fix: Protocol node resource run (#65)

* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>

unilabos/compile/adjustph_protocol.py

@@ -1,6 +1,6 @@
 import networkx as nx
 import logging
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Union
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
@@ -216,7 +216,7 @@ def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume
 
 def generate_adjust_ph_protocol(
     G: nx.DiGraph,
-    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    vessel:Union[dict,str],  # 🔧 修改：从字符串改为字典类型
     ph_value: float,
     reagent: str,
     **kwargs
@@ -235,8 +235,17 @@ def generate_adjust_ph_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     
-    # 🔧 核心修改：从字典中提取容器ID
+    # 统一处理vessel参数
-    vessel_id = vessel["id"]
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    
+    if not vessel_id:
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
+        raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
     
     debug_print("=" * 60)
     debug_print("🧪 开始生成pH调节协议")

unilabos/compile/evaporate_protocol.py

@@ -22,7 +22,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
     """
     if isinstance(time_input, (int, float)):
         debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
-        return float(time_input)
+        return float(time_input)  # 🔧 确保返回float
     
     if not time_input or not str(time_input).strip():
         debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
@@ -48,7 +48,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
         try:
             value = float(time_str)
             debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
-            return value
+            return float(value)  # 🔧 确保返回float
         except ValueError:
             debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
             return 180.0
@@ -70,7 +70,7 @@ def parse_time_input(time_input: Union[str, float]) -> float:
         time_sec = value  # 已经是s
         debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
     
-    return time_sec
+    return float(time_sec)  # 🔧 确保返回float
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
@@ -389,12 +389,12 @@ def generate_evaporate_protocol(
         "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": target_vessel,  # 使用 target_vessel
+            "vessel": target_vessel,
-            "pressure": pressure,
+            "pressure": float(pressure),
-            "temp": temp,
+            "temp": float(temp),
-            "time": final_time,
+            "time": float(final_time),  # 🔧 强制转换为float类型
-            "stir_speed": stir_speed,
+            "stir_speed": float(stir_speed),
-            "solvent": solvent
+            "solvent": str(solvent)
         }
     }
     action_sequence.append(evaporate_action)

unilabos/compile/recrystallize_protocol.py

@@ -170,33 +170,94 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
             debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
             return vessel_name
     
-    # 第二步：通过模糊匹配
+    # 第二步：通过模糊匹配（节点ID和名称）
     debug_print("  🔍 步骤2: 模糊名称匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             node_name = G.nodes[node_id].get('name', '').lower()
             
             if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
-                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} ✨")
+                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
                 return node_id
     
-    # 第三步：通过液体类型匹配
+    # 第三步：通过配置中的试剂信息匹配
-    debug_print("  🧪 步骤3: 液体类型匹配...")
+    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查 config 中的 reagent 字段
+            node_config = G.nodes[node_id].get('config', {})
+            config_reagent = node_config.get('reagent', '').lower()
+            
+            if config_reagent and solvent.lower() == config_reagent:
+                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
+                return node_id
+    
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤4: 数据试剂信息匹配...")
     for node_id in G.nodes():
         if G.nodes[node_id].get('type') == 'container':
             vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
             
+            # 检查 data 中的 reagent_name 字段
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            if reagent_name and solvent.lower() == reagent_name:
+                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
+                return node_id
+            
+            # 检查 data 中的液体信息
+            liquids = vessel_data.get('liquid', [])
             for liquid in liquids:
                 if isinstance(liquid, dict):
                     liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
-                    reagent_name = vessel_data.get('reagent_name', '').lower()
                     
-                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
+                    if solvent.lower() in liquid_type:
-                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} ✨")
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
                         return node_id
     
+    # 第五步：部分匹配（如果前面都没找到）
+    debug_print("  🔍 步骤5: 部分匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            config_reagent = node_config.get('reagent', '').lower()
+            data_reagent = node_data.get('reagent_name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if (solvent.lower() in config_reagent or 
+                solvent.lower() in data_reagent or 
+                solvent.lower() in node_name or
+                solvent.lower() in node_id.lower()):
+                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
+                debug_print(f"    - 节点名称: {node_name}")
+                debug_print(f"    - 配置试剂: {config_reagent}")
+                debug_print(f"    - 数据试剂: {data_reagent}")
+                return node_id
+    
+    # 调试信息：列出所有容器
+    debug_print("  🔎 调试信息：列出所有容器...")
+    container_list = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '')
+            
+            container_info = {
+                'id': node_id,
+                'name': node_name,
+                'config_reagent': node_config.get('reagent', ''),
+                'data_reagent': node_data.get('reagent_name', '')
+            }
+            container_list.append(container_info)
+            debug_print(f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
+    
     debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
+    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
+    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
+    
     raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
 
 

unilabos/compile/stir_protocol.py

@@ -149,7 +149,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/compile/wash_solid_protocol.py

@@ -165,7 +165,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
         str: vessel_id
     """
     if isinstance(vessel, dict):
-        vessel_id = vessel.get("id", "")
+        vessel_id = list(vessel.values())[0].get("id", "")
         debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
         return vessel_id
     elif isinstance(vessel, str):

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -70,11 +70,32 @@ class VirtualMultiwayValve:
             command: 目标位置 (0-8) 或位置字符串
                     0: transfer pump位置
                     1-8: 其他设备位置
+                    'default': 默认位置（0号位）
         """
         try:
-            # 如果是字符串形式的位置，先转换为数字
+            # 🔧 处理特殊字符串命令
             if isinstance(command, str):
-                pos = int(command)
+                command_lower = command.lower().strip()
+                
+                # 处理特殊命令
+                if command_lower in ['default', 'pump', 'transfer_pump', 'home']:
+                    pos = 0  # 默认位置为0号位（transfer pump）
+                    self.logger.info(f"🔧 特殊命令 '{command}' 映射到位置 {pos}")
+                elif command_lower in ['open']:
+                    pos = 0  # open命令也映射到0号位
+                    self.logger.info(f"🔧 OPEN命令映射到位置 {pos}")
+                elif command_lower in ['close', 'closed']:
+                    # 关闭命令保持当前位置
+                    pos = self._current_position
+                    self.logger.info(f"🔧 CLOSE命令保持当前位置 {pos}")
+                else:
+                    # 尝试转换为数字
+                    try:
+                        pos = int(command)
+                    except ValueError:
+                        error_msg = f"无法识别的命令: '{command}'"
+                        self.logger.error(f"❌ {error_msg}")
+                        raise ValueError(error_msg)
             else:
                 pos = int(command)
                 

unilabos/devices/virtual/virtual_rotavap.py

@@ -88,6 +88,20 @@ class VirtualRotavap:
     ) -> bool:
         """Execute evaporate action - 简化版 🌪️"""
         
+        # 🔧 新增：确保time参数是数值类型
+        if isinstance(time, str):
+            try:
+                time = float(time)
+            except ValueError:
+                self.logger.error(f"❌ 无法转换时间参数 '{time}' 为数值，使用默认值180.0秒")
+                time = 180.0
+        elif not isinstance(time, (int, float)):
+            self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
+            time = 180.0
+        
+        # 确保time是float类型
+        time = float(time)
+        
         # 🔧 简化处理：如果vessel就是设备自己，直接操作
         if vessel == self.device_id:
             debug_print(f"🎯 在设备 {self.device_id} 上直接执行蒸发操作")
@@ -158,7 +172,7 @@ class VirtualRotavap:
             })
             return False
 
-        # 开始蒸发
+        # 开始蒸发 - 🔧 现在time已经确保是float类型
         self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
         
         self.data.update({

unilabos/registry/devices/virtual_device.yaml

@@ -4580,7 +4580,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4588,30 +4587,6 @@ virtual_solid_dispenser:
           title: cleanup参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-find_solid_reagent_bottle:
-        feedback: {}
-        goal: {}
-        goal_default:
-          reagent_name: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                reagent_name:
-                  type: string
-              required:
-              - reagent_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: find_solid_reagent_bottle参数
-          type: object
-        type: UniLabJsonCommand
       auto-initialize:
         feedback: {}
         goal: {}
@@ -4624,7 +4599,6 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
-              required: []
               type: object
             result: {}
           required:
@@ -4632,58 +4606,9 @@ virtual_solid_dispenser:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
-      auto-parse_mass_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mass_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mass_str:
-                  type: string
-              required:
-              - mass_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mass_string参数
-          type: object
-        type: UniLabJsonCommand
-      auto-parse_mol_string:
-        feedback: {}
-        goal: {}
-        goal_default:
-          mol_str: null
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                mol_str:
-                  type: string
-              required:
-              - mol_str
-              type: object
-            result: {}
-          required:
-          - goal
-          title: parse_mol_string参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
-      device_info: dict
       dispensed_amount: float
       status: str
       total_operations: int
@@ -4716,14 +4641,18 @@ virtual_solid_dispenser:
           type: object
         device_id:
           type: string
+        max_capacity:
+          default: 100.0
+          type: number
+        precision:
+          default: 0.001
+          type: number
       required: []
       type: object
     data:
       properties:
         current_reagent:
           type: string
-        device_info:
-          type: object
         dispensed_amount:
           type: number
         status:
@@ -4735,7 +4664,6 @@ virtual_solid_dispenser:
       - current_reagent
       - dispensed_amount
       - total_operations
-      - device_info
       type: object
   version: 1.0.0
 virtual_stirrer:

unilabos/registry/devices/work_station.yaml

@@ -245,8 +245,13 @@ workstation:
         feedback: {}
         goal:
           amount: amount
+          equiv: equiv
+          event: event
           mass: mass
+          mol: mol
           purpose: purpose
+          rate_spec: rate_spec
+          ratio: ratio
           reagent: reagent
           stir: stir
           stir_speed: stir_speed
@@ -470,6 +475,11 @@ workstation:
           ph_value: ph_value
           reagent: reagent
           vessel: vessel
+          volume: volume
+          stir: stir
+          stir_speed: stir_speed
+          stir_time: stir_time
+          settling_time: settling_time
         goal_default:
           ph_value: 0.0
           reagent: ''
@@ -493,6 +503,11 @@ workstation:
                 z: 0.0
             sample_id: ''
             type: ''
+          volume: 0.0
+          stir: false
+          stir_speed: 300.0
+          stir_time: 60.0
+          settling_time: 30.0
         handles:
           input:
           - data_key: vessel
@@ -511,6 +526,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -605,6 +622,21 @@ workstation:
                   - data
                   title: Resource
                   type: object
+                volume:
+                  type: number
+                  description: 'Volume of the solution to adjust pH'
+                stir:
+                  type: boolean
+                  description: "是否启用搅拌"
+                stir_speed:
+                  type: number
+                  description: "搅拌速度(RPM)"
+                stir_time:
+                  type: number
+                  description: "搅拌时间(秒)"
+                settling_time:
+                  type: number
+                  description: "pH平衡时间(秒)"
               required:
               - vessel
               - ph_value
@@ -674,6 +706,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -853,6 +887,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1060,6 +1096,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1191,6 +1229,10 @@ workstation:
         feedback: {}
         goal:
           amount: amount
+          event: event
+          mass: mass
+          mol: mol
+          reagent: reagent
           solvent: solvent
           stir_speed: stir_speed
           temp: temp
@@ -1246,6 +1288,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1429,6 +1473,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1585,6 +1631,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -1778,6 +1826,8 @@ workstation:
             data_type: resource
             handler_key: vessel_out
             label: Evaporation Vessel
+        placeholder_keys:
+          vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -2014,6 +2064,9 @@ workstation:
             data_type: resource
             handler_key: filtrate_out
             label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -2195,7 +2248,7 @@ workstation:
                   type: number
               required:
               - vessel
-              - filtrate_vessel
+              - #filtrate_vessel
               - stir
               - stir_speed
               - temp
@@ -2325,6 +2378,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2656,6 +2712,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2835,6 +2893,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -2986,6 +3046,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -3135,6 +3197,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -3354,6 +3418,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -3667,6 +3734,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -4019,6 +4088,10 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          column: unilabos_devices
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -4422,6 +4495,11 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_resources
+          to_vessel: unilabos_resources
+          waste_phase_to_vessel: unilabos_resources
+          waste_vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5053,6 +5131,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5225,6 +5305,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5391,6 +5473,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -5556,6 +5640,9 @@ workstation:
             data_type: resource
             handler_key: ToVesselOut
             label: To Vessel
+        placeholder_keys:
+          from_vessel: unilabos_nodes
+          to_vessel: unilabos_nodes
         result: {}
         schema:
           description: ''
@@ -5722,6 +5809,9 @@ workstation:
             data_type: resource
             handler_key: filtrate_vessel_out
             label: Filtrate Vessel
+        placeholder_keys:
+          filtrate_vessel: unilabos_resources
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''

unilabos/resources/graphio.py

@@ -248,7 +248,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
     root_nodes = {
         node["id"]: node
         for node in nodes_list
-        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
     }
 
     # 如果存在多个根节点，返回所有根节点

unilabos/ros/nodes/presets/protocol_node.py

@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
                 # # 🔧 完全禁用Host查询，直接使用转换后的数据
                 # print(f"🔧 跳过Host查询，直接使用转换后的数据")
+                # 向Host查询物料当前状态
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        r = ResourceGet.Request()
+                        resource_id = (
+                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
+                        )
+                        r.id = resource_id
+                        r.with_children = True
+                        response = await self._resource_clients["resource_get"].call_async(r)
+                        protocol_kwargs[k] = list_to_nested_dict(
+                            [convert_from_ros_msg(rs) for rs in response.resources]
+                        )
 
-                # 🔧 额外验证：确保vessel数据完整
+                self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
-                if 'vessel' in protocol_kwargs:
+                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
-                    vessel_data = protocol_kwargs['vessel']
-                    #print(f"🔍 验证vessel数据: {vessel_data}")
-                    
-                    # 如果vessel是空字典，尝试重新构建
-                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
-                    #    print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
-                        
-                        # 直接从原始goal提取vessel
-                        if hasattr(goal, 'vessel') and goal.vessel:
-                    #        print(f"🔍 原始goal.vessel: {goal.vessel}")
-                            # 手动转换vessel
-                            vessel_data = {
-                                'id': goal.vessel.id,
-                                'name': goal.vessel.name,
-                                'type': goal.vessel.type,
-                                'category': goal.vessel.category,
-                                'config': goal.vessel.config,
-                                'data': goal.vessel.data
-                            }
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"✅ 手动重建vessel数据: {vessel_data}")
-                        else:
-                    #        print(f"❌ 无法从原始goal提取vessel数据")
-                            # 创建一个基本的vessel
-                            vessel_data = {'id': 'default_vessel'}
-                            protocol_kwargs['vessel'] = vessel_data
-                    #        print(f"🔧 创建默认vessel: {vessel_data}")
-
-                #print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
-                #print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
                 self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
-                self.lab_logger().info(f"Protocol kwargs: {goal}")
-                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                 protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
                 
                 self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             }
                         )
 
-                # # 向Host更新物料当前状态
+                # 向Host更新物料当前状态
-                # for k, v in goal.get_fields_and_field_types().items():
+                for k, v in goal.get_fields_and_field_types().items():
-                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                #         r = ResourceUpdate.Request()
+                        r = ResourceUpdate.Request()
-                #         r.resources = [
+                        r.resources = [
-                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                #         ]
+                        ]
-                #         response = await self._resource_clients["resource_update"].call_async(r)
+                        response = await self._resource_clients["resource_update"].call_async(r)
 
                 # 设置成功状态和返回值
                 execution_success = True