Merge remote-tracking branch 'origin/dev' into workstation_dev_YB3

unilabos/app/web/client.py

@@ -6,6 +6,8 @@ HTTP客户端模块
 
 import json
 import os
+import time
+from threading import Thread
 from typing import List, Dict, Any, Optional
 
 import requests
@@ -84,14 +86,14 @@ class HTTPClient:
                 f"{self.remote_addr}/edge/material",
                 json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
+                timeout=60,
             )
         else:
             response = requests.put(
                 f"{self.remote_addr}/edge/material",
                 json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
+                timeout=10,
             )
 
         with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
@@ -126,12 +128,16 @@ class HTTPClient:
         Returns:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
         response = requests.post(
             f"{self.remote_addr}/edge/material/query",
             json={"uuids": uuid_list, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
+        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_get.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
         if response.status_code == 200:
             res = response.json()
             if "code" in res and res["code"] != 0:
@@ -187,12 +193,16 @@ class HTTPClient:
         Returns:
             Dict: 返回的资源数据
         """
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
+            f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
         response = requests.get(
             f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
+        with open(os.path.join(BasicConfig.working_dir, "res_resource_get.json"), "w", encoding="utf-8") as f:
+            f.write(f"{response.status_code}" + "\n" + response.text)
         return response.json()
 
     def resource_del(self, id: str) -> requests.Response:

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -7,7 +7,7 @@ from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstati
 
 class BioyondDispensingStation(BioyondWorkstation):
     def __init__(
-        self, 
+        self,
         config,
             # 桌子
         deck,
@@ -77,7 +77,7 @@ class BioyondDispensingStation(BioyondWorkstation):
         - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId
 
         返回: 任务创建结果
-        
+
         异常:
         - BioyondException: 各种错误情况下的统一异常
         """
@@ -85,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             # 1. 参数验证
             if not hold_m_name:
                 raise BioyondException("hold_m_name 是必填参数")
-            
+
             # 检查90%物料参数的完整性
             # 90%_1物料：如果有物料名称或目标重量，就必须有全部参数
             if percent_90_1_assign_material_name or percent_90_1_target_weigh:
@@ -93,21 +93,21 @@ class BioyondDispensingStation(BioyondWorkstation):
                     raise BioyondException("90%_1物料：如果提供了目标重量，必须同时提供物料名称")
                 if not percent_90_1_target_weigh:
                     raise BioyondException("90%_1物料：如果提供了物料名称，必须同时提供目标重量")
-            
+
             # 90%_2物料：如果有物料名称或目标重量，就必须有全部参数
             if percent_90_2_assign_material_name or percent_90_2_target_weigh:
                 if not percent_90_2_assign_material_name:
                     raise BioyondException("90%_2物料：如果提供了目标重量，必须同时提供物料名称")
                 if not percent_90_2_target_weigh:
                     raise BioyondException("90%_2物料：如果提供了物料名称，必须同时提供目标重量")
-            
+
             # 90%_3物料：如果有物料名称或目标重量，就必须有全部参数
             if percent_90_3_assign_material_name or percent_90_3_target_weigh:
                 if not percent_90_3_assign_material_name:
                     raise BioyondException("90%_3物料：如果提供了目标重量，必须同时提供物料名称")
                 if not percent_90_3_target_weigh:
                     raise BioyondException("90%_3物料：如果提供了物料名称，必须同时提供目标重量")
-            
+
             # 检查10%物料参数的完整性
             # 10%_1物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
             if any([percent_10_1_assign_material_name, percent_10_1_target_weigh, percent_10_1_volume, percent_10_1_liquid_material_name]):
@@ -119,7 +119,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                     raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体体积")
                 if not percent_10_1_liquid_material_name:
                     raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
+
             # 10%_2物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
             if any([percent_10_2_assign_material_name, percent_10_2_target_weigh, percent_10_2_volume, percent_10_2_liquid_material_name]):
                 if not percent_10_2_assign_material_name:
@@ -130,7 +130,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                     raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体体积")
                 if not percent_10_2_liquid_material_name:
                     raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
+
             # 10%_3物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数
             if any([percent_10_3_assign_material_name, percent_10_3_target_weigh, percent_10_3_volume, percent_10_3_liquid_material_name]):
                 if not percent_10_3_assign_material_name:
@@ -141,7 +141,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                     raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体体积")
                 if not percent_10_3_liquid_material_name:
                     raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体物料名称")
-            
+
             # 2. 生成任务编码和设置默认值
             order_code = "task_vial_" + str(int(datetime.now().timestamp()))
             if order_name is None:
@@ -152,7 +152,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                 temperature = "40"
             if delay_time is None:
                 delay_time = "600"
-                
+
             # 3. 工作流ID
             workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b"
 
@@ -160,22 +160,22 @@ class BioyondDispensingStation(BioyondWorkstation):
             material_info = self.hardware_interface.material_id_query(workflow_id)
             if not material_info:
                 raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-            
+
             # 获取locations列表
             locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
             if not locations:
                 raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-            
+
             # 查找指定名称的库位
             hold_mid = None
             for location in locations:
                 if location.get("holdMName") == hold_m_name:
                     hold_mid = location.get("holdMId")
                     break
-            
+
             if not hold_mid:
                 raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-            
+
             extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
             self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
 
@@ -271,7 +271,7 @@ class BioyondDispensingStation(BioyondWorkstation):
             result = self.hardware_interface.create_order(json_str)
             self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
             return json.dumps({"suc": True})
-            
+
         except BioyondException:
             # 重新抛出BioyondException
             raise
@@ -307,7 +307,7 @@ class BioyondDispensingStation(BioyondWorkstation):
         - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId
 
         返回: 任务创建结果
-        
+
         异常:
         - BioyondException: 各种错误情况下的统一异常
         """
@@ -321,8 +321,8 @@ class BioyondDispensingStation(BioyondWorkstation):
                 raise BioyondException("volume 是必填参数")
             if not hold_m_name:
                 raise BioyondException("hold_m_name 是必填参数")
-            
-            
+
+
             # 2. 生成任务编码和设置默认值
             order_code = "task_oda_" + str(int(datetime.now().timestamp()))
             if order_name is None:
@@ -333,30 +333,30 @@ class BioyondDispensingStation(BioyondWorkstation):
                 temperature = "20"
             if delay_time is None:
                 delay_time = "600"
-                
+
             # 3. 工作流ID - 二胺溶液配置工作流
             workflow_id = "3a15d4a1-3bbe-76f9-a458-292896a338f5"
-            
+
             # 4. 查询工作流对应的holdMID
-            material_info = self.material_id_query(workflow_id)
+            material_info = self.hardware_interface.material_id_query(workflow_id)
             if not material_info:
                 raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息")
-            
+
             # 获取locations列表
             locations = material_info.get("locations", []) if isinstance(material_info, dict) else []
             if not locations:
                 raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息")
-            
+
             # 查找指定名称的库位
             hold_mid = None
             for location in locations:
                 if location.get("holdMName") == hold_m_name:
                     hold_mid = location.get("holdMId")
                     break
-            
+
             if not hold_mid:
                 raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确")
-            
+
             extend_properties = f"{{\"{ hold_mid }\": {{}}}}"
             self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}")
 
@@ -397,9 +397,9 @@ class BioyondDispensingStation(BioyondWorkstation):
             # 7. 调用create_order方法创建任务
             result = self.hardware_interface.create_order(json_str)
             self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
-            
+
             return json.dumps({"suc": True})
-            
+
         except BioyondException:
             # 重新抛出BioyondException
             raise
@@ -409,17 +409,278 @@ class BioyondDispensingStation(BioyondWorkstation):
             self.hardware_interface._logger.error(error_msg)
             raise BioyondException(error_msg)
 
+    # 批量创建二胺溶液配置任务
+    def batch_create_diamine_solution_tasks(self,
+                                           solutions,
+                                           liquid_material_name: str = "NMP",
+                                           speed: str = None,
+                                           temperature: str = None,
+                                           delay_time: str = None) -> str:
+        """
+        批量创建二胺溶液配置任务
+
+        参数说明:
+        - solutions: 溶液列表（数组）或JSON字符串，格式如下:
+          [
+              {
+                  "name": "MDA",
+                  "order": 0,
+                  "solid_mass": 5.0,
+                  "solvent_volume": 20,
+                  ...
+              },
+              ...
+          ]
+        - liquid_material_name: 液体物料名称，默认为"NMP"
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值20
+        - delay_time: 延迟时间，如果为None则使用默认值600
+
+        返回: JSON字符串格式的任务创建结果
+
+        异常:
+        - BioyondException: 各种错误情况下的统一异常
+        """
+        try:
+            # 参数类型转换：如果是字符串则解析为列表
+            if isinstance(solutions, str):
+                try:
+                    solutions = json.loads(solutions)
+                except json.JSONDecodeError as e:
+                    raise BioyondException(f"solutions JSON解析失败: {str(e)}")
+
+            # 参数验证
+            if not isinstance(solutions, list):
+                raise BioyondException("solutions 必须是列表类型或有效的JSON数组字符串")
+
+            if not solutions:
+                raise BioyondException("solutions 列表不能为空")
+
+            # 批量创建任务
+            results = []
+            success_count = 0
+            failed_count = 0
+
+            for idx, solution in enumerate(solutions):
+                try:
+                    # 提取参数
+                    name = solution.get("name")
+                    solid_mass = solution.get("solid_mass")
+                    solvent_volume = solution.get("solvent_volume")
+                    order = solution.get("order")
+
+                    if not all([name, solid_mass is not None, solvent_volume is not None]):
+                        self.hardware_interface._logger.warning(
+                            f"跳过第 {idx + 1} 个溶液：缺少必要参数"
+                        )
+                        results.append({
+                            "index": idx + 1,
+                            "name": name,
+                            "success": False,
+                            "error": "缺少必要参数"
+                        })
+                        failed_count += 1
+                        continue
+
+                    # 生成库位名称（直接使用物料名称）
+                    # 如果需要其他命名规则，可以在这里调整
+                    hold_m_name = name
+
+                    # 调用单个任务创建方法
+                    result = self.create_diamine_solution_task(
+                        order_name=f"二胺溶液配置-{name}",
+                        material_name=name,
+                        target_weigh=str(solid_mass),
+                        volume=str(solvent_volume),
+                        liquid_material_name=liquid_material_name,
+                        speed=speed,
+                        temperature=temperature,
+                        delay_time=delay_time,
+                        hold_m_name=hold_m_name
+                    )
+
+                    results.append({
+                        "index": idx + 1,
+                        "name": name,
+                        "success": True,
+                        "hold_m_name": hold_m_name
+                    })
+                    success_count += 1
+                    self.hardware_interface._logger.info(
+                        f"成功创建二胺溶液配置任务: {name}"
+                    )
+
+                except BioyondException as e:
+                    results.append({
+                        "index": idx + 1,
+                        "name": solution.get("name", "unknown"),
+                        "success": False,
+                        "error": str(e)
+                    })
+                    failed_count += 1
+                    self.hardware_interface._logger.error(
+                        f"创建第 {idx + 1} 个任务失败: {str(e)}"
+                    )
+                except Exception as e:
+                    results.append({
+                        "index": idx + 1,
+                        "name": solution.get("name", "unknown"),
+                        "success": False,
+                        "error": f"未知错误: {str(e)}"
+                    })
+                    failed_count += 1
+                    self.hardware_interface._logger.error(
+                        f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}"
+                    )
+
+            # 返回汇总结果
+            summary = {
+                "total": len(solutions),
+                "success": success_count,
+                "failed": failed_count,
+                "details": results
+            }
+
+            self.hardware_interface._logger.info(
+                f"批量创建二胺溶液配置任务完成: 总数={len(solutions)}, "
+                f"成功={success_count}, 失败={failed_count}"
+            )
+
+            # 返回JSON字符串格式
+            return json.dumps(summary, ensure_ascii=False)
+
+        except BioyondException:
+            raise
+        except Exception as e:
+            error_msg = f"批量创建二胺溶液配置任务时发生未预期的错误: {str(e)}"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
+    # 批量创建90%10%小瓶投料任务
+    def batch_create_90_10_vial_feeding_tasks(self,
+                                              titration,
+                                              hold_m_name: str = None,
+                                              speed: str = None,
+                                              temperature: str = None,
+                                              delay_time: str = None,
+                                              liquid_material_name: str = "NMP") -> str:
+        """
+        批量创建90%10%小瓶投料任务（仅创建1个任务，但包含所有90%和10%物料）
+
+        参数说明:
+        - titration: 滴定信息的字典或JSON字符串，格式如下:
+          {
+              "name": "BTDA",
+              "main_portion": 1.9152351915461294,  # 主称固体质量(g) -> 90%物料
+              "titration_portion": 0.05923407808905555,  # 滴定固体质量(g) -> 10%物料固体
+              "titration_solvent": 3.050555021586361  # 滴定溶液体积(mL) -> 10%物料液体
+          }
+        - hold_m_name: 库位名称，如"C01"。必填参数
+        - speed: 搅拌速度，如果为None则使用默认值400
+        - temperature: 温度，如果为None则使用默认值40
+        - delay_time: 延迟时间，如果为None则使用默认值600
+        - liquid_material_name: 10%物料的液体物料名称，默认为"NMP"
+
+        返回: JSON字符串格式的任务创建结果
+
+        异常:
+        - BioyondException: 各种错误情况下的统一异常
+        """
+        try:
+            # 参数类型转换：如果是字符串则解析为字典
+            if isinstance(titration, str):
+                try:
+                    titration = json.loads(titration)
+                except json.JSONDecodeError as e:
+                    raise BioyondException(f"titration参数JSON解析失败: {str(e)}")
+
+            # 参数验证
+            if not isinstance(titration, dict):
+                raise BioyondException("titration 必须是字典类型或有效的JSON字符串")
+
+            if not hold_m_name:
+                raise BioyondException("hold_m_name 是必填参数")
+
+            if not titration:
+                raise BioyondException("titration 参数不能为空")
+
+            # 提取滴定数据
+            name = titration.get("name")
+            main_portion = titration.get("main_portion")  # 主称固体质量
+            titration_portion = titration.get("titration_portion")  # 滴定固体质量
+            titration_solvent = titration.get("titration_solvent")  # 滴定溶液体积
+
+            if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]):
+                raise BioyondException("titration 数据缺少必要参数")
+
+            # 将main_portion平均分成3份作为90%物料（3个小瓶）
+            portion_90 = main_portion / 3
+
+            # 调用单个任务创建方法
+            result = self.create_90_10_vial_feeding_task(
+                order_name=f"90%10%小瓶投料-{name}",
+                speed=speed,
+                temperature=temperature,
+                delay_time=delay_time,
+                # 90%物料 - 主称固体平均分成3份
+                percent_90_1_assign_material_name=name,
+                percent_90_1_target_weigh=str(round(portion_90, 6)),
+                percent_90_2_assign_material_name=name,
+                percent_90_2_target_weigh=str(round(portion_90, 6)),
+                percent_90_3_assign_material_name=name,
+                percent_90_3_target_weigh=str(round(portion_90, 6)),
+                # 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶）
+                percent_10_1_assign_material_name=name,
+                percent_10_1_target_weigh=str(round(titration_portion, 6)),
+                percent_10_1_volume=str(round(titration_solvent, 6)),
+                percent_10_1_liquid_material_name=liquid_material_name,
+                hold_m_name=hold_m_name
+            )
+
+            summary = {
+                "success": True,
+                "hold_m_name": hold_m_name,
+                "material_name": name,
+                "90_vials": {
+                    "count": 3,
+                    "weight_per_vial": round(portion_90, 6),
+                    "total_weight": round(main_portion, 6)
+                },
+                "10_vials": {
+                    "count": 1,
+                    "solid_weight": round(titration_portion, 6),
+                    "liquid_volume": round(titration_solvent, 6)
+                }
+            }
+
+            self.hardware_interface._logger.info(
+                f"成功创建90%10%小瓶投料任务: {hold_m_name}, "
+                f"90%物料={portion_90:.6f}g×3, 10%物料={titration_portion:.6f}g+{titration_solvent:.6f}mL"
+            )
+
+            # 返回JSON字符串格式
+            return json.dumps(summary, ensure_ascii=False)
+
+        except BioyondException:
+            raise
+        except Exception as e:
+            error_msg = f"批量创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}"
+            self.hardware_interface._logger.error(error_msg)
+            raise BioyondException(error_msg)
+
 
 if __name__ == "__main__":
     bioyond = BioyondDispensingStation(config={
         "api_key": "DE9BDDA0",
         "api_host": "http://192.168.1.200:44388"
     })
-    
+
+    # ============ 原有示例代码 ============
+
     # 示例1：使用material_id_query查询工作流对应的holdMID
     workflow_id_1 = "3a15d4a1-3bbe-76f9-a458-292896a338f5"  # 二胺溶液配置工作流ID
     workflow_id_2 = "3a19310d-16b9-9d81-b109-0748e953694b"  # 90%10%小瓶投料工作流ID
-    
+
     #示例2：创建二胺溶液配置任务 - ODA，指定库位名称
     # bioyond.create_diamine_solution_task(
     #         order_code="task_oda_" + str(int(datetime.now().timestamp())),
@@ -433,7 +694,7 @@ if __name__ == "__main__":
     #         delay_time="600",
     #         hold_m_name="烧杯ODA"
     #     )
-    
+
     # bioyond.create_diamine_solution_task(
     #         order_code="task_pda_" + str(int(datetime.now().timestamp())),
     #         order_name="二胺溶液配置-PDA",
@@ -446,7 +707,7 @@ if __name__ == "__main__":
     #         delay_time="600",
     #         hold_m_name="烧杯PDA-2"
     #     )
-    
+
     # bioyond.create_diamine_solution_task(
     #         order_code="task_mpda_" + str(int(datetime.now().timestamp())),
     #         order_name="二胺溶液配置-MPDA",
@@ -462,8 +723,8 @@ if __name__ == "__main__":
 
     bioyond.material_id_query("3a19310d-16b9-9d81-b109-0748e953694b")
     bioyond.material_id_query("3a15d4a1-3bbe-76f9-a458-292896a338f5")
-    
-    
+
+
     #示例4：创建90%10%小瓶投料任务
     # vial_result = bioyond.create_90_10_vial_feeding_task(
     #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
@@ -487,7 +748,7 @@ if __name__ == "__main__":
     #     delay_time="1200",
     #     hold_m_name="8.4分装板-1"
     #     )
-    
+
     # vial_result = bioyond.create_90_10_vial_feeding_task(
     #     order_code="task_vial_" + str(int(datetime.now().timestamp())),
     #     order_name="90%10%小瓶投料-2",
@@ -510,7 +771,7 @@ if __name__ == "__main__":
     #     delay_time="1200",
     #     hold_m_name="8.4分装板-2"
     #     )
-    
+
     #启动调度器
     #bioyond.scheduler_start()
 
@@ -529,7 +790,7 @@ if __name__ == "__main__":
     material_data_yp = {
     "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "8.4样品板",
     "unit": "个",
     "quantity": 1,
@@ -540,7 +801,7 @@ if __name__ == "__main__":
         "name": "BTDA-1",
         "quantity": 20,
         "x": 1,
-        "y": 1, 
+        "y": 1,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -585,7 +846,7 @@ if __name__ == "__main__":
     material_data_yp = {
     "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "8.7样品板",
     "unit": "个",
     "quantity": 1,
@@ -596,7 +857,7 @@ if __name__ == "__main__":
         "name": "mianfen",
         "quantity": 13,
         "x": 1,
-        "y": 1, 
+        "y": 1,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -620,7 +881,7 @@ if __name__ == "__main__":
     material_data_fzb_1 = {
     "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "8.7分装板",
     "unit": "个",
     "quantity": 1,
@@ -631,7 +892,7 @@ if __name__ == "__main__":
         "name": "10%小瓶1",
         "quantity": 1,
         "x": 1,
-        "y": 1, 
+        "y": 1,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -642,7 +903,7 @@ if __name__ == "__main__":
         "name": "10%小瓶2",
         "quantity": 1,
         "x": 1,
-        "y": 2, 
+        "y": 2,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -653,7 +914,7 @@ if __name__ == "__main__":
         "name": "10%小瓶3",
         "quantity": 1,
         "x": 1,
-        "y": 3, 
+        "y": 3,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -697,7 +958,7 @@ if __name__ == "__main__":
     material_data_fzb_2 = {
     "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "8.4分装板-2",
     "unit": "个",
     "quantity": 1,
@@ -708,7 +969,7 @@ if __name__ == "__main__":
         "name": "10%小瓶1",
         "quantity": 1,
         "x": 1,
-        "y": 1, 
+        "y": 1,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -719,7 +980,7 @@ if __name__ == "__main__":
         "name": "10%小瓶2",
         "quantity": 1,
         "x": 1,
-        "y": 2, 
+        "y": 2,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -730,7 +991,7 @@ if __name__ == "__main__":
         "name": "10%小瓶3",
         "quantity": 1,
         "x": 1,
-        "y": 3, 
+        "y": 3,
         #"unit": "单位"
         "molecular": 1,
         "Parameters":"{\"molecular\": 1}"
@@ -775,7 +1036,7 @@ if __name__ == "__main__":
     material_data_sb_oda = {
     "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "mianfen1",
     "unit": "个",
     "quantity": 1,
@@ -785,7 +1046,7 @@ if __name__ == "__main__":
     material_data_sb_pda_2 = {
     "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
     #"code": "物料编码001",
-    #"barCode": "物料条码001", 
+    #"barCode": "物料条码001",
     "name": "mianfen2",
     "unit": "个",
     "quantity": 1,
@@ -795,7 +1056,7 @@ if __name__ == "__main__":
     # material_data_sb_mpda = {
     # "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
     # #"code": "物料编码001",
-    # #"barCode": "物料条码001", 
+    # #"barCode": "物料条码001",
     # "name": "烧杯MPDA",
     # "unit": "个",
     # "quantity": 1,

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -58,8 +58,8 @@ class BioyondReactionStation(BioyondWorkstation):
 
         Args:
             assign_material_name: 物料名称（不能为空）
-            cutoff: 截止值/通量配置（需为有效数字字符串，默认 "900000"）
-            temperature: 温度上限（°C，范围：-50.00 至 100.00）
+            cutoff: 粘度上限（需为有效数字字符串，默认 "900000"）
+            temperature: 温度设定（°C，范围：-50.00 至 100.00）
 
         Returns:
             str: JSON 字符串，格式为 {"suc": True}
@@ -113,11 +113,11 @@ class BioyondReactionStation(BioyondWorkstation):
         """固体进料小瓶
 
         Args:
-            material_id: 粉末类型ID
+            material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
             assign_material_name: 物料名称(用于获取试剂瓶位ID)
-            temperature: 温度上限(°C)
+            temperature: 温度设定(°C)
         """
         self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}')
         material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None
@@ -165,9 +165,9 @@ class BioyondReactionStation(BioyondWorkstation):
         Args:
             volume_formula: 分液公式(μL)
             assign_material_name: 物料名称
-            titration_type: 是否滴定(1=滴定, 其他=非滴定)
+            titration_type: 是否滴定(1=否, 2=是)
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
             temperature: 温度(°C)
         """
         self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}')
@@ -208,7 +208,8 @@ class BioyondReactionStation(BioyondWorkstation):
     def liquid_feeding_solvents(
         self,
         assign_material_name: str,
-        volume: str,
+        volume: str = None,
+        solvents = None,
         titration_type: str = "1",
         time: str = "360",
         torque_variation: int = 2,
@@ -218,12 +219,41 @@ class BioyondReactionStation(BioyondWorkstation):
 
         Args:
             assign_material_name: 物料名称
-            volume: 分液量(μL)
-            titration_type: 是否滴定
+            volume: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算)
+            solvents: 溶剂信息的字典或JSON字符串(可选),格式如下:
+              {
+                  "additional_solvent": 33.55092503597727,  # 溶剂体积(mL)
+                  "total_liquid_volume": 48.00916988195499
+              }
+              如果提供solvents,则从中提取additional_solvent并转换为μL
+            titration_type: 是否滴定(1=否, 2=是)
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            temperature: 温度上限(°C)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            temperature: 温度设定(°C)
         """
+        # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
+        if volume is None and solvents is not None:
+            # 参数类型转换:如果是字符串则解析为字典
+            if isinstance(solvents, str):
+                try:
+                    solvents = json.loads(solvents)
+                except json.JSONDecodeError as e:
+                    raise ValueError(f"solvents参数JSON解析失败: {str(e)}")
+
+            # 参数验证
+            if not isinstance(solvents, dict):
+                raise ValueError("solvents 必须是字典类型或有效的JSON字符串")
+
+            # 提取 additional_solvent 值
+            additional_solvent = solvents.get("additional_solvent")
+            if additional_solvent is None:
+                raise ValueError("solvents 中没有找到 additional_solvent 字段")
+
+            # 转换为微升(μL) - 从毫升(mL)转换
+            volume = str(float(additional_solvent) * 1000)
+        elif volume is None:
+            raise ValueError("必须提供 volume 或 solvents 参数之一")
+
         self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}')
         material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
         if material_id is None:
@@ -273,9 +303,9 @@ class BioyondReactionStation(BioyondWorkstation):
         Args:
             volume_formula: 分液公式(μL)
             assign_material_name: 物料名称
-            titration_type: 是否滴定
+            titration_type: 是否滴定(1=否, 2=是)
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
             temperature: 温度(°C)
         """
         self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}')
@@ -328,9 +358,9 @@ class BioyondReactionStation(BioyondWorkstation):
             volume: 分液量(μL)
             assign_material_name: 物料名称(试剂瓶位)
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
-            titration_type: 是否滴定
-            temperature: 温度上限(°C)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
+            titration_type: 是否滴定(1=否, 2=是)
+            temperature: 温度设定(°C)
         """
         self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}')
         material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
@@ -381,9 +411,9 @@ class BioyondReactionStation(BioyondWorkstation):
         Args:
             assign_material_name: 物料名称(液体种类)
             volume: 分液量(μL)
-            titration_type: 是否滴定
+            titration_type: 是否滴定(1=否, 2=是)
             time: 观察时间(分钟)
-            torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是)
+            torque_variation: 是否观察(int类型, 1=否, 2=是)
             temperature: 温度(°C)
         """
         self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}')
@@ -605,7 +635,8 @@ class BioyondReactionStation(BioyondWorkstation):
                         total_params += 1
                         step_parameters[step_id][action_name].append({
                             "Key": param_key,
-                            "DisplayValue": param_value
+                            "DisplayValue": param_value,
+                            "Value": param_value
                         })
                         successful_params += 1
                         # print(f"         ✓ {param_key} = {param_value}")

unilabos/devices/workstation/bioyond_studio/station.py

@@ -4,6 +4,7 @@ Bioyond Workstation Implementation
 
 集成Bioyond物料管理的工作站示例
 """
+import time
 import traceback
 from datetime import datetime
 from typing import Dict, Any, List, Optional, Union

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -0,0 +1,404 @@
+bioyond_dispensing_station:
+  category:
+  - workstation
+  - bioyond
+  - bioyond_dispensing_station
+  class:
+    action_value_mappings:
+      batch_create_90_10_vial_feeding_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          speed: speed
+          temperature: temperature
+          titration: titration
+        goal_default:
+          delay_time: '600'
+          hold_m_name: ''
+          liquid_material_name: NMP
+          speed: '400'
+          temperature: '40'
+          titration: ''
+        handles:
+          input:
+          - data_key: titration
+            data_source: handle
+            data_type: object
+            handler_key: titration
+            io_type: source
+            label: Titration Data From Calculation Node
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreate9010VialFeedingTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 延迟时间(秒),默认600
+                  type: string
+                hold_m_name:
+                  description: 库位名称,如"C01",必填参数
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 10%物料的液体物料名称,默认为"NMP"
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度,默认400
+                  type: string
+                temperature:
+                  default: '40'
+                  description: 温度(℃),默认40
+                  type: string
+                titration:
+                  description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g),
+                    titration_solvent(滴定溶液体积mL)'
+                  type: string
+              required:
+              - titration
+              - hold_m_name
+              title: BatchCreate9010VialFeedingTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: BatchCreate9010VialFeedingTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreate9010VialFeedingTasks
+          type: object
+        type: UniLabJsonCommand
+      batch_create_diamine_solution_tasks:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          liquid_material_name: liquid_material_name
+          solutions: solutions
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: '600'
+          liquid_material_name: NMP
+          solutions: ''
+          speed: '400'
+          temperature: '20'
+        handles:
+          input:
+          - data_key: solutions
+            data_source: handle
+            data_type: array
+            handler_key: solutions
+            io_type: source
+            label: Solution Data From Python
+        result:
+          return_info: return_info
+        schema:
+          description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: BatchCreateDiamineSolutionTasks_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  default: '600'
+                  description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
+                  type: string
+                liquid_material_name:
+                  default: NMP
+                  description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮）
+                  type: string
+                solutions:
+                  description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g),
+                    solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass":
+                    5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass":
+                    4.5, "solvent_volume": 18}]'
+                  type: string
+                speed:
+                  default: '400'
+                  description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
+                  type: string
+                temperature:
+                  default: '20'
+                  description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
+                  type: string
+              required:
+              - solutions
+              title: BatchCreateDiamineSolutionTasks_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息
+                  type: string
+              required:
+              - return_info
+              title: BatchCreateDiamineSolutionTasks_Result
+              type: object
+          required:
+          - goal
+          title: BatchCreateDiamineSolutionTasks
+          type: object
+        type: UniLabJsonCommand
+      create_90_10_vial_feeding_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          order_name: order_name
+          percent_10_1_assign_material_name: percent_10_1_assign_material_name
+          percent_10_1_liquid_material_name: percent_10_1_liquid_material_name
+          percent_10_1_target_weigh: percent_10_1_target_weigh
+          percent_10_1_volume: percent_10_1_volume
+          percent_10_2_assign_material_name: percent_10_2_assign_material_name
+          percent_10_2_liquid_material_name: percent_10_2_liquid_material_name
+          percent_10_2_target_weigh: percent_10_2_target_weigh
+          percent_10_2_volume: percent_10_2_volume
+          percent_10_3_assign_material_name: percent_10_3_assign_material_name
+          percent_10_3_liquid_material_name: percent_10_3_liquid_material_name
+          percent_10_3_target_weigh: percent_10_3_target_weigh
+          percent_10_3_volume: percent_10_3_volume
+          percent_90_1_assign_material_name: percent_90_1_assign_material_name
+          percent_90_1_target_weigh: percent_90_1_target_weigh
+          percent_90_2_assign_material_name: percent_90_2_assign_material_name
+          percent_90_2_target_weigh: percent_90_2_target_weigh
+          percent_90_3_assign_material_name: percent_90_3_assign_material_name
+          percent_90_3_target_weigh: percent_90_3_target_weigh
+          speed: speed
+          temperature: temperature
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          order_name: ''
+          percent_10_1_assign_material_name: ''
+          percent_10_1_liquid_material_name: ''
+          percent_10_1_target_weigh: ''
+          percent_10_1_volume: ''
+          percent_10_2_assign_material_name: ''
+          percent_10_2_liquid_material_name: ''
+          percent_10_2_target_weigh: ''
+          percent_10_2_volume: ''
+          percent_10_3_assign_material_name: ''
+          percent_10_3_liquid_material_name: ''
+          percent_10_3_target_weigh: ''
+          percent_10_3_volume: ''
+          percent_90_1_assign_material_name: ''
+          percent_90_1_target_weigh: ''
+          percent_90_2_assign_material_name: ''
+          percent_90_2_target_weigh: ''
+          percent_90_3_assign_material_name: ''
+          percent_90_3_target_weigh: ''
+          speed: ''
+          temperature: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationVialFeed_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                order_name:
+                  type: string
+                percent_10_1_assign_material_name:
+                  type: string
+                percent_10_1_liquid_material_name:
+                  type: string
+                percent_10_1_target_weigh:
+                  type: string
+                percent_10_1_volume:
+                  type: string
+                percent_10_2_assign_material_name:
+                  type: string
+                percent_10_2_liquid_material_name:
+                  type: string
+                percent_10_2_target_weigh:
+                  type: string
+                percent_10_2_volume:
+                  type: string
+                percent_10_3_assign_material_name:
+                  type: string
+                percent_10_3_liquid_material_name:
+                  type: string
+                percent_10_3_target_weigh:
+                  type: string
+                percent_10_3_volume:
+                  type: string
+                percent_90_1_assign_material_name:
+                  type: string
+                percent_90_1_target_weigh:
+                  type: string
+                percent_90_2_assign_material_name:
+                  type: string
+                percent_90_2_target_weigh:
+                  type: string
+                percent_90_3_assign_material_name:
+                  type: string
+                percent_90_3_target_weigh:
+                  type: string
+                speed:
+                  type: string
+                temperature:
+                  type: string
+              required:
+              - order_name
+              - percent_90_1_assign_material_name
+              - percent_90_1_target_weigh
+              - percent_90_2_assign_material_name
+              - percent_90_2_target_weigh
+              - percent_90_3_assign_material_name
+              - percent_90_3_target_weigh
+              - percent_10_1_assign_material_name
+              - percent_10_1_target_weigh
+              - percent_10_1_volume
+              - percent_10_1_liquid_material_name
+              - percent_10_2_assign_material_name
+              - percent_10_2_target_weigh
+              - percent_10_2_volume
+              - percent_10_2_liquid_material_name
+              - percent_10_3_assign_material_name
+              - percent_10_3_target_weigh
+              - percent_10_3_volume
+              - percent_10_3_liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationVialFeed_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationVialFeed_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationVialFeed
+          type: object
+        type: DispenStationVialFeed
+      create_diamine_solution_task:
+        feedback: {}
+        goal:
+          delay_time: delay_time
+          hold_m_name: hold_m_name
+          liquid_material_name: liquid_material_name
+          material_name: material_name
+          order_name: order_name
+          speed: speed
+          target_weigh: target_weigh
+          temperature: temperature
+          volume: volume
+        goal_default:
+          delay_time: ''
+          hold_m_name: ''
+          liquid_material_name: ''
+          material_name: ''
+          order_name: ''
+          speed: ''
+          target_weigh: ''
+          temperature: ''
+          volume: ''
+        handles: {}
+        result:
+          return_info: return_info
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: DispenStationSolnPrep_Feedback
+              type: object
+            goal:
+              properties:
+                delay_time:
+                  type: string
+                hold_m_name:
+                  type: string
+                liquid_material_name:
+                  type: string
+                material_name:
+                  type: string
+                order_name:
+                  type: string
+                speed:
+                  type: string
+                target_weigh:
+                  type: string
+                temperature:
+                  type: string
+                volume:
+                  type: string
+              required:
+              - order_name
+              - material_name
+              - target_weigh
+              - volume
+              - liquid_material_name
+              - speed
+              - temperature
+              - delay_time
+              - hold_m_name
+              title: DispenStationSolnPrep_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: DispenStationSolnPrep_Result
+              type: object
+          required:
+          - goal
+          title: DispenStationSolnPrep
+          type: object
+        type: DispenStationSolnPrep
+    module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
+    status_types: {}
+    type: python
+  config_info: []
+  description: ''
+  handles: []
+  icon: preparation_station.webp
+  init_param_schema:
+    config:
+      properties:
+        config:
+          type: string
+      required:
+      - config
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,67 +4,38 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
-      auto-append_to_workflow_sequence:
+      drip_back:
         feedback: {}
-        goal: {}
+        goal:
+          assign_material_name: assign_material_name
+          temperature: temperature
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume: volume
         goal_default:
-          web_workflow_name: null
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume: ''
         handles: {}
-        placeholder_keys: {}
         result: {}
         schema:
-          description: ''
+          description: 滴回去
           properties:
             feedback: {}
             goal:
               properties:
-                web_workflow_name:
+                assign_material_name:
+                  description: 物料名称（不能为空）
                   type: string
-              required:
-              - web_workflow_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: append_to_workflow_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-clear_workflows:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: clear_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-load_bioyond_data_from_file:
-        feedback: {}
-        goal: {}
-        goal_default:
-          file_path: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                file_path:
+                temperature:
+                  description: 温度设定(°C)
+                  type: string
+                time:
+                  description: 观察时间(分钟)
                   type: string
               required:
               - file_path
@@ -116,397 +87,35 @@ reaction_station.bioyond:
               properties:
                 json_str:
                   type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: process_web_workflows参数
-          type: object
-        type: UniLabJsonCommand
-      auto-reset_workstation:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: reset_workstation参数
-          type: object
-        type: UniLabJsonCommand
-      auto-resource_tree_add:
-        feedback: {}
-        goal: {}
-        goal_default:
-          resources: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                resources:
-                  items:
-                    type: object
-                  type: array
-              required:
-              - resources
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_tree_add参数
-          type: object
-        type: UniLabJsonCommand
-      auto-set_workflow_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          json_str: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                json_str:
-                  type: string
-              required:
-              - json_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: set_workflow_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-transfer_resource_to_another:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mount_device_id: null
-          mount_resource: null
-          resource: null
-          sites: null
-        handles: {}
-        placeholder_keys:
-          mount_device_id: unilabos_devices
-          mount_resource: unilabos_resources
-          resource: unilabos_resources
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mount_device_id:
-                  type: object
-                mount_resource:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: mount_resource
-                    type: object
-                  type: array
-                resource:
-                  items:
-                    properties:
-                      category:
-                        type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: resource
-                    type: object
-                  type: array
-                sites:
-                  items:
-                    type: string
-                  type: array
-              required:
-              - resource
-              - mount_resource
-              - sites
-              - mount_device_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_resource_to_another参数
-          type: object
-        type: UniLabJsonCommand
-      bioyond_sync:
-        feedback: {}
-        goal:
-          force_sync: force_sync
-          sync_type: sync_type
-        goal_default:
-          force_sync: false
-          sync_type: full
-        handles: {}
-        result: {}
-        schema:
-          description: 从Bioyond系统同步物料
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                force_sync:
-                  description: 是否强制同步
-                  type: boolean
-                sync_type:
-                  description: 同步类型
-                  enum:
-                  - full
-                  - incremental
-                  type: string
-              required:
-              - sync_type
-              type: object
-            result: {}
-          required:
-          - goal
-          title: bioyond_sync参数
-          type: object
-        type: UniLabJsonCommand
-      bioyond_update:
-        feedback: {}
-        goal:
-          material_ids: material_ids
-          sync_all: sync_all
-        goal_default:
-          material_ids: []
-          sync_all: true
-        handles: {}
-        result: {}
-        schema:
-          description: 将本地物料变更同步到Bioyond
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                material_ids:
-                  description: 要同步的物料ID列表
-                  items:
-                    type: string
-                  type: array
-                sync_all:
-                  description: 是否同步所有物料
-                  type: boolean
-              required:
-              - sync_all
-              type: object
-            result: {}
-          required:
-          - goal
-          title: bioyond_update参数
-          type: object
-        type: UniLabJsonCommand
-      reaction_station_drip_back:
-        feedback: {}
-        goal:
-          assign_material_name: assign_material_name
-          time: time
-          torque_variation: torque_variation
-          volume: volume
-        goal_default:
-          assign_material_name: ''
-          time: ''
-          torque_variation: ''
-          volume: ''
-        handles: {}
-        result: {}
-        schema:
-          description: 反应站滴回操作
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                assign_material_name:
-                  description: 溶剂名称
-                  type: string
-                time:
-                  description: 观察时间（单位min）
-                  type: string
-                torque_variation:
-                  description: 是否观察1否2是
-                  type: string
                 volume:
-                  description: 投料体积
+                  description: 分液公式(μL)
                   type: string
               required:
               - volume
               - assign_material_name
               - time
               - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
           - goal
-          title: reaction_station_drip_back参数
+          title: drip_back参数
           type: object
         type: UniLabJsonCommand
-      reaction_station_liquid_feed:
+      liquid_feeding_beaker:
         feedback: {}
         goal:
           assign_material_name: assign_material_name
+          temperature: temperature
           time: time
           titration_type: titration_type
           torque_variation: torque_variation
           volume: volume
         goal_default:
           assign_material_name: ''
+          temperature: ''
           time: ''
           titration_type: ''
           torque_variation: ''
@@ -514,40 +123,223 @@ reaction_station.bioyond:
         handles: {}
         result: {}
         schema:
-          description: 反应站液体进料操作
+          description: 液体进料烧杯
           properties:
             feedback: {}
             goal:
               properties:
                 assign_material_name:
-                  description: 溶剂名称
+                  description: 物料名称
+                  type: string
+                temperature:
+                  description: 温度设定(°C)
                   type: string
                 time:
-                  description: 观察时间（单位min）
+                  description: 观察时间(分钟)
                   type: string
                 titration_type:
-                  description: 滴定类型1否2是
+                  description: 是否滴定(1=否, 2=是)
                   type: string
                 torque_variation:
-                  description: 是否观察1否2是
+                  description: 是否观察 (1=否, 2=是)
                   type: string
                 volume:
-                  description: 投料体积
+                  description: 分液公式(μL)
                   type: string
               required:
-              - titration_type
               - volume
               - assign_material_name
               - time
               - torque_variation
+              - titration_type
+              - temperature
               type: object
             result: {}
           required:
           - goal
-          title: reaction_station_liquid_feed参数
+          title: liquid_feeding_beaker参数
           type: object
         type: UniLabJsonCommand
-      reaction_station_process_execute:
+      liquid_feeding_solvents:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          solvents: solvents
+          temperature: temperature
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume: volume
+        goal_default:
+          assign_material_name: ''
+          solvents: ''
+          temperature: '25.00'
+          time: '360'
+          titration_type: '1'
+          torque_variation: '2'
+          volume: ''
+        handles:
+          input:
+          - data_key: solvents
+            data_source: handle
+            data_type: object
+            handler_key: solvents
+            io_type: source
+            label: Solvents Data From Calculation Node
+        result: {}
+        schema:
+          description: 液体投料-溶剂。可以直接提供volume(μL),或通过solvents对象自动从additional_solvent(mL)计算volume。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                solvents:
+                  description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
+                  type: string
+                temperature:
+                  default: '25.00'
+                  description: 温度设定(°C),默认25.00
+                  type: string
+                time:
+                  default: '360'
+                  description: 观察时间(分钟),默认360
+                  type: string
+                titration_type:
+                  default: '1'
+                  description: 是否滴定(1=否, 2=是),默认1
+                  type: string
+                torque_variation:
+                  default: '2'
+                  description: 是否观察 (1=否, 2=是),默认2
+                  type: string
+                volume:
+                  description: 分液量(μL)。可直接提供,或通过solvents参数自动计算
+                  type: string
+              required:
+              - assign_material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_solvents参数
+          type: object
+        type: UniLabJsonCommand
+      liquid_feeding_titration:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          temperature: temperature
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume_formula: volume_formula
+        goal_default:
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume_formula: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 液体进料(滴定)
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                temperature:
+                  description: 温度设定(°C)
+                  type: string
+                time:
+                  description: 观察时间(分钟)
+                  type: string
+                titration_type:
+                  description: 是否滴定(1=否, 2=是)
+                  type: string
+                torque_variation:
+                  description: 是否观察 (1=否, 2=是)
+                  type: string
+                volume_formula:
+                  description: 分液公式(μL)
+                  type: string
+              required:
+              - volume_formula
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_titration参数
+          type: object
+        type: UniLabJsonCommand
+      liquid_feeding_vials_non_titration:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          temperature: temperature
+          time: time
+          titration_type: titration_type
+          torque_variation: torque_variation
+          volume_formula: volume_formula
+        goal_default:
+          assign_material_name: ''
+          temperature: ''
+          time: ''
+          titration_type: ''
+          torque_variation: ''
+          volume_formula: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 液体进料小瓶(非滴定)
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称
+                  type: string
+                temperature:
+                  description: 温度设定(°C)
+                  type: string
+                time:
+                  description: 观察时间(分钟)
+                  type: string
+                titration_type:
+                  description: 是否滴定(1=否, 2=是)
+                  type: string
+                torque_variation:
+                  description: 是否观察 (1=否, 2=是)
+                  type: string
+                volume_formula:
+                  description: 分液公式(μL)
+                  type: string
+              required:
+              - volume_formula
+              - assign_material_name
+              - time
+              - torque_variation
+              - titration_type
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: liquid_feeding_vials_non_titration参数
+          type: object
+        type: UniLabJsonCommand
+      process_and_execute_workflow:
         feedback: {}
         goal:
           task_name: task_name
@@ -558,7 +350,7 @@ reaction_station.bioyond:
         handles: {}
         result: {}
         schema:
-          description: 反应站流程执行
+          description: 处理并执行工作流
           properties:
             feedback: {}
             goal:
@@ -576,92 +368,10 @@ reaction_station.bioyond:
             result: {}
           required:
           - goal
-          title: reaction_station_process_execute参数
+          title: process_and_execute_workflow参数
           type: object
         type: UniLabJsonCommand
-      reaction_station_reactor_taken_out:
-        feedback: {}
-        goal:
-          order_id: order_id
-          preintake_id: preintake_id
-        goal_default:
-          order_id: ''
-          preintake_id: ''
-        handles: {}
-        result: {}
-        schema:
-          description: 反应站反应器取出操作 - 通过订单ID和预取样ID进行精确控制
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                order_id:
-                  description: 订单ID，用于标识要取出的订单
-                  type: string
-                preintake_id:
-                  description: 预取样ID，用于标识具体的取样任务
-                  type: string
-              required: []
-              type: object
-            result:
-              properties:
-                code:
-                  description: 操作结果代码（1表示成功，0表示失败）
-                  type: integer
-                return_info:
-                  description: 操作结果详细信息
-                  type: string
-              type: object
-          required:
-          - goal
-          title: reaction_station_reactor_taken_out参数
-          type: object
-        type: UniLabJsonCommand
-      reaction_station_solid_feed_vial:
-        feedback: {}
-        goal:
-          assign_material_name: assign_material_name
-          material_id: material_id
-          time: time
-          torque_variation: torque_variation
-        goal_default:
-          assign_material_name: ''
-          material_id: ''
-          time: ''
-          torque_variation: ''
-        handles: {}
-        result: {}
-        schema:
-          description: 反应站固体进料操作
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                assign_material_name:
-                  description: 固体名称_粉末加样模块-投料
-                  type: string
-                material_id:
-                  description: 固体投料类型_粉末加样模块-投料
-                  type: string
-                time:
-                  description: 观察时间_反应模块-观察搅拌结果
-                  type: string
-                torque_variation:
-                  description: 是否观察1否2是_反应模块-观察搅拌结果
-                  type: string
-              required:
-              - assign_material_name
-              - material_id
-              - time
-              - torque_variation
-              type: object
-            result: {}
-          required:
-          - goal
-          title: reaction_station_solid_feed_vial参数
-          type: object
-        type: UniLabJsonCommand
-      reaction_station_take_in:
+      reactor_taken_in:
         feedback: {}
         goal:
           assign_material_name: assign_material_name
@@ -674,7 +384,7 @@ reaction_station.bioyond:
         handles: {}
         result: {}
         schema:
-          description: 反应站取入操作
+          description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
           properties:
             feedback: {}
             goal:
@@ -683,10 +393,10 @@ reaction_station.bioyond:
                   description: 物料名称
                   type: string
                 cutoff:
-                  description: 截止参数
+                  description: 粘度上限
                   type: string
                 temperature:
-                  description: 温度
+                  description: 温度设定(°C)
                   type: string
               required:
               - cutoff
@@ -696,10 +406,88 @@ reaction_station.bioyond:
             result: {}
           required:
           - goal
-          title: reaction_station_take_in参数
+          title: reactor_taken_in参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation
+      reactor_taken_out:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        result: {}
+        schema:
+          description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                code:
+                  description: 操作结果代码(1表示成功,0表示失败)
+                  type: integer
+                return_info:
+                  description: 操作结果详细信息
+                  type: string
+              type: object
+          required:
+          - goal
+          title: reactor_taken_out参数
+          type: object
+        type: UniLabJsonCommand
+      solid_feeding_vials:
+        feedback: {}
+        goal:
+          assign_material_name: assign_material_name
+          material_id: material_id
+          temperature: temperature
+          time: time
+          torque_variation: torque_variation
+        goal_default:
+          assign_material_name: ''
+          material_id: ''
+          temperature: ''
+          time: ''
+          torque_variation: ''
+        handles: {}
+        result: {}
+        schema:
+          description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                assign_material_name:
+                  description: 物料名称(用于获取试剂瓶位ID)
+                  type: string
+                material_id:
+                  description: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟）
+                  type: string
+                temperature:
+                  description: 温度设定(°C)
+                  type: string
+                time:
+                  description: 观察时间(分钟)
+                  type: string
+                torque_variation:
+                  description: 是否观察 (1=否, 2=是)
+                  type: string
+              required:
+              - assign_material_name
+              - material_id
+              - time
+              - torque_variation
+              - temperature
+              type: object
+            result: {}
+          required:
+          - goal
+          title: solid_feeding_vials参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
       all_workflows: dict
@@ -708,14 +496,14 @@ reaction_station.bioyond:
       workstation_status: dict
     type: python
   config_info: []
-  description: Bioyond反应站 - 专门用于化学反应操作的工作站
+  description: Bioyond反应站
   handles: []
-  icon: 反应站.webp
+  icon: reaction_station.webp
   init_param_schema:
     config:
       properties:
-        bioyond_config:
-          type: string
+        config:
+          type: object
         deck:
           type: string
       required: []

unilabos/resources/bioyond/warehouses.py

@@ -18,6 +18,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
     )
 
 
+
 def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
     """创建BioYond 4x1x2仓库"""
     return warehouse_factory(

unilabos/resources/graphio.py

@@ -535,6 +535,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
 
     def resource_ulab_to_plr_inner(resource: dict):
         all_states[resource["name"]] = resource["data"]
+        extra = resource.pop("extra", {})
         d = {
             "name": resource["name"],
             "type": resource["type"],
@@ -575,16 +576,16 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
         replace_info = {
             "plate": "plate",
             "well": "well",
-            "tip_spot": "container",
-            "trash": "container",
+            "tip_spot": "tip_spot",
+            "trash": "trash",
             "deck": "deck",
-            "tip_rack": "container",
+            "tip_rack": "tip_rack",
         }
         if source in replace_info:
             return replace_info[source]
         else:
             print("转换pylabrobot的时候，出现未知类型", source)
-            return "container"
+            return source
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
         r = {

unilabos/resources/itemized_carrier.py

@@ -78,6 +78,7 @@ class ItemizedCarrier(ResourcePLR):
     sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
     category: Optional[str] = "carrier",
     model: Optional[str] = None,
+    invisible_slots: Optional[str] = None,
   ):
     super().__init__(
       name=name,
@@ -89,6 +90,7 @@ class ItemizedCarrier(ResourcePLR):
     )
     self.num_items = len(sites)
     self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z
+    self.invisible_slots = [] if invisible_slots is None else invisible_slots
     self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y"
 
     if isinstance(sites, dict):
@@ -410,7 +412,7 @@ class ItemizedCarrier(ResourcePLR):
       "layout": self.layout,
       "sites": [{
         "label": str(identifier),
-        "visible": True if self[identifier] is not None else False,
+        "visible": False if identifier in self.invisible_slots else True,
         "occupied_by": self[identifier].name 
                         if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else 
                         self[identifier] if isinstance(self[identifier], str) else None,
@@ -433,6 +435,7 @@ class BottleCarrier(ItemizedCarrier):
         sites: Optional[Dict[Union[int, str], ResourceHolder]] = None,
         category: str = "bottle_carrier",
         model: Optional[str] = None,
+        invisible_slots: List[str] = None,
         **kwargs,
     ):
         super().__init__(
@@ -443,4 +446,5 @@ class BottleCarrier(ItemizedCarrier):
             sites=sites,
             category=category,
             model=model,
+            invisible_slots=invisible_slots,
         )

unilabos/ros/main_slave_run.py

@@ -10,7 +10,7 @@ from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
 from unilabos_msgs.srv import SerialCommand  # type: ignore
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 

unilabos/ros/nodes/base_device_node.py

@@ -49,7 +49,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import (
     DeviceNodeResourceTracker,
-    ResourceTreeSet,
+    ResourceTreeSet, ResourceTreeInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -338,12 +338,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
-            "resource_add": self.create_client(ResourceAdd, "/resources/add"),
-            "resource_get": self.create_client(SerialCommand, "/resources/get"),
-            "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
-            "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
-            "resource_list": self.create_client(ResourceList, "/resources/list"),
-            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"),
+            "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
+            "resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group),
+            "resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group),
+            "resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group),
+            "resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group),
+            "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group),
         }
 
         def re_register_device(req, res):
@@ -573,6 +573,52 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             self.lab_logger().error(traceback.format_exc())
         self.lab_logger().debug(f"资源更新结果: {response}")
 
+    def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]):
+        parent_uuid = tree.root_node.res_content.parent_uuid
+        if parent_uuid:
+            parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+            if parent_resource is None:
+                self.lab_logger().warning(
+                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                )
+            else:
+                try:
+                    # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                    additional_params = {}
+                    extra = getattr(plr_resource, "unilabos_extra", {})
+                    if len(extra):
+                        self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
+                    if "update_resource_site" in extra:
+                        additional_add_params["site"] = extra["update_resource_site"]
+                    site = additional_add_params.get("site", None)
+                    spec = inspect.signature(parent_resource.assign_child_resource)
+                    if "spot" in spec.parameters:
+                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                        if ordering_dict:
+                            site = list(ordering_dict.keys()).index(site)
+                        additional_params["spot"] = site
+                    old_parent = plr_resource.parent
+                    if old_parent is not None:
+                        # plr并不支持同一个deck的加载和卸载
+                        self.lab_logger().warning(
+                            f"物料{plr_resource}请求从{old_parent}卸载"
+                        )
+                        old_parent.unassign_child_resource(plr_resource)
+                    self.lab_logger().warning(
+                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
+                    )
+                    parent_resource.assign_child_resource(
+                        plr_resource, location=None, **additional_params
+                    )
+                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                    if callable(func):
+                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                        func(old_parent, plr_resource, parent_resource)
+                except Exception as e:
+                    self.lab_logger().warning(
+                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                    )
+
     async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
         """
         处理资源树更新请求
@@ -613,28 +659,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         plr_resources = tree_set.to_plr_resources()
                         for plr_resource, tree in zip(plr_resources, tree_set.trees):
                             self.resource_tracker.add_resource(plr_resource)
-                            parent_uuid = tree.root_node.res_content.parent_uuid
-                            if parent_uuid:
-                                parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
-                                if parent_resource is None:
-                                    self.lab_logger().warning(
-                                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
-                                    )
-                                else:
-                                    try:
-                                        # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
-                                        additional_params = {}
-                                        site = additional_add_params.get("site", None)
-                                        spec = inspect.signature(parent_resource.assign_child_resource)
-                                        if "spot" in spec.parameters:
-                                            additional_params["spot"] = site
-                                        parent_resource.assign_child_resource(
-                                            plr_resource, location=None, **additional_params
-                                        )
-                                    except Exception as e:
-                                        self.lab_logger().warning(
-                                            f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
-                                        )
+                            self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
                         func = getattr(self.driver_instance, "resource_tree_add", None)
                         if callable(func):
                             func(plr_resources)
@@ -647,6 +672,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             original_instance: ResourcePLR = self.resource_tracker.figure_resource(
                                 {"uuid": tree.root_node.res_content.uuid}, try_mode=False
                             )
+                            original_parent_resource = original_instance.parent
+                            original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                            target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+                            self.lab_logger().info(
+                                f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
+                            )
+                            # todo: 对extra进行update
+                            if getattr(plr_resource, "unilabos_extra", None) is not None:
+                                original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
+                            if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
+                                self.transfer_to_new_resource(original_instance, tree, additional_add_params)
                             original_instance.load_all_state(states)
                             self.lab_logger().info(
                                 f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
@@ -879,7 +915,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             action_type,
             action_name,
             execute_callback=self._create_execute_callback(action_name, action_value_mapping),
-            callback_group=ReentrantCallbackGroup(),
+            callback_group=self.callback_group,
         )
 
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
@@ -1500,7 +1536,7 @@ class ROS2DeviceNode:
             asyncio.set_event_loop(loop)
             loop.run_forever()
 
-        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
+        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
         ROS2DeviceNode._loop_thread.start()
         logger.info(f"循环线程已启动")
 

unilabos/ros/nodes/presets/host_node.py

@@ -285,7 +285,7 @@ class HostNode(BaseROS2DeviceNode):
 
         # 创建定时器，定期发现设备
         self._discovery_timer = self.create_timer(
-            discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
+            discovery_interval, self._discovery_devices_callback, callback_group=self.callback_group
         )
 
         # 添加ping-pong相关属性
@@ -494,7 +494,7 @@ class HostNode(BaseROS2DeviceNode):
         if len(init_new_res) > 1:  # 一个物料，多个子节点
             init_new_res = [init_new_res]
         resources: List[Resource] | List[List[Resource]] = init_new_res  # initialize_resource已经返回list[dict]
-        device_ids = [device_id]
+        device_ids = [device_id.split("/")[-1]]
         bind_parent_id = [res_creation_input["parent"]]
         bind_location = [bind_locations]
         other_calling_param = [
@@ -618,7 +618,7 @@ class HostNode(BaseROS2DeviceNode):
                                 topic,
                                 lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
                                 1,
-                                callback_group=ReentrantCallbackGroup(),
+                                callback_group=self.callback_group,
                             )
                             # 标记为已订阅
                             self._subscribed_topics.add(topic)
@@ -829,37 +829,37 @@ class HostNode(BaseROS2DeviceNode):
     def _init_host_service(self):
         self._resource_services: Dict[str, Service] = {
             "resource_add": self.create_service(
-                ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
+                ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=self.callback_group
             ),
             "resource_get": self.create_service(
-                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
+                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group
             ),
             "resource_delete": self.create_service(
                 ResourceDelete,
                 "/resources/delete",
                 self._resource_delete_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
             ),
             "resource_update": self.create_service(
                 ResourceUpdate,
                 "/resources/update",
                 self._resource_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
             ),
             "resource_list": self.create_service(
-                ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
+                ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group
             ),
             "node_info_update": self.create_service(
                 SerialCommand,
                 "/node_info_update",
                 self._node_info_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
             ),
             "c2s_update_resource_tree": self.create_service(
                 SerialCommand,
                 "/c2s_update_resource_tree",
                 self._resource_tree_update_callback,
-                callback_group=ReentrantCallbackGroup(),
+                callback_group=self.callback_group,
             ),
         }
 

unilabos/ros/nodes/presets/workstation.py

@@ -194,7 +194,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             action_type,
             action_name,
             execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
-            callback_group=ReentrantCallbackGroup(),
+            callback_group=self.callback_group,
         )
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
         return

unilabos/ros/nodes/resource_tracker.py

@@ -42,7 +42,9 @@ class ResourceDictPosition(BaseModel):
     rotation: ResourceDictPositionObject = Field(
         description="Resource rotation", default_factory=ResourceDictPositionObject
     )
-    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(description="Cross section type", default="rectangle")
+    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
+        description="Cross section type", default="rectangle"
+    )
 
 
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -51,7 +53,9 @@ class ResourceDict(BaseModel):
     uuid: str = Field(description="Resource UUID")
     name: str = Field(description="Resource name")
     description: str = Field(description="Resource description", default="")
-    resource_schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema")
+    resource_schema: Dict[str, Any] = Field(
+        description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema"
+    )
     model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
     icon: str = Field(description="Resource icon", default="")
     parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None)  # 先设定parent_uuid
@@ -62,6 +66,7 @@ class ResourceDict(BaseModel):
     pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
     data: Dict[str, Any] = Field(description="Resource data")
+    extra: Dict[str, Any] = Field(description="Extra data")
 
     @field_serializer("parent_uuid")
     def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
@@ -138,6 +143,8 @@ class ResourceDictInstance(object):
             content["config"] = {}
         if not content.get("data"):
             content["data"] = {}
+        if not content.get("extra"):  # MagicCode
+            content["extra"] = {}
         if "pose" not in content:
             content["pose"] = content.get("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
@@ -311,28 +318,36 @@ class ResourceTreeSet(object):
                 "plate": "plate",
                 "well": "well",
                 "deck": "deck",
+                "tip_rack": "tip_rack",
+                "tip_spot": "tip_spot",
+                "tube": "tube",
+                "bottle_carrier": "bottle_carrier",
             }
             if source in replace_info:
                 return replace_info[source]
             else:
                 print("转换pylabrobot的时候，出现未知类型", source)
-                return "container"
+                return source
 
-        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
-            """递归构建uuid映射字典"""
+        def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
+            """递归构建uuid和extra映射字典，返回(current_uuid, parent_uuid, extra)元组列表"""
             uid = getattr(res, "unilabos_uuid", "")
             if not uid:
                 uid = str(uuid.uuid4())
                 res.unilabos_uuid = uid
                 logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
-            uuid_list.append(uid)
+
+            # 获取unilabos_extra，默认为空字典
+            extra = getattr(res, "unilabos_extra", {})
+
+            uuid_list.append((uid, parent_uuid, extra))
             for child in res.children:
-                build_uuid_mapping(child, uuid_list)
+                build_uuid_mapping(child, uuid_list, uid)
 
         def resource_plr_inner(
             d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
         ) -> ResourceDictInstance:
-            current_uuid = uuids.pop(0)
+            current_uuid, parent_uuid, extra = uuids.pop(0)
 
             raw_pos = (
                 {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
@@ -355,13 +370,30 @@ class ResourceTreeSet(object):
                 "uuid": current_uuid,
                 "name": d["name"],
                 "parent": parent_resource,  # 直接传入 ResourceDict 对象
+                "parent_uuid": parent_uuid,  # 使用 parent_uuid 而不是 parent 对象
                 "type": replace_plr_type(d.get("category", "")),
                 "class": d.get("class", ""),
                 "position": pos,
                 "pose": pos,
-                "config": {k: v for k, v in d.items() if k not in
-                           ["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]},
+                "config": {
+                    k: v
+                    for k, v in d.items()
+                    if k
+                    not in [
+                        "name",
+                        "children",
+                        "parent_name",
+                        "location",
+                        "rotation",
+                        "size_x",
+                        "size_y",
+                        "size_z",
+                        "cross_section_type",
+                        "bottom_type",
+                    ]
+                },
                 "data": states[d["name"]],
+                "extra": extra,
             }
 
             # 先转换为 ResourceDictInstance，获取其中的 ResourceDict
@@ -379,7 +411,7 @@ class ResourceTreeSet(object):
         for resource in resources:
             # 构建uuid列表
             uuid_list = []
-            build_uuid_mapping(resource, uuid_list)
+            build_uuid_mapping(resource, uuid_list, getattr(resource.parent, "unilabos_uuid", None))
 
             serialized_data = resource.serialize()
             all_states = resource.serialize_all_state()
@@ -402,14 +434,15 @@ class ResourceTreeSet(object):
         import inspect
 
         # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck"}
+        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
 
-        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
-            """一次遍历收集 name_to_uuid 和 all_states"""
+        def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
+            """一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
             name_to_uuid[node.res_content.name] = node.res_content.uuid
             all_states[node.res_content.name] = node.res_content.data
+            name_to_extra[node.res_content.name] = node.res_content.extra
             for child in node.children:
-                collect_node_data(child, name_to_uuid, all_states)
+                collect_node_data(child, name_to_uuid, all_states, name_to_extra)
 
         def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
             """转换节点为 PLR 字典格式"""
@@ -419,6 +452,7 @@ class ResourceTreeSet(object):
                 logger.warning(f"未知类型 {res.type}")
 
             d = {
+                **res.config,
                 "name": res.name,
                 "type": res.config.get("type", plr_type),
                 "size_x": res.config.get("size_x", 0),
@@ -434,33 +468,35 @@ class ResourceTreeSet(object):
                 "category": res.config.get("category", plr_type),
                 "children": [node_to_plr_dict(child, has_model) for child in node.children],
                 "parent_name": res.parent_instance_name,
-                **res.config,
             }
             if has_model:
                 d["model"] = res.config.get("model", None)
             return d
 
         plr_resources = []
-        trees = []
         tracker = DeviceNodeResourceTracker()
 
         for tree in self.trees:
             name_to_uuid: Dict[str, str] = {}
             all_states: Dict[str, Any] = {}
-            collect_node_data(tree.root_node, name_to_uuid, all_states)
+            name_to_extra: Dict[str, dict] = {}
+            collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
             has_model = tree.root_node.res_content.type != "deck"
             plr_dict = node_to_plr_dict(tree.root_node, has_model)
             try:
                 sub_cls = find_subclass(plr_dict["type"], PLRResource)
                 if sub_cls is None:
-                    raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}")
+                    raise ValueError(
+                        f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
+                    )
                 spec = inspect.signature(sub_cls)
                 if "category" not in spec.parameters:
                     plr_dict.pop("category", None)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 plr_resource.load_all_state(all_states)
-                # 使用 DeviceNodeResourceTracker 设置 UUID
+                # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
                 tracker.loop_set_uuid(plr_resource, name_to_uuid)
+                tracker.loop_set_extra(plr_resource, name_to_extra)
                 plr_resources.append(plr_resource)
 
             except Exception as e:
@@ -802,6 +838,20 @@ class DeviceNodeResourceTracker(object):
         else:
             setattr(resource, "unilabos_uuid", new_uuid)
 
+    @staticmethod
+    def set_resource_extra(resource, extra: dict):
+        """
+        设置资源的 extra，统一处理 dict 和 instance 两种类型
+
+        Args:
+            resource: 资源对象（dict或实例）
+            extra: extra字典值
+        """
+        if isinstance(resource, dict):
+            resource["extra"] = extra
+        else:
+            setattr(resource, "unilabos_extra", extra)
+
     def _traverse_and_process(self, resource, process_func) -> int:
         """
         递归遍历资源树，对每个节点执行处理函数
@@ -850,6 +900,29 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
+        """
+        递归遍历资源树，根据 name 设置所有节点的 extra
+
+        Args:
+            resource: 资源对象（可以是dict或实例）
+            name_to_extra_map: name到extra的映射字典，{name: extra}
+
+        Returns:
+            更新的资源数量
+        """
+
+        def process(res):
+            resource_name = self._get_resource_attr(res, "name")
+            if resource_name and resource_name in name_to_extra_map:
+                extra = name_to_extra_map[resource_name]
+                self.set_resource_extra(res, extra)
+                logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
+                return 1
+            return 0
+
+        return self._traverse_and_process(resource, process)
+
     def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int:
         """
         递归遍历资源树，更新所有节点的uuid
@@ -892,7 +965,9 @@ class DeviceNodeResourceTracker(object):
             if current_uuid:
                 old = self.uuid_to_resources.get(current_uuid)
                 self.uuid_to_resources[current_uuid] = res
-                logger.debug(f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}")
+                logger.debug(
+                    f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
+                )
             return 0
 
         self._traverse_and_process(resource, process)