bugfixes on organic protocols

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -170,12 +170,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
+                "max_volume": 1000.0
-                "reagent": "DMF"
             },
             "data": {
-                "current_volume": 1000.0,
+                "liquids": [
-                "reagent_name": "DMF"
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -191,12 +194,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
+                "max_volume": 1000.0
-                "reagent": "ethyl_acetate"
             },
             "data": {
-                "current_volume": 1000.0,
+                "liquids": [
-                "reagent_name": "ethyl_acetate"
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -212,12 +218,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
+                "max_volume": 1000.0
-                "reagent": "hexane"
             },
             "data": {
-                "current_volume": 1000.0,
+                "liquids": [
-                "reagent_name": "hexane"
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -233,12 +242,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
+                "max_volume": 1000.0
-                "reagent": "methanol"
             },
             "data": {
-                "current_volume": 1000.0,
+                "liquids": [
-                "reagent_name": "methanol"
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -254,12 +266,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
+                "max_volume": 1000.0
-                "reagent": "water"
             },
             "data": {
-                "current_volume": 1000.0,
+                "liquids": [
-                "reagent_name": "water"
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -319,15 +334,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
+                "max_volume": 500.0,
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
                 "has_heater": true
             },
             "data": {
-                "current_volume": 0.0,
+                "liquids": [
-                "current_temp": 25.0
+                ]
             }
         },
         {
@@ -404,10 +419,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -423,10 +439,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -632,10 +649,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -651,10 +669,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -670,10 +689,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -712,7 +732,7 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
+                "max_volume": 500.0,
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },

unilabos/compile/filter_protocol.py

@@ -244,7 +244,7 @@ def generate_filter_protocol(
     # === 收集滤液（如果需要）===
     debug_print("📍 步骤5: 收集滤液... 💧")
     
-    if filtrate_vessel:
+    if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
         debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
         
         try:

unilabos/compile/utils/vessel_parser.py

@@ -125,6 +125,29 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
     """
     debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
 
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤1: 数据试剂信息匹配...")
+    for node_id in G.nodes():
+        debug_print(f"查找 id {node_id}, type={G.nodes[node_id].get('type')}, data={G.nodes[node_id].get('data', {})} 的容器...")
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+
+            # 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', []) or vessel_data.get('liquids', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+
+                    if solvent.lower() == liquid_type or solvent.lower() in liquid_type:
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
+                        return node_id
+
     # 构建可能的容器名称
     possible_names = [
         f"flask_{solvent}",
@@ -140,14 +163,14 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
     debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
 
     # 第一步：通过容器名称匹配
-    debug_print("  🎯 步骤1: 精确名称匹配...")
+    debug_print("  🎯 步骤2: 精确名称匹配...")
     for vessel_name in possible_names:
         if vessel_name in G.nodes():
             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（节点ID和名称）
-    debug_print("  🔍 步骤2: 模糊名称匹配...")
+    debug_print("  🔍 步骤3: 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()
@@ -157,7 +180,7 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
                 return node_id
 
     # 第三步：通过配置中的试剂信息匹配
-    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
+    debug_print("  🧪 步骤4: 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
@@ -168,28 +191,6 @@ def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
                 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', {})
-
-            # 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()
-
-                    if solvent.lower() in liquid_type:
-                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
-                        return node_id
-
     # 第五步：部分匹配（如果前面都没找到）
     debug_print("  🔍 步骤5: 部分匹配...")
     for node_id in G.nodes():

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -21,19 +21,6 @@ class VirtualMultiwayValve:
         self._current_position = 0  # 默认在0号位（transfer pump位置）
         self._target_position = 0
         
-        # 位置映射说明
-        self.position_map = {
-            0: "transfer_pump",  # 0号位连接转移泵
-            1: "port_1",         # 1号位
-            2: "port_2",         # 2号位
-            3: "port_3",         # 3号位
-            4: "port_4",         # 4号位
-            5: "port_5",         # 5号位
-            6: "port_6",         # 6号位
-            7: "port_7",         # 7号位
-            8: "port_8"          # 8号位
-        }
-        
         print(f"🔄 === 虚拟多通阀门已创建 === ✨")
         print(f"🎯 端口: {port} | 📊 位置范围: 0-{self.max_positions} | 🏠 初始位置: 0 (transfer_pump)")
         self.logger.info(f"🔧 多通阀门初始化: 端口={port}, 最大位置={self.max_positions}")
@@ -60,7 +47,7 @@ class VirtualMultiwayValve:
 
     def get_current_port(self) -> str:
         """获取当前连接的端口名称 🔌"""
-        return self.position_map.get(self._current_position, "unknown")
+        return self._current_position
 
     def set_position(self, command: Union[int, str]):
         """
@@ -115,7 +102,7 @@ class VirtualMultiwayValve:
             old_position = self._current_position
             old_port = self.get_current_port()
             
-            self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos}({self.position_map.get(pos, 'unknown')}) {pos_emoji}")
+            self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos} {pos_emoji}")
             
             self._status = "Busy"
             self._valve_state = "Moving"
@@ -190,6 +177,17 @@ class VirtualMultiwayValve:
         """获取阀门位置 - 兼容性方法 📍"""
         return self._current_position
 
+    def set_valve_position(self, command: Union[int, str]):
+        """
+        设置阀门位置 - 兼容pump_protocol调用 🎯
+        这是set_position的别名方法，用于兼容pump_protocol.py
+
+        Args:
+            command: 目标位置 (0-8) 或位置字符串
+        """
+        # 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
+        return self.set_position(command)
+
     def is_at_position(self, position: int) -> bool:
         """检查是否在指定位置 🎯"""
         result = self._current_position == position
@@ -210,17 +208,6 @@ class VirtualMultiwayValve:
         # 删除debug日志：self.logger.debug(f"🔌 端口{port_number}检查: {port_status} (当前位置: {self._current_position})")
         return result
 
-    def get_available_positions(self) -> list:
-        """获取可用位置列表 📋"""
-        positions = list(range(0, self.max_positions + 1))
-        # 删除debug日志：self.logger.debug(f"📋 可用位置: {positions}")
-        return positions
-
-    def get_available_ports(self) -> Dict[int, str]:
-        """获取可用端口映射 🗺️"""
-        # 删除debug日志：self.logger.debug(f"🗺️ 端口映射: {self.position_map}")
-        return self.position_map.copy()
-
     def reset(self):
         """重置阀门到transfer pump位置（0号位）🔄"""
         self.logger.info(f"🔄 重置阀门到泵位置...")
@@ -259,17 +246,6 @@ class VirtualMultiwayValve:
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
 
-    def set_valve_position(self, command: Union[int, str]):
-        """
-        设置阀门位置 - 兼容pump_protocol调用 🎯
-        这是set_position的别名方法，用于兼容pump_protocol.py
-        
-        Args:
-            command: 目标位置 (0-8) 或位置字符串
-        """
-        # 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
-        return self.set_position(command)
-
 
 # 使用示例
 if __name__ == "__main__":
@@ -291,10 +267,6 @@ if __name__ == "__main__":
     print(f"\n🔌 切换到2号位: {valve.set_to_port(2)}")
     print(f"📍 当前状态: {valve}")
     
-    # 显示所有可用位置
-    print(f"\n📋 可用位置: {valve.get_available_positions()}")
-    print(f"🗺️ 端口映射: {valve.get_available_ports()}")
-    
     # 测试切换功能
     print(f"\n🔄 智能切换测试:")
     print(f"当前位置: {valve._current_position}")

unilabos/devices/virtual/virtual_rotavap.py

@@ -99,8 +99,8 @@ class VirtualRotavap:
             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
+        # 确保time是float类型; 并加速
-        time = float(time)
+        time = float(time) / 10.0
         
         # 🔧 简化处理：如果vessel就是设备自己，直接操作
         if vessel == self.device_id:

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -48,20 +48,6 @@ class VirtualSolenoidValve:
         """获取阀门位置状态"""
         return "OPEN" if self._is_open else "CLOSED"
 
-    @property
-    def state(self) -> dict:
-        """获取阀门完整状态"""
-        return {
-            "device_id": self.device_id,
-            "port": self.port,
-            "voltage": self.voltage,
-            "response_time": self.response_time,
-            "is_open": self._is_open,
-            "valve_state": self._valve_state,
-            "status": self._status,
-            "position": self.valve_position
-        }
-
     async def set_valve_position(self, command: str = None, **kwargs):
         """
         设置阀门位置 - ROS动作接口

unilabos/registry/devices/virtual_device.yaml

@@ -2161,8 +2161,6 @@ virtual_multiway_valve:
         type: SendCmd
     module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve
     status_types:
-      available_ports: dict
-      available_positions: list
       current_port: str
       current_position: int
       flow_path: str
@@ -2268,10 +2266,6 @@ virtual_multiway_valve:
       type: object
     data:
       properties:
-        available_ports:
-          type: object
-        available_positions:
-          type: array
         current_port:
           type: string
         current_position:
@@ -2293,8 +2287,6 @@ virtual_multiway_valve:
       - target_position
       - current_port
       - valve_position
-      - available_positions
-      - available_ports
       - flow_path
       type: object
   version: 1.0.0
@@ -3775,7 +3767,6 @@ virtual_solenoid_valve:
     module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve
     status_types:
       is_open: bool
-      state: dict
       status: str
       valve_position: str
       valve_state: str
@@ -3813,8 +3804,6 @@ virtual_solenoid_valve:
       properties:
         is_open:
           type: boolean
-        state:
-          type: object
         status:
           type: string
         valve_position:
@@ -3826,7 +3815,6 @@ virtual_solenoid_valve:
       - valve_state
       - is_open
       - valve_position
-      - state
       type: object
   version: 1.0.0
 virtual_solid_dispenser:

unilabos/ros/nodes/base_device_node.py

@@ -395,6 +395,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         if "data" not in resource:
                             resource["data"] = {}
                         resource["data"].update(json.loads(container_instance.data))
+                        request.resources[0].name = resource["name"]
                         logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
                     else:
                         logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")

unilabos/ros/nodes/presets/host_node.py

@@ -404,13 +404,14 @@ class HostNode(BaseROS2DeviceNode):
         class_name: str,
         parent: str,
         bind_locations: Point,
-        liquid_input_slot: list[int],
+        liquid_input_slot: list[int] = [],
-        liquid_type: list[str],
+        liquid_type: list[str] = [],
-        liquid_volume: list[int],
+        liquid_volume: list[int] = [],
-        slot_on_deck: str,
+        slot_on_deck: str = "",
     ):
         # 暂不支持多对同名父子同时存在
         res_creation_input = {
+            "id": res_id.split("/")[-1],
             "name": res_id.split("/")[-1],
             "class": class_name,
             "parent": parent.split("/")[-1],
@@ -424,8 +425,10 @@ class HostNode(BaseROS2DeviceNode):
             res_creation_input.update(
                 {
                     "data": {
+                        "liquids": [{
                         "liquid_type": liquid_type[0] if liquid_type else None,
                         "liquid_volume": liquid_volume[0] if liquid_volume else None,
+                        }]
                     }
                 }
             )