabos.utils.log import logger
 
 resource_schema = {
     "workstation": {"type": "object", "properties": {}},
@@ -132,7 +132,8 @@ def add_schema(resources_config: list[dict]) -> list[dict]:
             try:
                 if type(resource["children"][0]) == dict:
                     resource["children"] = add_schema(resource["children"])
-            except:
+            except Exception as ex:
-                sys.exit(0)
+                logger.error("添加物料schema时出错")
+                traceback.print_exc()
 
     return resources_config

unilabos/ros/device_node_wrapper.py

@@ -18,6 +18,7 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
+    device_config: Optional[Dict[str, Any]] = None,
     status_types: Optional[Dict[str, Any]] = None,
     action_value_mappings: Optional[Dict[str, Any]] = None,
     hardware_interface: Optional[Dict[str, Any]] = None,
@@ -30,6 +31,7 @@ def ros2_device_node(
         cls: 要封装的设备类
         status_types: 需要发布的状态和传感器信息，每个(PROP: TYPE)，PROP应该匹配cls.PROP或cls.get_PROP()，
             TYPE应该是ROS2消息类型。默认为{}。
+        device_config: 初始化时的config。
         action_value_mappings: 设备动作。默认为{}。
             每个(ACTION: {'type': CMD_TYPE, 'goal': {FIELD: PROP}, 'feedback': {FIELD: PROP}, 'result': {FIELD: PROP}}),
         hardware_interface: 硬件接口配置。默认为{"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []}。
@@ -42,6 +44,8 @@ def ros2_device_node(
     # 从属性中自动发现可发布状态
     if status_types is None:
         status_types = {}
+    if device_config is None:
+        device_config = {}
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -73,6 +77,7 @@ def ros2_device_node(
             "__init__": lambda self, *args, **kwargs: init_wrapper(
                 self,
                 driver_class=cls,
+                device_config=device_config,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,

unilabos/ros/initialize_device.py

@@ -1,9 +1,9 @@
-import rclpy
+import copy
-from rclpy.node import Node
 from typing import Optional
+
 from unilabos.registry.registry import lab_registry
-from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.ros.device_node_wrapper import ros2_device_node
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.utils import logger
 from unilabos.utils.import_manager import default_manager
 
@@ -22,17 +22,21 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         None
     """
     d = None
+    original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if device_class_config not in lab_registry.device_type_registry:
             raise ValueError(f"Device class {device_class_config} not found.")
         device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
+    else:
+        raise ValueError("不再支持class为字典传入，class必须为注册表中已经提供的设备，您可以新增注册表并通过--registry传入")
     if isinstance(device_class_config, dict):
         DEVICE = default_manager.get_class(device_class_config["module"])
         # 不管是ros2的实例，还是python的，都必须包一次，除了HostNode
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
+            device_config=original_device_config,
             action_value_mappings=device_class_config.get("action_value_mappings", {}),
             hardware_interface=device_class_config.get(
                 "hardware_interface",

unilabos/ros/main_slave_run.py

@@ -44,18 +44,18 @@ def exit() -> None:
 
 def main(
     devices_config: Dict[str, Any] = {},
-    resources_config={},
+    resources_config: list=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    visual: str = "None",
+    visual: str = "disable",
     resources_mesh_config: dict = {},
-    args: List[str] = ["--log-level", "debug"],
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
     discovery_interval: float = 5.0,
 ) -> None:
     """主函数"""
 
-    rclpy.init(args=args)
+    rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor = MultiThreadedExecutor()
     # 创建主机节点
     host_node = HostNode(
@@ -68,21 +68,21 @@ def main(
         discovery_interval,
     )
 
-    if visual != "None":
+    if visual != "disable":
         resource_mesh_manager = ResourceMeshManager(
             resources_mesh_config,
             resources_config,
-            resource_tracker= host_node.resource_tracker,
+            resource_tracker= DeviceNodeResourceTracker(),
             device_id = 'resource_mesh_manager',
         )
         joint_republisher = JointRepublisher(
             'joint_republisher',
-            host_node.resource_tracker
+            DeviceNodeResourceTracker()
         )
 
         executor.add_node(resource_mesh_manager)
         executor.add_node(joint_republisher)
-        
+
     thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
     thread.start()
 
@@ -96,13 +96,13 @@ def slave(
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
-    visual: str = "None",
+    visual: str = "disable",
     resources_mesh_config: dict = {},
-    args: List[str] = ["--log-level", "debug"],
+    rclpy_init_args: List[str] = ["--log-level", "debug"],
 ) -> None:
     """从节点函数"""
     if not rclpy.ok():
-        rclpy.init(args=args)
+        rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor
     if not executor:
         executor = rclpy.__executor = MultiThreadedExecutor()
@@ -153,7 +153,7 @@ def slave(
         logger.info(f"Slave node info updated.")
 
         rclient = n.create_client(ResourceAdd, "/resources/add")
-        rclient.wait_for_service()  # FIXME 可能一直等待，加一个参数
+        rclient.wait_for_service()
 
         request = ResourceAdd.Request()
         request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]

unilabos/ros/msgs/message_converter.py

@@ -566,6 +566,7 @@ basic_type_map = {
     'float32': {'type': 'number'},
     'float64': {'type': 'number'},
     'string': {'type': 'string'},
+    'boolean': {'type': 'boolean'},
     'char': {'type': 'string', 'maxLength': 1},
     'byte': {'type': 'integer', 'minimum': 0, 'maximum': 255},
 }

unilabos/ros/nodes/base_device_node.py

@@ -15,8 +15,9 @@ from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
+from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
+from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -101,6 +102,7 @@ def init_wrapper(
     self,
     device_id: str,
     driver_class: type[T],
+    device_config: Dict[str, Any],
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -118,6 +120,7 @@ def init_wrapper(
         children = []
     kwargs["device_id"] = device_id
     kwargs["driver_class"] = driver_class
+    kwargs["device_config"] = device_config
     kwargs["driver_params"] = driver_params
     kwargs["status_types"] = status_types
     kwargs["action_value_mappings"] = action_value_mappings
@@ -302,10 +305,52 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = ""
             return res
 
+        def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
+            # 物料传输到对应的node节点
+            rclient = self.create_client(ResourceAdd, "/resources/add")
+            rclient.wait_for_service()
+            request = ResourceAdd.Request()
+            command_json = json.loads(req.command)
+            namespace = command_json["namespace"]
+            bind_parent_id = command_json["bind_parent_id"]
+            edge_device_id = command_json["edge_device_id"]
+            location = command_json["bind_location"]
+            other_calling_param = command_json["other_calling_param"]
+            resources = command_json["resource"]
+            # 本地拿到这个物料，可能需要先做初始化?
+            if isinstance(resources, list):
+                request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+            else:
+                request.resources = [convert_to_ros_msg(Resource, resources)]
+            response = rclient.call(request)
+            # 应该本地先add_resource？
+            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})
+            try:
+                from pylabrobot.resources.resource import Resource as ResourcePLR
+                from pylabrobot.resources.deck import Deck
+                from pylabrobot.resources import Coordinate
+                contain_model = not isinstance(resource, Deck)
+                if isinstance(resource, ResourcePLR):
+                    # resources.list()
+                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+            except ImportError:
+                self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
+            except Exception as e:
+                self.lab_logger().error("Host请求添加物料时出错")
+                self.lab_logger().error(traceback.format_exc())
+            return res
+
+        # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
                 SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
             ),
+            "append_resource": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
+            ),
         }
 
         # 向全局在线设备注册表添加设备信息
@@ -437,26 +482,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             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
-            # 向Host查询物料当前状态
+            if action_name != "add_resource_from_outer":
-            for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
+                        self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
-                    try:
+                        try:
-                        r = ResourceGet.Request()
+                            r = ResourceGet.Request()
-                        r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                            r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
-                        r.with_children = True
+                            r.with_children = True
-                        response = await self._resource_clients["resource_get"].call_async(r)
+                            response = await self._resource_clients["resource_get"].call_async(r)
-                    except Exception:
+                        except Exception:
-                        logger.error(f"资源查询失败，默认使用本地资源")
+                            logger.error(f"资源查询失败，默认使用本地资源")
-                    # 删除对response.resources的检查，因为它总是存在
+                        # 删除对response.resources的检查，因为它总是存在
-                    resources_list = [convert_from_ros_msg(rs) for rs in response.resources]  # type: ignore  # FIXME
+                        resources_list = [convert_from_ros_msg(rs) for rs in response.resources]  # type: ignore  # FIXME
-                    self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
+                        self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
-                    type_hint = action_paramtypes[k]
+                        type_hint = action_paramtypes[k]
-                    final_type = get_type_class(type_hint)
+                        final_type = get_type_class(type_hint)
-                    # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
+                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
-                    final_resource = convert_resources_to_type(resources_list, final_type)
+                        final_resource = convert_resources_to_type(resources_list, final_type)
-                    action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
+                        action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
 
             self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
@@ -527,27 +572,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            for k, v in goal.get_fields_and_field_types().items():
+            if action_name != "add_resource_from_outer":
-                if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                for k, v in goal.get_fields_and_field_types().items():
-                    continue
+                    if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                self.lab_logger().info(f"更新资源状态: {k}")
+                        continue
-                r = ResourceUpdate.Request()
+                    self.lab_logger().info(f"更新资源状态: {k}")
-                # 仅当action_kwargs[k]不为None时尝试转换
+                    r = ResourceUpdate.Request()
-                akv = action_kwargs[k]
+                    # 仅当action_kwargs[k]不为None时尝试转换
-                apv = action_paramtypes[k]
+                    akv = action_kwargs[k]
-                final_type = get_type_class(apv)
+                    apv = action_paramtypes[k]
-                if final_type is None:
+                    final_type = get_type_class(apv)
-                    continue
+                    if final_type is None:
-                try:
+                        continue
-                    r.resources = [
+                    try:
-                        convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
+                        r.resources = [
-                        for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
+                            convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
-                    ]
+                            for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
-                    response = await self._resource_clients["resource_update"].call_async(r)
+                        ]
-                    self.lab_logger().debug(f"资源更新结果: {response}")
+                        response = await self._resource_clients["resource_update"].call_async(r)
-                except Exception as e:
+                        self.lab_logger().debug(f"资源更新结果: {response}")
-                    self.lab_logger().error(f"资源更新失败: {e}")
+                    except Exception as e:
-                    self.lab_logger().error(traceback.format_exc())
+                        self.lab_logger().error(f"资源更新失败: {e}")
+                        self.lab_logger().error(traceback.format_exc())
 
             # 发布结果
             goal_handle.succeed()
@@ -627,6 +673,7 @@ class ROS2DeviceNode:
         self,
         device_id: str,
         driver_class: Type[T],
+        device_config: Dict[str, Any],
         driver_params: Dict[str, Any],
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -641,6 +688,8 @@ class ROS2DeviceNode:
         Args:
             device_id: 设备标识符
             driver_class: 设备类
+            device_config: 原始初始化的json
+            driver_params: driver初始化的参数
             status_types: 状态类型映射
             action_value_mappings: 动作值映射
             hardware_interface: 硬件接口配置
@@ -657,11 +706,12 @@ class ROS2DeviceNode:
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
         self._driver_class = driver_class
+        self.device_config = device_config
         self.driver_is_ros = driver_is_ros
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot")
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
 
         # 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

@@ -7,11 +7,13 @@ import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
-from unilabos_msgs.msg import Resource  # type: ignore
+from geometry_msgs.msg import Point
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand  # type: ignore
 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, \
+    SerialCommand  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
@@ -23,11 +25,9 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg,
     convert_to_ros_msg,
     msg_converter_manager,
-    ros_action_to_json_schema,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -50,7 +50,7 @@ class HostNode(BaseROS2DeviceNode):
         self,
         device_id: str,
         devices_config: Dict[str, Any],
-        resources_config: Any,
+        resources_config: list,
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
         bridges: Optional[List[Any]] = None,
@@ -76,7 +76,7 @@ class HostNode(BaseROS2DeviceNode):
             driver_instance=self,
             device_id=device_id,
             status_types={},
-            action_value_mappings={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
             hardware_interface={},
             print_publish=False,
             resource_tracker=DeviceNodeResourceTracker(),  # host node并不是通过initialize 包一层传进来的
@@ -97,15 +97,13 @@ class HostNode(BaseROS2DeviceNode):
         self.bridges = bridges
 
         # 创建设备、动作客户端和目标存储
-        self.devices_names: Dict[str, str] = {}  # 存储设备名称和命名空间的映射
+        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._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
-        self._action_value_mappings: Dict[str, Dict] = (
+        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
-            {}
-        )  # 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] = set()  # 用于跟踪在线设备
+        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
         self._discovery_lock = threading.Lock()  # 设备发现的互斥锁
         self._subscribed_topics = set()  # 用于跟踪已订阅的话题
@@ -259,16 +257,41 @@ class HostNode(BaseROS2DeviceNode):
                     self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
                     action_name = action_id[len(namespace) + 1:]
                     edge_device_id = namespace[9:]
-                    from unilabos.app.mq import mqtt_client
+                    # from unilabos.app.mq import mqtt_client
-                    info_with_schema = ros_action_to_json_schema(action_type)
+                    # info_with_schema = ros_action_to_json_schema(action_type)
-                    mqtt_client.publish_actions(action_name, {
+                    # mqtt_client.publish_actions(action_name, {
-                        "device_id": edge_device_id,
+                    #     "device_id": edge_device_id,
-                        "action_name": action_name,
+                    #     "device_type": "",
-                        "schema": info_with_schema,
+                    #     "action_name": action_name,
-                    })
+                    #     "schema": info_with_schema,
+                    # })
                 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]):
+        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({
+                "resource": resource,
+                "namespace": namespace,
+                "edge_device_id": device_id,
+                "bind_parent_id": bind_parent_id,
+                "bind_location": {
+                    "x": bind_location.x,
+                    "y": bind_location.y,
+                    "z": bind_location.z,
+                },
+                "other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
+            }, ensure_ascii=False)
+            response = sclient.call(request)
+            pass
+        pass
+
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
         根据配置初始化设备，
@@ -297,13 +320,14 @@ class HostNode(BaseROS2DeviceNode):
                 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
-                from unilabos.app.mq import mqtt_client
+                # from unilabos.app.mq import mqtt_client
-                info_with_schema = ros_action_to_json_schema(action_type)
+                # info_with_schema = ros_action_to_json_schema(action_type)
-                mqtt_client.publish_actions(action_name, {
+                # mqtt_client.publish_actions(action_name, {
-                    "device_id": device_id,
+                #     "device_id": device_id,
-                    "action_name": action_name,
+                #     "device_type": device_config["class"],
-                    "schema": info_with_schema,
+                #     "action_name": action_name,
-                })
+                #     "schema": info_with_schema,
+                # })
             else:
                 self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
         device_key = f"{self.devices_names[device_id]}/{device_id}"  # 这里不涉及二级device_id

unilabos/ros/nodes/resource_tracker.py

@@ -1,7 +1,7 @@
 from unilabos.utils.log import logger
 
 
-class DeviceNodeResourceTracker:
+class DeviceNodeResourceTracker(object):
 
     def __init__(self):
         self.resources = []
@@ -15,44 +15,46 @@ class DeviceNodeResourceTracker:
             return resource
 
     def add_resource(self, resource):
-        # 使用内存地址跟踪是否为同一个resource
         for r in self.resources:
             if id(r) == id(resource):
                 return
-        # 添加资源到跟踪器
         self.resources.append(resource)
 
     def clear_resource(self):
         self.resources = []
 
-    def figure_resource(self, resource):
+    def figure_resource(self, query_resource):
-        # 使用内存地址跟踪是否为同一个resource
+        if isinstance(query_resource, list):
-        if isinstance(resource, list):
+            return [self.figure_resource(r) for r in query_resource]
-            return [self.figure_resource(r) for r in resource]
+        res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
-        res_id = resource.id if hasattr(resource, "id") else None
+        res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
-        res_name = resource.name if hasattr(resource, "name") else None
         res_identifier = res_id if res_id else res_name
         identifier_key = "id" if res_id else "name"
-        resource_cls_type = type(resource)
+        resource_cls_type = type(query_resource)
         if res_identifier is None:
-            logger.warning(f"resource {resource} 没有id或name，暂不能对应figure")
+            logger.warning(f"resource {query_resource} 没有id或name，暂不能对应figure")
         res_list = []
         for r in self.resources:
-            res_list.extend(
+            if isinstance(query_resource, dict):
-                self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(resource, identifier_key))
+                res_list.extend(
-            )
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
+                )
+            else:
+                res_list.extend(
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
+                )
         assert len(res_list) == 1, f"找到多个资源，请检查资源是否唯一: {res_list}"
-        self.root_resource2resource[id(resource)] = res_list[0]
+        self.root_resource2resource[id(query_resource)] = res_list[0]
         # 后续加入其他对比方式
         return res_list[0]
 
-    def loop_find_resource(self, resource, resource_cls_type, identifier_key, compare_value):
+    def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value):
         res_list = []
-        print(resource, resource_cls_type, identifier_key, compare_value)
+        # print(resource, target_resource_cls_type, identifier_key, compare_value)
         children = getattr(resource, "children", [])
         for child in children:
-            res_list.extend(self.loop_find_resource(child, resource_cls_type, identifier_key, compare_value))
+            res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value))
-        if resource_cls_type == type(resource):
+        if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
             if hasattr(resource, identifier_key):
                 if getattr(resource, identifier_key) == compare_value:
                     res_list.append(resource)

unilabos/ros/utils/driver_creator.py

@@ -219,12 +219,14 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         logger.error(f"PyLabRobot反序列化失败: {deserialize_error}")
                         logger.error(f"PyLabRobot反序列化堆栈: {stack}")
 
-            return self.device_instance
+        return self.device_instance
 
     def post_create(self):
         if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
+            def done_cb(*args):
+                logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
+            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
 class ProtocolNodeCreator(DeviceClassCreator[T]):

unilabos_msgs/CMakeLists.txt

@@ -43,6 +43,25 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
+  "action/DPLiquidHandlerAddLiquid.action"
+  "action/DPLiquidHandlerCustomDelay.action"
+  "action/DPLiquidHandlerMix.action"
+  "action/DPLiquidHandlerMoveTo.action"
+  "action/DPLiquidHandlerRemoveLiquid.action"
+  "action/DPLiquidHandlerSetTiprack.action"
+  "action/DPLiquidHandlerTouchTip.action"
+  "action/DPLiquidHandlerTransferLiquid.action"
+
+  "action/EmptyIn.action"
+  "action/FloatSingleInput.action"
+  "action/IntSingleInput.action"
+  "action/StrSingleInput.action"
+  "action/Point3DSeparateInput.action"
+
+  "action/ResourceCreateFromOuter.action"
+
+  "action/SolidDispenseAddPowderTube.action"
+  
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/DPLiquidHandlerAddLiquid.action

@@ -0,0 +1,20 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] reagent_sources
+Resource[] targets
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+int32 mix_time
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

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

unilabos_msgs/action/DPLiquidHandlerMix.action

@@ -0,0 +1,11 @@
+Resource[] targets
+int32 mix_time
+int32 mix_vol
+float64 height_to_bottom
+geometry_msgs/Point[] offsets
+float64 mix_rate
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerMoveTo.action

@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerRemoveLiquid.action

@@ -0,0 +1,17 @@
+float64[] vols
+Resource[] sources
+Resource waste_liquid
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+int32[] delays
+bool is_96_well
+float64[] top
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

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

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

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

unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

@@ -0,0 +1,25 @@
+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/EmptyIn.action

@@ -0,0 +1,4 @@
+
+---
+
+---

unilabos_msgs/action/FloatSingleInput.action

@@ -0,0 +1,4 @@
+float64 float_in
+---
+bool success
+---

unilabos_msgs/action/IntSingleInput.action

@@ -0,0 +1,4 @@
+int32 int_input
+---
+bool success
+---

unilabos_msgs/action/Point3DSeparateInput.action

@@ -0,0 +1,6 @@
+float64 x
+float64 y
+float64 z
+---
+bool success
+---

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -0,0 +1,8 @@
+Resource[] resources
+string[] device_ids
+string[] bind_parent_ids
+geometry_msgs/Point[] bind_locations
+string[] other_calling_params
+---
+bool success
+---

unilabos_msgs/action/SolidDispenseAddPowderTube.action

@@ -0,0 +1,7 @@
+int32 powder_tube_number
+string target_tube_position
+float64 compound_mass
+---
+float64 actual_mass_mg
+bool success
+---

unilabos_msgs/action/StrSingleInput.action

@@ -0,0 +1,4 @@
+string string
+---
+bool success
+---