对laiyu移液站进行部分修改，取消多次初始化的问题

unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py

@@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
         print("已有枪头，无需重复拾取")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
     # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
     #   goback()
@@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
     if self.hardware_interface.tip_status == TipStatus.NO_TIP:
         print("无枪头，无需丢弃")
         return
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.hardware_interface.eject_tip
     self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)  
 
@@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
         return
 
     # 移动到吸液位置
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
 
 
@@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
 
     
     # 移动到排液位置  
-    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
+    self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200)
     self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
 
 

unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py

@@ -128,6 +128,7 @@ class PipetteController:
             baudrate=115200
         )
         self.pipette = SOPAPipette(self.config)
+        self.pipette_port = port
         self.tip_status = TipStatus.NO_TIP
         self.current_volume = 0.0
         self.max_volume = 1000.0  # 默认1000ul
@@ -154,7 +155,7 @@ class PipetteController:
             logger.info("移液器连接成功")
             
             # 连接XYZ步进电机控制器（如果提供了端口）
-            if self.xyz_port:
+            if self.xyz_port != self.pipette_port:
                 try:
                     self.xyz_controller = XYZController(self.xyz_port)
                     if self.xyz_controller.connect():
@@ -168,7 +169,12 @@ class PipetteController:
                     self.xyz_controller = None
                     self.xyz_connected = False
             else:
-                logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
+                try:
+                    self.xyz_controller = XYZController(self.xyz_port, auto_connect=False)
+                    self.xyz_controller.serial_conn = self.pipette.serial_port
+                    self.xyz_controller.is_connected = True
+                except Exception as e:
+                    logger.info("未配置XYZ步进电机端口，跳过运动控制器连接")
             
             return True
         except Exception as e:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -581,16 +581,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     support_touch_tip = True
     _ros_node: BaseROS2DeviceNode
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310):
         """Initialize a LiquidHandler.
 
         Args:
           backend: Backend to use.
           deck: Deck to use.
         """
+        backend_type = None
+        if isinstance(backend, dict) and "type" in backend:
+            backend_dict = backend.copy()
+            type_str = backend_dict.pop("type")
+            try:
+                # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
+                backend_cls = None
+                if type_str in globals():
+                    backend_cls = globals()[type_str]
+                else:
+                    # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
+                    components = type_str.split(".")
+                    mod = None
+                    if len(components) > 1:
+                        module_name = ".".join(components[:-1])
+                        try:
+                            import importlib
+                            mod = importlib.import_module(module_name)
+                        except ImportError:
+                            mod = None
+                        if mod is not None:
+                            backend_cls = getattr(mod, components[-1], None)
+                    if backend_cls is None:
+                        # Try pylabrobot style import (if available)
+                        try:
+                            import pylabrobot
+                            backend_cls = getattr(pylabrobot, type_str, None)
+                        except Exception:
+                            backend_cls = None
+                if backend_cls is not None and isinstance(backend_cls, type):
+                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
+            except Exception as exc:
+                raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
+        else:
+            backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend, deck, simulator, channel_num)
+        super().__init__(backend_type, deck, simulator, channel_num)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node