0.10.7 Update (#101)

* Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* fix: workstation handlers and vessel_id parsing

* fix: working dir error when input config path
feat: report publish topic when error

* modify default discovery_interval to 15s

* feat: add trace log level

* feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

* fix: drop_tips not using auto resource select

* fix: discard_tips error

* fix: discard_tips

* fix: prcxi_res

* add: prcxi res
fix: startup slow

* feat: workstation example

* fix pumps and liquid_handler handle

* feat: 优化protocol node节点运行日志

* fix all protocol_compilers and remove deprecated devices

* feat: 新增use_remote_resource参数

* fix and remove redundant info

* bugfixes on organic protocols

* fix filter protocol

* fix protocol node

* 临时兼容错误的driver写法

* fix: prcxi import error

* use call_async in all service to avoid deadlock

* fix: figure_resource

* Update recipe.yaml

* add workstation template and battery example

* feat: add sk & ak

* update workstation base

* Create workstation_architecture.md

* refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode

* refactor: ProtocolNode→WorkstationNode

* Add:msgs.action (#83)

* update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84)

* Add:msgs.action

* update: 将版本号从 0.10.3 更新为 0.10.4

* simplify resource system

* uncompleted refactor

* example for use WorkstationBase

* feat: websocket

* feat: websocket test

* feat: workstation example

* feat: action status

* fix: station自己的方法注册错误

* fix: 还原protocol node处理方法

* fix: build

* fix: missing job_id key

* ws test version 1

* ws test version 2

* ws protocol

* 增加物料关系上传日志

* 增加物料关系上传日志

* 修正物料关系上传

* 修复工站的tracker实例追踪失效问题

* 增加handle检测，增加material edge关系上传

* 修复event loop错误

* 修复edge上报错误

* 修复async错误

* 更新schema的title字段

* 主机节点信息等支持自动刷新

* 注册表编辑器

* 修复status密集发送时，消息出错

* 增加addr参数

* fix: addr param

* fix: addr param

* 取消labid 和 强制config输入

* Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

* Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists

* Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

* result_info改为字典类型

* 新增uat的地址替换

* runze multiple pump support

(cherry picked from commit 49354fcf39)

* remove runze multiple software obtainer

(cherry picked from commit 8bcc92a394)

* support multiple backbone

(cherry picked from commit 4771ff2347)

* Update runze pump format

* Correct runze multiple backbone

* Update runze_multiple_backbone

* Correct runze pump multiple receive method.

* Correct runze pump multiple receive method.

* 对于PRCXI9320的transfer_group，一对多和多对多

* 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

* fix import error

* fix dupe upload registry

* refactor ws client

* add server timeout

* Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

(cherry picked from commit e5aa4d940a)

* resource_update use resource_add

* 新增版位推荐功能

* 重新规定了版位推荐的入参

* update registry with nested obj

* fix protocol node log_message, added create_resource return value

* fix protocol node log_message, added create_resource return value

* try fix add protocol

* fix resource_add

* 修复移液站错误的aspirate注册表

* Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

* 重新补全zhida注册表

* PRCXI9320 json

* PRCXI9320 json

* PRCXI9320 json

* fix resource download

* remove class for resource

* bump version to 0.10.6

* 更新所有注册表

* 修复protocolnode的兼容性

* 修复protocolnode的兼容性

* Update install md

* Add Defaultlayout

* 更新物料接口

* fix dict to tree/nested-dict converter

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* frontend_docs

* create/update resources with POST/PUT for big amount/ small amount data

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

* Workstation templates: Resources and its CRUD, and workstation tasks (#95)

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>

* 更新物料接口

* Workstation dev yb2 (#100)

* Refactor and extend reaction station action messages

* Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities

- Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability.
- Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input.
- Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input.
- Refined `create_diamine_solution_task` to include additional parameters for better task configuration.
- Enhanced schema descriptions and default values for improved user guidance.

* 修复to_plr_resources

* add update remove

* 支持选择器注册表自动生成
支持转运物料

* 修复资源添加

* 修复transfer_resource_to_another生成

* 更新transfer_resource_to_another参数，支持spot入参

* 新增test_resource动作

* fix host_node error

* fix host_node test_resource error

* fix host_node test_resource error

* 过滤本地动作

* 移动内部action以兼容host node

* 修复同步任务报错不显示的bug

* feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了

* update todo

* modify bioyond/plr converter, bioyond resource registry, and tests

* pass the tests

* update todo

* add conda-pack-build.yml

* add auto install script for conda-pack-build.yml

(cherry picked from commit 172599adcf)

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* Add version in __init__.py
Update conda-pack-build.yml
Add create_zip_archive.py

* Update conda-pack-build.yml

* Update conda-pack-build.yml (with mamba)

* Update conda-pack-build.yml

* Fix FileNotFoundError

* Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined>

* Fix unilabos msgs search error

* Fix environment_check.py

* Update recipe.yaml

* Update registry. Update uuid loop figure method. Update install docs.

* Fix nested conda pack

* Fix one-key installation path error

* Bump version to 0.10.7

* Workshop bj (#99)

* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字

* 电池装配工站二次开发教程（带目录）上传至dev (#94)

* 电池装配工站二次开发教程

* Update intro.md

* 物料教程

* 更新物料教程，json格式注释

* Update prcxi driver & fix transfer_liquid mix_times (#90)

* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py

* Update registry from pr

* fix ony-key script not exist

* clean files

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: LccLink <1951855008@qq.com>
Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
Co-authored-by: shiyubo0410 <shiyubo@dp.tech>

.github/workflows/conda-pack-build.yml

@@ -42,7 +42,7 @@ jobs:
     defaults:
       run:
         # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd' || 'bash' }}
+        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
 
     steps:
       - name: Check if platform should be built
@@ -73,6 +73,7 @@ jobs:
           channels: conda-forge,robostack-staging,uni-lab,defaults
           channel-priority: flexible
           activate-environment: unilab
+          auto-activate-base: true
           auto-update-conda: false
           show-channel-urls: true
 
@@ -81,7 +82,7 @@ jobs:
         run: |
           echo Installing unilabos and dependencies to unilab environment...
           echo Using mamba for faster and more reliable dependency resolution...
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Install conda-pack, unilabos and dependencies (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -89,15 +90,15 @@ jobs:
         run: |
           echo "Installing unilabos and dependencies to unilab environment..."
           echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
+          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
 
       - name: Get latest ros-humble-unilabos-msgs version (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         id: msgs_version_win
         run: |
           echo Checking installed ros-humble-unilabos-msgs version...
-          conda list -n unilab ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list -n unilab ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
+          conda list ros-humble-unilabos-msgs
+          for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
           echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
           echo Installed ros-humble-unilabos-msgs version: %VERSION%
 
@@ -107,7 +108,7 @@ jobs:
         shell: bash
         run: |
           echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list -n unilab ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
+          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
           echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
           echo "Installed ros-humble-unilabos-msgs version: $VERSION"
 
@@ -118,7 +119,7 @@ jobs:
           mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
           echo.
           echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
 
       - name: Check for newer ros-humble-unilabos-msgs (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
@@ -128,65 +129,65 @@ jobs:
           mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
           echo ""
           echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update -n unilab ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
+          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
 
       - name: Install latest unilabos from source (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Uninstalling existing unilabos...
-          mamba run -n unilab pip uninstall unilabos -y || echo unilabos not installed via pip
+          pip uninstall unilabos -y || echo unilabos not installed via pip
           echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
-          mamba run -n unilab pip install .
+          pip install .
           echo Verifying installation...
-          mamba run -n unilab pip show unilabos
+          pip show unilabos
 
       - name: Install latest unilabos from source (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "Uninstalling existing unilabos..."
-          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
+          pip uninstall unilabos -y || echo "unilabos not installed via pip"
           echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
-          mamba run -n unilab pip install .
+          pip install .
           echo "Verifying installation..."
-          mamba run -n unilab pip show unilabos
+          pip show unilabos
 
       - name: Display environment info (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo === Environment Information ===
-          mamba env list
+          conda env list
           echo.
           echo === Installed Packages ===
-          mamba list -n unilab | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || mamba list -n unilab
+          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
           echo.
           echo === Python Packages ===
-          mamba run -n unilab pip list | findstr unilabos || mamba run -n unilab pip list
+          pip list | findstr unilabos || pip list
 
       - name: Display environment info (Unix)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
         shell: bash
         run: |
           echo "=== Environment Information ==="
-          mamba env list
+          conda env list
           echo ""
           echo "=== Installed Packages ==="
-          mamba list -n unilab | grep -E "(unilabos|ros-humble-unilabos-msgs)" || mamba list -n unilab
+          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
           echo ""
           echo "=== Python Packages ==="
-          mamba run -n unilab pip list | grep unilabos || mamba run -n unilab pip list
+          pip list | grep unilabos || pip list
 
       - name: Verify environment integrity (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Verifying Python version...
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
+          python -c "import sys; print(f'Python version: {sys.version}')"
           echo Verifying unilabos import...
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
           echo Checking critical packages...
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
           echo Running comprehensive verification script...
-          mamba run -n unilab python scripts\verify_installation.py --auto-install || echo Warning: Verification script reported issues
+          python scripts\verify_installation.py || echo Warning: Verification script reported issues
           echo Environment verification complete!
 
       - name: Verify environment integrity (Unix)
@@ -194,20 +195,20 @@ jobs:
         shell: bash
         run: |
           echo "Verifying Python version..."
-          mamba run -n unilab python -c "import sys; print(f'Python version: {sys.version}')"
+          python -c "import sys; print(f'Python version: {sys.version}')"
           echo "Verifying unilabos import..."
-          mamba run -n unilab python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
+          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
           echo "Checking critical packages..."
-          mamba run -n unilab python -c "import rclpy; print('ROS2 rclpy: OK')"
+          python -c "import rclpy; print('ROS2 rclpy: OK')"
           echo "Running comprehensive verification script..."
-          mamba run -n unilab python scripts/verify_installation.py --auto-install || echo "Warning: Verification script reported issues"
+          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
           echo "Environment verification complete!"
 
       - name: Pack conda environment (Windows)
         if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
         run: |
           echo Packing unilab environment with conda-pack...
-          mamba activate unilab && conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
+          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo Pack file created:
           dir unilab-env-${{ matrix.platform }}.tar.gz
 
@@ -216,7 +217,6 @@ jobs:
         shell: bash
         run: |
           echo "Packing unilab environment with conda-pack..."
-          mamba install conda-pack -c conda-forge -y
           conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
           echo "Pack file created:"
           ls -lh unilab-env-${{ matrix.platform }}.tar.gz
@@ -242,10 +242,6 @@ jobs:
           echo Adding: verify_installation.py
           copy scripts\verify_installation.py dist-package\
 
-          rem Copy source code repository (including .git)
-          echo Adding: Uni-Lab-OS source repository
-          robocopy . dist-package\Uni-Lab-OS /E /XD dist-package /NFL /NDL /NJH /NJS /NC /NS || if %ERRORLEVEL% LSS 8 exit /b 0
-
           rem Create README using Python script
           echo Creating: README.txt
           python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
@@ -278,10 +274,6 @@ jobs:
           echo "Adding: verify_installation.py"
           cp scripts/verify_installation.py dist-package/
 
-          # Copy source code repository (including .git)
-          echo "Adding: Uni-Lab-OS source repository"
-          rsync -a --exclude='dist-package' . dist-package/Uni-Lab-OS
-
           # Create README using Python script
           echo "Creating: README.txt"
           python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
@@ -291,6 +283,46 @@ jobs:
           ls -lh dist-package/
           echo ""
 
+      - name: Finalize Windows distribution package
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
+        run: |
+          echo ==========================================
+          echo Windows distribution package ready
+          echo.
+          echo Package will be uploaded as artifact
+          echo GitHub Actions will automatically create ZIP
+          echo.
+          echo Contents:
+          dir /b dist-package
+          echo.
+          echo Users will download a ZIP containing:
+          echo   - install_unilab.bat
+          echo   - unilab-env-${{ matrix.platform }}.tar.gz
+          echo   - verify_installation.py
+          echo   - README.txt
+          echo ==========================================
+
+      - name: Create Unix/Linux TAR.GZ archive
+        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
+        shell: bash
+        run: |
+          echo "=========================================="
+          echo "Creating Unix/Linux TAR.GZ archive..."
+          echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
+          tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
+          echo "=========================================="
+
+          echo ""
+          echo "Final package created:"
+          ls -lh unilab-pack-*
+          echo ""
+          echo "Users can now:"
+          echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  3. Run: bash install_unilab.sh"
+          echo ""
+
       - name: Upload distribution package
         if: steps.should_build.outputs.should_build == 'true'
         uses: actions/upload-artifact@v4
@@ -333,8 +365,12 @@ jobs:
           echo "Distribution package contents:"
           ls -lh dist-package/
           echo ""
+          echo "Package size (tar.gz):"
+          ls -lh unilab-pack-*.tar.gz
+          echo ""
           echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
           echo ""
           echo "After download:"
-          echo "  install_unilab.sh"
+          echo "  - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
+          echo "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
           echo "=========================================="

.github/workflows/deploy-docs.yml

@@ -39,39 +39,24 @@ jobs:
         uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch || github.ref }}
-          fetch-depth: 0
 
-      - name: Setup Miniforge (with mamba)
-        uses: conda-incubator/setup-miniconda@v3
+      - name: Setup Python environment
+        uses: actions/setup-python@v5
         with:
-          miniforge-version: latest
-          use-mamba: true
-          python-version: '3.11.11'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: flexible
-          activate-environment: unilab
-          auto-update-conda: false
-          show-channel-urls: true
+          python-version: '3.10'
 
-      - name: Install unilabos and dependencies
+      - name: Install system dependencies
         run: |
-          echo "Installing unilabos and dependencies to unilab environment..."
-          echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install -n unilab uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
+          sudo apt-get update
+          sudo apt-get install -y pandoc
 
-      - name: Install latest unilabos from source
+      - name: Install Python dependencies
         run: |
-          echo "Uninstalling existing unilabos..."
-          mamba run -n unilab pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source..."
-          mamba run -n unilab pip install .
-          echo "Verifying installation..."
-          mamba run -n unilab pip show unilabos
-
-      - name: Install documentation dependencies
-        run: |
-          echo "Installing documentation build dependencies..."
-          mamba run -n unilab pip install -r docs/requirements.txt
+          python -m pip install --upgrade pip
+          # Install package in development mode to get version info
+          pip install -e .
+          # Install documentation dependencies
+          pip install -r docs/requirements.txt
 
       - name: Setup Pages
         id: pages
@@ -83,8 +68,8 @@ jobs:
           cd docs
           # Clean previous builds
           rm -rf _build
-          # Build HTML documentation in conda environment
-          mamba run -n unilab python -m sphinx -b html . _build/html -v
+          # Build HTML documentation
+          python -m sphinx -b html . _build/html -v
 
       - name: Check build results
         run: |

README.md

@@ -31,7 +31,7 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## Quick Start
 
@@ -55,7 +55,7 @@ pip install .
 
 3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## Message Format
 

README_zh.md

@@ -31,7 +31,7 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://xuwznln.github.io/Uni-Lab-OS-Doc/)
+- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## 快速开始
 
@@ -57,7 +57,7 @@ pip install .
 
 3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://xuwznln.github.io/Uni-Lab-OS-Doc/boot_examples/index.html)
+请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## 消息格式
 

docs/boot_examples/organic_synthesis.md

@@ -91,7 +91,7 @@
 使用以下命令启动模拟反应器：
 
 ```bash
-unilab -g test/experiments/mock_reactor.json
+unilab -g test/experiments/mock_reactor.json --app_bridges ""
 ```
 
 ### 2. 执行抽真空和充气操作

docs/conf.py

@@ -23,8 +23,7 @@ extensions = [
     "myst_parser",
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
-    "sphinx_rtd_theme",
-    "sphinxcontrib.mermaid"
+    "sphinx_rtd_theme"
 ]
 
 source_suffix = {
@@ -43,8 +42,6 @@ myst_enable_extensions = [
     "substitution",
 ]
 
-myst_fence_as_directive = ["mermaid"]
-
 templates_path = ["_templates"]
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
@@ -206,5 +203,3 @@ def generate_action_includes(app):
 
 def setup(app):
     app.connect("builder-inited", generate_action_includes)
-    app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
-    app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")

docs/developer_guide/action_includes.md

@@ -1,26 +1,88 @@
 ## 简单单变量动作函数
 
-
 ### `SendCmd`
 
 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```
 
-----
+---
+
+### `StrSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
+:language: yaml
+```
+
+---
+
+### `IntSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
+:language: yaml
+```
+
+---
+
+### `FloatSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
+:language: yaml
+```
+
+---
+
+### `Point3DSeparateInput`
+
+```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
+:language: yaml
+```
+
+---
+
+### `Wait`
+
+```{literalinclude} ../../unilabos_msgs/action/Wait.action
+:language: yaml
+```
+
+---
+
 ## 常量有机化学操作
 
 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
 
-
-
 ### `Clean`
 
 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```
 
-----
+---
+
+### `EvacuateAndRefill`
+
+```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
+:language: yaml
+```
+
+---
+
+### `Evaporate`
+
+```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
+:language: yaml
+```
+
+---
+
+### `HeatChill`
+
+```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
+:language: yaml
+```
+
+---
 
 ### `HeatChillStart`
 
@@ -28,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChillStop`
 
@@ -36,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `PumpTransfer`
 
@@ -44,12 +106,195 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
+
+### `Separate`
+
+```{literalinclude} ../../unilabos_msgs/action/Separate.action
+:language: yaml
+```
+
+---
+
+### `Stir`
+
+```{literalinclude} ../../unilabos_msgs/action/Stir.action
+:language: yaml
+```
+
+---
+
+### `Add`
+
+```{literalinclude} ../../unilabos_msgs/action/Add.action
+:language: yaml
+```
+
+---
+
+### `AddSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
+:language: yaml
+```
+
+---
+
+### `AdjustPH`
+
+```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
+:language: yaml
+```
+
+---
+
+### `Centrifuge`
+
+```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
+:language: yaml
+```
+
+---
+
+### `CleanVessel`
+
+```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
+:language: yaml
+```
+
+---
+
+### `Crystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
+:language: yaml
+```
+
+---
+
+### `Dissolve`
+
+```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
+:language: yaml
+```
+
+---
+
+### `Dry`
+
+```{literalinclude} ../../unilabos_msgs/action/Dry.action
+:language: yaml
+```
+
+---
+
+### `Filter`
+
+```{literalinclude} ../../unilabos_msgs/action/Filter.action
+:language: yaml
+```
+
+---
+
+### `FilterThrough`
+
+```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
+:language: yaml
+```
+
+---
+
+### `Hydrogenate`
+
+```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
+:language: yaml
+```
+
+---
+
+### `Purge`
+
+```{literalinclude} ../../unilabos_msgs/action/Purge.action
+:language: yaml
+```
+
+---
+
+### `Recrystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
+:language: yaml
+```
+
+---
+
+### `RunColumn`
+
+```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
+:language: yaml
+```
+
+---
+
+### `StartPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
+:language: yaml
+```
+
+---
+
+### `StartStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StartStir.action
+:language: yaml
+```
+
+---
+
+### `StopPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
+:language: yaml
+```
+
+---
+
+### `StopStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StopStir.action
+:language: yaml
+```
+
+---
+
+### `Transfer`
+
+```{literalinclude} ../../unilabos_msgs/action/Transfer.action
+:language: yaml
+```
+
+---
+
+### `WashSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
+:language: yaml
+```
+
+---
+
 ## 移液工作站及相关生物自动化设备操作
 
 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
 
+### `LiquidHandlerAspirate`
 
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
+:language: yaml
+```
+
+---
 
 ### `LiquidHandlerDiscardTips`
 
@@ -57,7 +302,15 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
+
+### `LiquidHandlerDispense`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
+:language: yaml
+```
+
+---
 
 ### `LiquidHandlerDropTips`
 
@@ -65,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDropTips96`
 
@@ -73,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveLid`
 
@@ -81,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMovePlate`
 
@@ -89,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveResource`
 
@@ -97,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips`
 
@@ -105,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips96`
 
@@ -113,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips`
 
@@ -121,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips96`
 
@@ -129,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerStamp`
 
@@ -137,9 +390,121 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
-## 多工作站及小车运行、物料转移
+---
 
+### `LiquidHandlerTransfer`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerAdd`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerIncubateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMix`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveTo`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerOscillateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerProtocolCreation`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerRemove`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetLiquid`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetTipRack`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
+:language: yaml
+```
+
+---
+
+## 多工作站及小车运行、物料转移
 
 ### `AGVTransfer`
 
@@ -147,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `WorkStationRun`
 
@@ -155,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
+
+### `ResetHandling`
+
+```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuter`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuterEasy`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+:language: yaml
+```
+
+---
+
+### `SetPumpPosition`
+
+```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
+:language: yaml
+```
+
+---
+
+## 固体分配与处理设备操作
+
+### `SolidDispenseAddPowderTube`
+
+```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
+:language: yaml
+```
+
+---
+
+## 其他设备操作
+
+### `EmptyIn`
+
+```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
+:language: yaml
+```
+
+---
+
 ## 机械臂、夹爪等机器人设备
 
 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
 
-
 ### `FollowJointTrajectory`
 
 ```yaml
@@ -228,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 
 ```
 
-----
+---
+
 ### `GripperCommand`
 
 ```yaml
@@ -246,42 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 
 ```
 
-----
+---
+
 ### `JointTrajectory`
 
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
----
 
+---
 ```
 
-----
-### `ParallelGripperCommand`
-
-```yaml
-# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
-sensor_msgs/JointState command
-# name: the name(s) of the joint this command is requesting
-# position: desired position of each gripper joint (radians or meters)
-# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
-# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
 ---
-sensor_msgs/JointState state # The current gripper state.
-# position of each joint (radians or meters)
-# optional: velocity of each joint (radians or meters / second)
-# optional: effort of each joint (Newtons or Newton-meters)
-bool stalled      # True if the gripper is exerting max effort and not moving
-bool reached_goal # True if the gripper position has reached the commanded setpoint
----
-sensor_msgs/JointState state # The current gripper state.
-# position of each joint (radians or meters)
-# optional: velocity of each joint (radians or meters / second)
-# optional: effort of each joint (Newtons or Newton-meters)
 
-```
-
-----
 ### `PointHead`
 
 ```yaml
@@ -291,12 +686,13 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 float64 pointing_angle_error
-
 ```
 
-----
+---
+
 ### `SingleJointPosition`
 
 ```yaml
@@ -304,15 +700,16 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
-
 ```
 
-----
+---
+
 ### `AssistedTeleop`
 
 ```yaml
@@ -324,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
-
 ```
 
-----
+---
+
 ### `BackUp`
 
 ```yaml
@@ -341,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `ComputePathThroughPoses`
 
 ```yaml
@@ -359,10 +756,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `ComputePathToPose`
 
 ```yaml
@@ -377,10 +774,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `DriveOnHeading`
 
 ```yaml
@@ -394,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `DummyBehavior`
 
 ```yaml
@@ -408,10 +805,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `FollowPath`
 
 ```yaml
@@ -426,10 +823,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
-
 ```
 
-----
+---
+
 ### `FollowWaypoints`
 
 ```yaml
@@ -441,10 +838,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
-
 ```
 
-----
+---
+
 ### `NavigateThroughPoses`
 
 ```yaml
@@ -462,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
-
 ```
 
-----
+---
+
 ### `NavigateToPose`
 
 ```yaml
@@ -482,10 +879,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
-
 ```
 
-----
+---
+
 ### `SmoothPath`
 
 ```yaml
@@ -501,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `Spin`
 
 ```yaml
@@ -517,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
-
 ```
 
-----
+---
+
 ### `Wait`
 
 ```yaml
@@ -532,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
-
 ```
 
-----
+---

docs/intro.md

@@ -32,8 +32,9 @@ developer_guide/device_driver
 developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
-developer_guide/workstation_architecture
 developer_guide/add_protocol
+developer_guide/add_batteryPLC
+developer_guide/materials_tutorial.md
 ```
 
 ## 接口文档

docs/requirements.txt

@@ -2,7 +2,6 @@
 sphinx>=7.0.0
 sphinx-rtd-theme>=2.0.0
 myst-parser>=2.0.0
-sphinxcontrib-mermaid
 
 # 用于支持Jupyter notebook文档
 myst-nb>=1.0.0

scripts/create_readme.py

@@ -172,7 +172,7 @@ Examples:
         with open(output_path, "w", encoding="utf-8") as f:
             f.write(readme_content)
 
-        print(f"  README.txt created: {output_path}")
+        print(f"✓ README.txt created: {output_path}")
         print(f"  Platform: {args.platform}")
         print(f"  Branch:   {args.branch}")
 

scripts/verify_installation.py

@@ -8,10 +8,7 @@ This script verifies that UniLabOS and its dependencies are correctly installed.
 Run this script after installing the conda-pack environment to ensure everything works.
 
 Usage:
-    python verify_installation.py [--auto-install]
-
-    Options:
-        --auto-install    Automatically install missing packages
+    python verify_installation.py
 
     Or in the conda environment:
     conda activate unilab
@@ -20,15 +17,14 @@ Usage:
 
 import sys
 import os
-import argparse
 
 # IMPORTANT: Set UTF-8 encoding BEFORE any other imports
 # This ensures all subsequent imports (including unilabos) can output UTF-8 characters
 if sys.platform == "win32":
     # Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
     try:
-        sys.stdout.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
-        sys.stderr.reconfigure(encoding="utf-8", errors="replace")  # type: ignore
+        sys.stdout.reconfigure(encoding="utf-8", errors="replace")
+        sys.stderr.reconfigure(encoding="utf-8", errors="replace")
     except (AttributeError, OSError):
         pass
 
@@ -53,7 +49,7 @@ CHECK_MARK = "[OK]"
 CROSS_MARK = "[FAIL]"
 
 
-def check_package(package_name: str, display_name: str | None = None) -> bool:
+def check_package(package_name: str, display_name: str = None) -> bool:
     """
     Check if a package can be imported.
 
@@ -91,25 +87,9 @@ def check_python_version() -> bool:
 
 def main():
     """Run all verification checks."""
-    # Parse command line arguments
-    parser = argparse.ArgumentParser(
-        description="Verify UniLabOS installation",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-    )
-    parser.add_argument(
-        "--auto-install",
-        action="store_true",
-        help="Automatically install missing packages",
-    )
-    args = parser.parse_args()
-
     print("=" * 60)
     print("UniLabOS Installation Verification")
     print("=" * 60)
-    if args.auto_install:
-        print("Mode: Auto-install missing packages")
-    else:
-        print("Mode: Verification only")
     print()
 
     all_passed = True
@@ -133,16 +113,14 @@ def main():
 
         print(f"  {CHECK_MARK} UniLabOS installed")
 
-        # Check environment with optional auto-install
+        # Check environment without auto-install (verification only)
         # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
-        env_check_passed = check_environment(auto_install=args.auto_install, show_details=False)
+        env_check_passed = check_environment(auto_install=False, show_details=False)
 
         if env_check_passed:
             print(f"  {CHECK_MARK} All required packages available")
         else:
             print(f"  {CROSS_MARK} Some optional packages are missing")
-            if not args.auto_install:
-                print("  Hint: Run with --auto-install to automatically install missing packages")
     except ImportError:
         print(f"  {CROSS_MARK} UniLabOS not installed")
         all_passed = False

scripts/workflow.py

@@ -1,695 +0,0 @@
-import json
-import logging
-import traceback
-import uuid
-import xml.etree.ElementTree as ET
-from typing import Any, Dict, List
-
-import networkx as nx
-import matplotlib.pyplot as plt
-import requests
-
-logger = logging.getLogger(__name__)
-
-
-class SimpleGraph:
-    """简单的有向图实现，用于构建工作流图"""
-
-    def __init__(self):
-        self.nodes = {}
-        self.edges = []
-
-    def add_node(self, node_id, **attrs):
-        """添加节点"""
-        self.nodes[node_id] = attrs
-
-    def add_edge(self, source, target, **attrs):
-        """添加边"""
-        edge = {"source": source, "target": target, **attrs}
-        self.edges.append(edge)
-
-    def to_dict(self):
-        """转换为工作流图格式"""
-        nodes_list = []
-        for node_id, attrs in self.nodes.items():
-            node_attrs = attrs.copy()
-            params = node_attrs.pop("parameters", {}) or {}
-            node_attrs.update(params)
-            nodes_list.append({"id": node_id, **node_attrs})
-
-        return {
-            "directed": True,
-            "multigraph": False,
-            "graph": {},
-            "nodes": nodes_list,
-            "links": self.edges,
-        }
-
-
-def extract_json_from_markdown(text: str) -> str:
-    """从markdown代码块中提取JSON"""
-    text = text.strip()
-    if text.startswith("```json\n"):
-        text = text[8:]
-    if text.startswith("```\n"):
-        text = text[4:]
-    if text.endswith("\n```"):
-        text = text[:-4]
-    return text
-
-
-def convert_to_type(val: str) -> Any:
-    """将字符串值转换为适当的数据类型"""
-    if val == "True":
-        return True
-    if val == "False":
-        return False
-    if val == "?":
-        return None
-    if val.endswith(" g"):
-        return float(val.split(" ")[0])
-    if val.endswith("mg"):
-        return float(val.split("mg")[0])
-    elif val.endswith("mmol"):
-        return float(val.split("mmol")[0]) / 1000
-    elif val.endswith("mol"):
-        return float(val.split("mol")[0])
-    elif val.endswith("ml"):
-        return float(val.split("ml")[0])
-    elif val.endswith("RPM"):
-        return float(val.split("RPM")[0])
-    elif val.endswith(" °C"):
-        return float(val.split(" ")[0])
-    elif val.endswith(" %"):
-        return float(val.split(" ")[0])
-    return val
-
-
-def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]:
-    """统一的数据重构函数，根据操作类型自动选择模板"""
-    refactored_data = []
-
-    # 定义操作映射，包含生物实验和有机化学的所有操作
-    OPERATION_MAPPING = {
-        # 生物实验操作
-        "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid",
-        "transfer": "SynBioFactory-liquid_handler.biomek-transfer",
-        "incubation": "SynBioFactory-liquid_handler.biomek-incubation",
-        "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware",
-        "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation",
-        # 有机化学操作
-        "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol",
-        "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol",
-        "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol",
-        "HeatChill": "SynBioFactory-workstation-HeatChillProtocol",
-        "Dissolve": "SynBioFactory-workstation-DissolveProtocol",
-        "Transfer": "SynBioFactory-workstation-TransferProtocol",
-        "Evaporate": "SynBioFactory-workstation-EvaporateProtocol",
-        "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol",
-        "Filter": "SynBioFactory-workstation-FilterProtocol",
-        "Dry": "SynBioFactory-workstation-DryProtocol",
-        "Add": "SynBioFactory-workstation-AddProtocol",
-    }
-
-    UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"]
-
-    for step in data:
-        operation = step.get("action")
-        if not operation or operation in UNSUPPORTED_OPERATIONS:
-            continue
-
-        # 处理重复操作
-        if operation == "Repeat":
-            times = step.get("times", step.get("parameters", {}).get("times", 1))
-            sub_steps = step.get("steps", step.get("parameters", {}).get("steps", []))
-            for i in range(int(times)):
-                sub_data = refactor_data(sub_steps)
-                refactored_data.extend(sub_data)
-            continue
-
-        # 获取模板名称
-        template = OPERATION_MAPPING.get(operation)
-        if not template:
-            # 自动推断模板类型
-            if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]:
-                template = f"SynBioFactory-liquid_handler.biomek-{operation}"
-            else:
-                template = f"SynBioFactory-workstation-{operation}Protocol"
-
-        # 创建步骤数据
-        step_data = {
-            "template": template,
-            "description": step.get("description", step.get("purpose", f"{operation} operation")),
-            "lab_node_type": "Device",
-            "parameters": step.get("parameters", step.get("action_args", {})),
-        }
-        refactored_data.append(step_data)
-
-    return refactored_data
-
-
-def build_protocol_graph(
-    labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str
-) -> SimpleGraph:
-    """统一的协议图构建函数，根据设备类型自动选择构建逻辑"""
-    G = SimpleGraph()
-    resource_last_writer = {}
-    LAB_NAME = "SynBioFactory"
-
-    protocol_steps = refactor_data(protocol_steps)
-
-    # 检查协议步骤中的模板来判断协议类型
-    has_biomek_template = any(
-        ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", ""))
-        for step in protocol_steps
-    )
-
-    if has_biomek_template:
-        # 生物实验协议图构建
-        for labware_id, labware in labware_info.items():
-            node_id = str(uuid.uuid4())
-
-            labware_attrs = labware.copy()
-            labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}"))
-            labware_attrs["description"] = labware_id
-            labware_attrs["lab_node_type"] = (
-                "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample"
-            )
-            labware_attrs["device_id"] = workstation_name
-
-            G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs)
-            resource_last_writer[labware_id] = f"{node_id}:labware"
-
-        # 处理协议步骤
-        prev_node = None
-        for i, step in enumerate(protocol_steps):
-            node_id = str(uuid.uuid4())
-            G.add_node(node_id, **step)
-
-            # 添加控制流边
-            if prev_node is not None:
-                G.add_edge(prev_node, node_id, source_port="ready", target_port="ready")
-            prev_node = node_id
-
-            # 处理物料流
-            params = step.get("parameters", {})
-            if "sources" in params and params["sources"] in resource_last_writer:
-                source_node, source_port = resource_last_writer[params["sources"]].split(":")
-                G.add_edge(source_node, node_id, source_port=source_port, target_port="labware")
-
-            if "targets" in params:
-                resource_last_writer[params["targets"]] = f"{node_id}:labware"
-
-        # 添加协议结束节点
-        end_id = str(uuid.uuid4())
-        G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol")
-        if prev_node is not None:
-            G.add_edge(prev_node, end_id, source_port="ready", target_port="ready")
-
-    else:
-        # 有机化学协议图构建
-        WORKSTATION_ID = workstation_name
-
-        # 为所有labware创建资源节点
-        for item_id, item in labware_info.items():
-            # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}")
-            node_id = str(uuid.uuid4())
-
-            # 判断节点类型
-            if item.get("type") == "hardware" or "reactor" in str(item_id).lower():
-                if "reactor" not in str(item_id).lower():
-                    continue
-                lab_node_type = "Sample"
-                description = f"Prepare Reactor: {item_id}"
-                liquid_type = []
-                liquid_volume = []
-            else:
-                lab_node_type = "Reagent"
-                description = f"Add Reagent to Flask: {item_id}"
-                liquid_type = [item_id]
-                liquid_volume = [1e5]
-
-            G.add_node(
-                node_id,
-                template=f"{LAB_NAME}-host_node-create_resource",
-                description=description,
-                lab_node_type=lab_node_type,
-                res_id=item_id,
-                device_id=WORKSTATION_ID,
-                class_name="container",
-                parent=WORKSTATION_ID,
-                bind_locations={"x": 0.0, "y": 0.0, "z": 0.0},
-                liquid_input_slot=[-1],
-                liquid_type=liquid_type,
-                liquid_volume=liquid_volume,
-                slot_on_deck="",
-                role=item.get("role", ""),
-            )
-            resource_last_writer[item_id] = f"{node_id}:labware"
-
-        last_control_node_id = None
-
-        # 处理协议步骤
-        for step in protocol_steps:
-            node_id = str(uuid.uuid4())
-            G.add_node(node_id, **step)
-
-            # 控制流
-            if last_control_node_id is not None:
-                G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready")
-            last_control_node_id = node_id
-
-            # 物料流
-            params = step.get("parameters", {})
-            input_resources = {
-                "Vessel": params.get("vessel"),
-                "ToVessel": params.get("to_vessel"),
-                "FromVessel": params.get("from_vessel"),
-                "reagent": params.get("reagent"),
-                "solvent": params.get("solvent"),
-                "compound": params.get("compound"),
-                "sources": params.get("sources"),
-                "targets": params.get("targets"),
-            }
-
-            for target_port, resource_name in input_resources.items():
-                if resource_name and resource_name in resource_last_writer:
-                    source_node, source_port = resource_last_writer[resource_name].split(":")
-                    G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port)
-
-            output_resources = {
-                "VesselOut": params.get("vessel"),
-                "FromVesselOut": params.get("from_vessel"),
-                "ToVesselOut": params.get("to_vessel"),
-                "FiltrateOut": params.get("filtrate_vessel"),
-                "reagent": params.get("reagent"),
-                "solvent": params.get("solvent"),
-                "compound": params.get("compound"),
-                "sources_out": params.get("sources"),
-                "targets_out": params.get("targets"),
-            }
-
-            for source_port, resource_name in output_resources.items():
-                if resource_name:
-                    resource_last_writer[resource_name] = f"{node_id}:{source_port}"
-
-    return G
-
-
-def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str):
-    """
-    (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。
-    """
-    if not protocol_graph:
-        print("Cannot draw graph: Graph object is empty.")
-        return
-
-    G = nx.DiGraph()
-
-    for node_id, attrs in protocol_graph.nodes.items():
-        label = attrs.get("description", attrs.get("template", node_id[:8]))
-        G.add_node(node_id, label=label, **attrs)
-
-    for edge in protocol_graph.edges:
-        G.add_edge(edge["source"], edge["target"])
-
-    plt.figure(figsize=(20, 15))
-    try:
-        pos = nx.nx_agraph.graphviz_layout(G, prog="dot")
-    except Exception:
-        pos = nx.shell_layout(G)  # Fallback layout
-
-    node_labels = {node: data["label"] for node, data in G.nodes(data=True)}
-    nx.draw(
-        G,
-        pos,
-        with_labels=False,
-        node_size=2500,
-        node_color="skyblue",
-        node_shape="o",
-        edge_color="gray",
-        width=1.5,
-        arrowsize=15,
-    )
-    nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold")
-
-    plt.title("Chemical Protocol Workflow Graph", size=15)
-    plt.savefig(output_path, dpi=300, bbox_inches="tight")
-    plt.close()
-    print(f"  - Visualization saved to '{output_path}'")
-
-
-from networkx.drawing.nx_agraph import to_agraph
-import re
-
-COMPASS = {"n","e","s","w","ne","nw","se","sw","c"}
-
-def _is_compass(port: str) -> bool:
-    return isinstance(port, str) and port.lower() in COMPASS
-
-def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"):
-    """
-    使用 Graphviz 端口语法绘制协议工作流图。
-    - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。
-    - 否则自动为节点创建 record 形状并定义命名端口 <portname>。
-    最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。
-    """
-    if not protocol_graph:
-        print("Cannot draw graph: Graph object is empty.")
-        return
-
-    # 1) 先用 networkx 搭建有向图，保留端口属性
-    G = nx.DiGraph()
-    for node_id, attrs in protocol_graph.nodes.items():
-        label = attrs.get("description", attrs.get("template", node_id[:8]))
-        # 保留一个干净的“中心标签”，用于放在 record 的中间槽
-        G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)})
-
-    edges_data = []
-    in_ports_by_node  = {}  # 收集命名输入端口
-    out_ports_by_node = {}  # 收集命名输出端口
-
-    for edge in protocol_graph.edges:
-        u = edge["source"]
-        v = edge["target"]
-        sp = edge.get("source_port")
-        tp = edge.get("target_port")
-
-        # 记录到图里（保留原始端口信息）
-        G.add_edge(u, v, source_port=sp, target_port=tp)
-        edges_data.append((u, v, sp, tp))
-
-        # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record
-        if sp and not _is_compass(sp):
-            out_ports_by_node.setdefault(u, set()).add(str(sp))
-        if tp and not _is_compass(tp):
-            in_ports_by_node.setdefault(v, set()).add(str(tp))
-
-    # 2) 转为 AGraph，使用 Graphviz 渲染
-    A = to_agraph(G)
-    A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10")
-    A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica")
-    A.edge_attr.update(arrowsize="0.8", color="#666666")
-
-    # 3) 为需要命名端口的节点设置 record 形状与 label
-    #    左列 = 输入端口；中间 = 核心标签；右列 = 输出端口
-    for n in A.nodes():
-        node = A.get_node(n)
-        core = G.nodes[n].get("_core_label", n)
-
-        in_ports  = sorted(in_ports_by_node.get(n, []))
-        out_ports = sorted(out_ports_by_node.get(n, []))
-
-        # 如果该节点涉及命名端口，则用 record；否则保留原 box
-        if in_ports or out_ports:
-            def port_fields(ports):
-                if not ports:
-                    return " "  # 必须留一个空槽占位
-                # 每个端口一个小格子，<p> name
-                return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports)
-
-            left  = port_fields(in_ports)
-            right = port_fields(out_ports)
-
-            # 三栏：左(入) | 中(节点名) | 右(出)
-            record_label = f"{{ {left} | {core} | {right} }}"
-            node.attr.update(shape="record", label=record_label)
-        else:
-            # 没有命名端口：普通盒子，显示核心标签
-            node.attr.update(label=str(core))
-
-    # 4) 给边设置 headport / tailport
-    #    - 若端口为 compass：直接用 compass（e.g., headport="e"）
-    #    - 若端口为命名端口：使用在 record 中定义的 <port> 名（同名即可）
-    for (u, v, sp, tp) in edges_data:
-        e = A.get_edge(u, v)
-
-        # Graphviz 属性：tail 是源，head 是目标
-        if sp:
-            if _is_compass(sp):
-                e.attr["tailport"] = sp.lower()
-            else:
-                # 与 record label 中 <port> 名一致；特殊字符已在 label 中做了清洗
-                e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp))
-
-        if tp:
-            if _is_compass(tp):
-                e.attr["headport"] = tp.lower()
-            else:
-                e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp))
-
-        # 可选：若想让边更贴边缘，可设置 constraint/spline 等
-        # e.attr["arrowhead"] = "vee"
-
-    # 5) 输出
-    A.draw(output_path, prog="dot")
-    print(f"  - Port-aware workflow rendered to '{output_path}'")
-
-
-def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]:
-    """展平嵌套的XDL程序结构"""
-    flattened_operations = []
-    TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"]
-
-    def extract_operations(element: ET.Element):
-        if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]:
-            if element.tag not in TEMP_UNSUPPORTED_PROTOCOL:
-                flattened_operations.append(element)
-
-        for child in element:
-            extract_operations(child)
-
-    for child in procedure_elem:
-        extract_operations(child)
-
-    return flattened_operations
-
-
-def parse_xdl_content(xdl_content: str) -> tuple:
-    """解析XDL内容"""
-    try:
-        xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable())
-        root = ET.fromstring(xdl_content_cleaned)
-
-        synthesis_elem = root.find("Synthesis")
-        if synthesis_elem is None:
-            return None, None, None
-
-        # 解析硬件组件
-        hardware_elem = synthesis_elem.find("Hardware")
-        hardware = []
-        if hardware_elem is not None:
-            hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")]
-
-        # 解析试剂
-        reagents_elem = synthesis_elem.find("Reagents")
-        reagents = []
-        if reagents_elem is not None:
-            reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")]
-
-        # 解析程序
-        procedure_elem = synthesis_elem.find("Procedure")
-        if procedure_elem is None:
-            return None, None, None
-
-        flattened_operations = flatten_xdl_procedure(procedure_elem)
-        return hardware, reagents, flattened_operations
-
-    except ET.ParseError as e:
-        raise ValueError(f"Invalid XDL format: {e}")
-
-
-def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]:
-    """
-    将XDL XML格式转换为标准的字典格式
-
-    Args:
-        xdl_content: XDL XML内容
-
-    Returns:
-        转换结果，包含步骤和器材信息
-    """
-    try:
-        hardware, reagents, flattened_operations = parse_xdl_content(xdl_content)
-        if hardware is None:
-            return {"error": "Failed to parse XDL content", "success": False}
-
-        # 将XDL元素转换为字典格式
-        steps_data = []
-        for elem in flattened_operations:
-            # 转换参数类型
-            parameters = {}
-            for key, val in elem.attrib.items():
-                converted_val = convert_to_type(val)
-                if converted_val is not None:
-                    parameters[key] = converted_val
-
-            step_dict = {
-                "operation": elem.tag,
-                "parameters": parameters,
-                "description": elem.get("purpose", f"Operation: {elem.tag}"),
-            }
-            steps_data.append(step_dict)
-
-        # 合并硬件和试剂为统一的labware_info格式
-        labware_data = []
-        labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware)
-        labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents)
-
-        return {
-            "success": True,
-            "steps": steps_data,
-            "labware": labware_data,
-            "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.",
-        }
-
-    except Exception as e:
-        error_msg = f"XDL conversion failed: {str(e)}"
-        logger.error(error_msg)
-        return {"error": error_msg, "success": False}
-
-
-def create_workflow(
-    steps_info: str,
-    labware_info: str,
-    workflow_name: str = "Generated Workflow",
-    workstation_name: str = "workstation",
-    workflow_description: str = "Auto-generated workflow from protocol",
-) -> Dict[str, Any]:
-    """
-    创建工作流，输入数据已经是统一的字典格式
-
-    Args:
-        steps_info: 步骤信息 (JSON字符串，已经是list of dict格式)
-        labware_info: 实验器材和试剂信息 (JSON字符串，已经是list of dict格式)
-        workflow_name: 工作流名称
-        workflow_description: 工作流描述
-
-    Returns:
-        创建结果，包含工作流UUID和详细信息
-    """
-    try:
-        # 直接解析JSON数据
-        steps_info_clean = extract_json_from_markdown(steps_info)
-        labware_info_clean = extract_json_from_markdown(labware_info)
-
-        steps_data = json.loads(steps_info_clean)
-        labware_data = json.loads(labware_info_clean)
-
-        # 统一处理所有数据
-        protocol_graph = build_protocol_graph(labware_data, steps_data, workstation_name=workstation_name)
-
-        # 检测协议类型（用于标签）
-        protocol_type = "bio" if any("biomek" in step.get("template", "") for step in refactored_steps) else "organic"
-
-        # 转换为工作流格式
-        data = protocol_graph.to_dict()
-
-        # 转换节点格式
-        for i, node in enumerate(data["nodes"]):
-            description = node.get("description", "")
-            onode = {
-                "template": node.pop("template"),
-                "id": node["id"],
-                "lab_node_type": node.get("lab_node_type", "Device"),
-                "name": description or f"Node {i + 1}",
-                "params": {"default": node},
-                "handles": {},
-            }
-
-            # 处理边连接
-            for edge in data["links"]:
-                if edge["source"] == node["id"]:
-                    source_port = edge.get("source_port", "output")
-                    if source_port not in onode["handles"]:
-                        onode["handles"][source_port] = {"type": "source"}
-
-                if edge["target"] == node["id"]:
-                    target_port = edge.get("target_port", "input")
-                    if target_port not in onode["handles"]:
-                        onode["handles"][target_port] = {"type": "target"}
-
-            data["nodes"][i] = onode
-
-        # 发送到API创建工作流
-        api_secret = configs.Lab.Key
-        if not api_secret:
-            return {"error": "API SecretKey is not configured", "success": False}
-
-        # Step 1: 创建工作流
-        workflow_url = f"{configs.Lab.Api}/api/v1/workflow/"
-        headers = {
-            "Content-Type": "application/json",
-        }
-        params = {"secret_key": api_secret}
-
-        graph_data = {"name": workflow_name, **data}
-
-        logger.info(f"Creating workflow: {workflow_name}")
-        response = requests.post(
-            workflow_url, params=params, json=graph_data, headers=headers, timeout=configs.Lab.Timeout
-        )
-        response.raise_for_status()
-
-        workflow_info = response.json()
-
-        if workflow_info.get("code") != 0:
-            error_msg = f"API returned an error: {workflow_info.get('msg', 'Unknown Error')}"
-            logger.error(error_msg)
-            return {"error": error_msg, "success": False}
-
-        workflow_uuid = workflow_info.get("data", {}).get("uuid")
-        if not workflow_uuid:
-            return {"error": "Failed to get workflow UUID from response", "success": False}
-
-        # Step 2: 添加到模板库（可选）
-        try:
-            library_url = f"{configs.Lab.Api}/api/flociety/vs/workflows/library/"
-            lib_payload = {
-                "workflow_uuid": workflow_uuid,
-                "title": workflow_name,
-                "description": workflow_description,
-                "labels": [protocol_type.title(), "Auto-generated"],
-            }
-
-            library_response = requests.post(
-                library_url, params=params, json=lib_payload, headers=headers, timeout=configs.Lab.Timeout
-            )
-            library_response.raise_for_status()
-
-            library_info = library_response.json()
-            logger.info(f"Workflow added to library: {library_info}")
-
-            return {
-                "success": True,
-                "workflow_uuid": workflow_uuid,
-                "workflow_info": workflow_info.get("data"),
-                "library_info": library_info.get("data"),
-                "protocol_type": protocol_type,
-                "message": f"Workflow '{workflow_name}' created successfully",
-            }
-
-        except Exception as e:
-            # 即使添加到库失败，工作流创建仍然成功
-            logger.warning(f"Failed to add workflow to library: {str(e)}")
-            return {
-                "success": True,
-                "workflow_uuid": workflow_uuid,
-                "workflow_info": workflow_info.get("data"),
-                "protocol_type": protocol_type,
-                "message": f"Workflow '{workflow_name}' created successfully (library addition failed)",
-            }
-
-    except requests.exceptions.RequestException as e:
-        error_msg = f"Network error when calling API: {str(e)}"
-        logger.error(error_msg)
-        return {"error": error_msg, "success": False}
-    except json.JSONDecodeError as e:
-        error_msg = f"JSON parsing error: {str(e)}"
-        logger.error(error_msg)
-        return {"error": error_msg, "success": False}
-    except Exception as e:
-        error_msg = f"An unexpected error occurred: {str(e)}"
-        logger.error(error_msg)
-        logger.error(traceback.format_exc())
-        return {"error": error_msg, "success": False}

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -170,16 +170,15 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 200,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquids": [["DMF", 500.0]],
-                "pending_liquids": [["DMF", 500.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -195,16 +194,15 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 200,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquids": [["ethyl_acetate", 1000.0]],
-                "pending_liquids": [["ethyl_acetate", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -220,16 +218,15 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 300,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquids": [["hexane", 1000.0]],
-                "pending_liquids": [["hexane", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -245,16 +242,15 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 900,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquids": [["methanol", 1000.0]],
-                "pending_liquids": [["methanol", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -270,16 +266,15 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 950,
-                "size_y": 150,
-                "size_z": 0
+                "max_volume": 1000.0
             },
             "data": {
-                "liquids": [["water", 1000.0]],
-                "pending_liquids": [["water", 1000.0]]
+                "liquids": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -340,16 +335,14 @@
             },
             "config": {
                 "max_volume": 500.0,
-                "type": "RegularContainer",
-                "category": "container",
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
                 "has_heater": true
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -426,16 +419,11 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 500,
-                "size_y": 400,
-                "size_z": 0
+                "max_volume": 2000.0
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -451,16 +439,11 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 1100,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 2000.0
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -666,16 +649,11 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 900,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -691,16 +669,11 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 950,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -716,16 +689,11 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0,
-                "type": "RegularContainer",
-                "category": "container",
-                "size_x": 1050,
-                "size_y": 500,
-                "size_z": 0
+                "max_volume": 250.0
             },
             "data": {
-                "liquids": [],
-                "pending_liquids": []
+                "liquids": [
+                ]
             }
         },
         {
@@ -765,11 +733,6 @@
             },
             "config": {
                 "max_volume": 500.0,
-                "size_x": 550,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },
@@ -793,11 +756,6 @@
             },
             "config": {
                 "volume": 500.0,
-                "size_x": 600,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                 "reagent": "sodium_carbonate",
                 "physical_state": "solid"
             },
@@ -821,11 +779,6 @@
             },
             "config": {
                 "volume": 500.0,
-                "size_x": 650,
-                "size_y": 250,
-                "size_z": 0,
-                "type": "RegularContainer",
-                "category": "container",
                 "reagent": "magnesium_chloride",
                 "physical_state": "solid"
             },

test/experiments/dispensing_station_bioyond.json

@@ -8,7 +8,7 @@
             ],
             "parent": null,
             "type": "device",
-            "class": "bioyond_dispensing_station",
+            "class": "dispensing_station.bioyond",
             "config": {
                 "config": {
                     "api_key": "DE9BDDA0",
@@ -20,6 +20,13 @@
                         "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
                     }
                 },
+                "station_config": {
+                    "station_type": "dispensing_station",
+                    "enable_dispensing_station": true,
+                    "enable_reaction_station": false,
+                    "station_name": "DispensingStation_001",
+                    "description": "Bioyond配液工作站"
+                },
                 "protocol_type": []
             },
             "data": {}
@@ -50,4 +57,4 @@
             "data": {}
         }
     ]
-}
+}

test/experiments/reaction_station_bioyond.json

@@ -10,7 +10,7 @@
             "type": "device",
             "class": "reaction_station.bioyond",
             "config": {
-                "config": {
+                "bioyond_config": {
                     "api_key": "DE9BDDA0",
                     "api_host": "http://192.168.1.200:44402",
                     "workflow_mappings": {
@@ -19,47 +19,14 @@
                         "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
                         "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
                         "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
-                        "liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
+                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
+                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
                         "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                     },
                     "material_type_mappings": {
-                        "烧杯": [
-                            "BIOYOND_PolymerStation_1FlaskCarrier",
-                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
-                        ],
-                        "试剂瓶": [
-                            "BIOYOND_PolymerStation_1BottleCarrier",
-                            ""
-                        ],
-                        "样品板": [
-                            "BIOYOND_PolymerStation_6StockCarrier",
-                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
-                        ],
-                        "分装板": [
-                            "BIOYOND_PolymerStation_6VialCarrier",
-                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
-                        ],
-                        "样品瓶": [
-                            "BIOYOND_PolymerStation_Solid_Stock",
-                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
-                        ],
-                        "90%分装小瓶": [
-                            "BIOYOND_PolymerStation_Solid_Vial",
-                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
-                        ],
-                        "10%分装小瓶": [
-                            "BIOYOND_PolymerStation_Liquid_Vial",
-                            "3a14196c-76be-2279-4e22-7310d69aed68"
-                        ],
-                        "枪头盒": [
-                            "BIOYOND_PolymerStation_TipBox",
-                            ""
-                        ],
-                        "反应器": [
-                            "BIOYOND_PolymerStation_Reactor",
-                            ""
-                        ]
+                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
                     }
                 },
                 "deck": {
@@ -75,7 +42,9 @@
         {
             "id": "Bioyond_Deck",
             "name": "Bioyond_Deck",
-            "children": [],
+            "sample_id": null,
+            "children": [
+            ],
             "parent": "reaction_station_bioyond",
             "type": "deck",
             "class": "BIOYOND_PolymerReactionStation_Deck",
@@ -97,4 +66,4 @@
             "data": {}
         }
     ]
-}
+}

test/resources/test_converter_bioyond.py

@@ -12,13 +12,23 @@ lab_registry.setup()
 
 
 type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
+    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
+    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
+    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
+    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
+}
+
+type_uuid_mapping = {
+    "烧杯": "",
+    "试剂瓶": "",
+    "样品板": "",
+    "分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
+    "样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
+    "90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
+    "10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
 }
 
 

test/resources/test_itemized_carrier.py

@@ -1,115 +0,0 @@
-#!/usr/bin/env python3
-"""
-测试修改后的 get_child_identifier 函数
-"""
-
-from unilabos.resources.itemized_carrier import ItemizedCarrier, Bottle
-from pylabrobot.resources.coordinate import Coordinate
-
-def test_get_child_identifier_with_indices():
-    """测试返回x,y,z索引的 get_child_identifier 函数"""
-    
-    # 创建一些测试瓶子
-    bottle1 = Bottle("bottle1", diameter=25.0, height=50.0, max_volume=15.0)
-    bottle1.location = Coordinate(10, 20, 5)
-    
-    bottle2 = Bottle("bottle2", diameter=25.0, height=50.0, max_volume=15.0) 
-    bottle2.location = Coordinate(50, 20, 5)
-    
-    bottle3 = Bottle("bottle3", diameter=25.0, height=50.0, max_volume=15.0) 
-    bottle3.location = Coordinate(90, 20, 5)
-    
-    # 创建载架，指定维度
-    sites = {
-        "A1": bottle1,
-        "A2": bottle2, 
-        "A3": bottle3,
-        "B1": None,  # 空位
-        "B2": None,
-        "B3": None
-    }
-    
-    carrier = ItemizedCarrier(
-        name="test_carrier",
-        size_x=150,
-        size_y=100,
-        size_z=30,
-        num_items_x=3,  # 3列
-        num_items_y=2,  # 2行  
-        num_items_z=1,  # 1层
-        sites=sites
-    )
-    
-    print("测试载架维度:")
-    print(f"num_items_x: {carrier.num_items_x}")
-    print(f"num_items_y: {carrier.num_items_y}")
-    print(f"num_items_z: {carrier.num_items_z}")
-    print()
-    
-    # 测试获取bottle1的标识符信息 (A1 = idx:0, x:0, y:0, z:0)
-    result1 = carrier.get_child_identifier(bottle1)
-    print("测试bottle1 (A1):")
-    print(f"  identifier: {result1['identifier']}")
-    print(f"  idx: {result1['idx']}")
-    print(f"  x index: {result1['x']}")
-    print(f"  y index: {result1['y']}")
-    print(f"  z index: {result1['z']}")
-    
-    # Assert 验证 bottle1 (A1) 的结果
-    assert result1['identifier'] == 'A1', f"Expected identifier 'A1', got '{result1['identifier']}'"
-    assert result1['idx'] == 0, f"Expected idx 0, got {result1['idx']}"
-    assert result1['x'] == 0, f"Expected x index 0, got {result1['x']}"
-    assert result1['y'] == 0, f"Expected y index 0, got {result1['y']}"
-    assert result1['z'] == 0, f"Expected z index 0, got {result1['z']}"
-    print("  ✓ bottle1 (A1) 测试通过")
-    print()
-    
-    # 测试获取bottle2的标识符信息 (A2 = idx:1, x:1, y:0, z:0)
-    result2 = carrier.get_child_identifier(bottle2)
-    print("测试bottle2 (A2):")
-    print(f"  identifier: {result2['identifier']}")
-    print(f"  idx: {result2['idx']}")
-    print(f"  x index: {result2['x']}")
-    print(f"  y index: {result2['y']}")
-    print(f"  z index: {result2['z']}")
-    
-    # Assert 验证 bottle2 (A2) 的结果
-    assert result2['identifier'] == 'A2', f"Expected identifier 'A2', got '{result2['identifier']}'"
-    assert result2['idx'] == 1, f"Expected idx 1, got {result2['idx']}"
-    assert result2['x'] == 1, f"Expected x index 1, got {result2['x']}"
-    assert result2['y'] == 0, f"Expected y index 0, got {result2['y']}"
-    assert result2['z'] == 0, f"Expected z index 0, got {result2['z']}"
-    print("  ✓ bottle2 (A2) 测试通过")
-    print()
-        
-    # 测试获取bottle3的标识符信息 (A3 = idx:2, x:2, y:0, z:0)
-    result3 = carrier.get_child_identifier(bottle3)
-    print("测试bottle3 (A3):")
-    print(f"  identifier: {result3['identifier']}")
-    print(f"  idx: {result3['idx']}")
-    print(f"  x index: {result3['x']}")
-    print(f"  y index: {result3['y']}")
-    print(f"  z index: {result3['z']}")
-    
-    # Assert 验证 bottle3 (A3) 的结果
-    assert result3['identifier'] == 'A3', f"Expected identifier 'A3', got '{result3['identifier']}'"
-    assert result3['idx'] == 2, f"Expected idx 2, got {result3['idx']}"
-    assert result3['x'] == 2, f"Expected x index 2, got {result3['x']}"
-    assert result3['y'] == 0, f"Expected y index 0, got {result3['y']}"
-    assert result3['z'] == 0, f"Expected z index 0, got {result3['z']}"
-    print("  ✓ bottle3 (A3) 测试通过")
-    print()
-    
-    # 测试错误情况：查找不存在的资源
-    bottle_not_exists = Bottle("bottle_not_exists", diameter=25.0, height=50.0, max_volume=15.0)
-    try:
-        carrier.get_child_identifier(bottle_not_exists)
-        assert False, "应该抛出 ValueError 异常"
-    except ValueError as e:
-        print("✓ 正确抛出了 ValueError 异常：", str(e))
-        assert "is not assigned to this carrier" in str(e), "异常消息应该包含预期的文本"
-    
-    print("\n🎉 所有测试都通过了！")
-
-if __name__ == "__main__":
-    test_get_child_identifier_with_indices()

test/resources/test_resourcetreeset.py

@@ -1,68 +0,0 @@
-import pytest
-import json
-import os
-
-from pylabrobot.resources import Resource as ResourcePLR
-from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
-from unilabos.registry.registry import lab_registry
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-lab_registry.setup()
-
-
-type_mapping = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
-}
-
-
-@pytest.fixture
-def bioyond_materials_reaction() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_1() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_2() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.mark.parametrize("materials_fixture", [
-    "bioyond_materials_reaction",
-    "bioyond_materials_liquidhandling_1",
-])
-def test_resourcetreeset_from_plr(materials_fixture, request) -> list[dict]:
-    materials = request.getfixturevalue(materials_fixture)
-    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
-    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
-    print(deck.summary())
-
-    r = ResourceTreeSet.from_plr_resources([deck])
-    print(r.dump())
-    # json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)

test/workflow/example_bio.json

@@ -1,186 +0,0 @@
-{
-  "workflow": [
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_1",
-        "targets": "Liquid_2",
-        "asp_vol": 66.0,
-        "dis_vol": 66.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_2",
-        "targets": "Liquid_3",
-        "asp_vol": 58.0,
-        "dis_vol": 96.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_4",
-        "targets": "Liquid_2",
-        "asp_vol": 85.0,
-        "dis_vol": 170.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_4",
-        "targets": "Liquid_2",
-        "asp_vol": 63.333333333333336,
-        "dis_vol": 170.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_2",
-        "targets": "Liquid_3",
-        "asp_vol": 72.0,
-        "dis_vol": 150.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_4",
-        "targets": "Liquid_2",
-        "asp_vol": 85.0,
-        "dis_vol": 170.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_4",
-        "targets": "Liquid_2",
-        "asp_vol": 63.333333333333336,
-        "dis_vol": 170.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_2",
-        "targets": "Liquid_3",
-        "asp_vol": 72.0,
-        "dis_vol": 150.0,
-        "asp_flow_rate": 94.0,
-        "dis_flow_rate": 94.0
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_2",
-        "targets": "Liquid_3",
-        "asp_vol": 20.0,
-        "dis_vol": 20.0,
-        "asp_flow_rate": 7.6,
-        "dis_flow_rate": 7.6
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_5",
-        "targets": "Liquid_2",
-        "asp_vol": 6.0,
-        "dis_vol": 12.0,
-        "asp_flow_rate": 7.6,
-        "dis_flow_rate": 7.6
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_5",
-        "targets": "Liquid_2",
-        "asp_vol": 10.666666666666666,
-        "dis_vol": 12.0,
-        "asp_flow_rate": 7.599999999999999,
-        "dis_flow_rate": 7.6
-      }
-    },
-    {
-      "action": "transfer_liquid",
-      "action_args": {
-        "sources": "Liquid_2",
-        "targets": "Liquid_6",
-        "asp_vol": 12.0,
-        "dis_vol": 10.0,
-        "asp_flow_rate": 7.6,
-        "dis_flow_rate": 7.6
-      }
-    }
-  ],
-  "reagent": {
-    "Liquid_6": {
-      "slot": 1,
-      "well": [
-        "A2"
-      ],
-      "labware": "elution plate"
-    },
-    "Liquid_1": {
-      "slot": 2,
-      "well": [
-        "A1",
-        "A2",
-        "A4"
-      ],
-      "labware": "reagent reservoir"
-    },
-    "Liquid_4": {
-      "slot": 2,
-      "well": [
-        "A1",
-        "A2",
-        "A4"
-      ],
-      "labware": "reagent reservoir"
-    },
-    "Liquid_5": {
-      "slot": 2,
-      "well": [
-        "A1",
-        "A2",
-        "A4"
-      ],
-      "labware": "reagent reservoir"
-    },
-    "Liquid_2": {
-      "slot": 4,
-      "well": [
-        "A2"
-      ],
-      "labware": "TAG1 plate on Magnetic Module GEN2"
-    },
-    "Liquid_3": {
-      "slot": 12,
-      "well": [
-        "A1"
-      ],
-      "labware": "Opentrons Fixed Trash"
-    }
-  }
-}

test/workflow/example_prcxi.json

@@ -1,63 +0,0 @@
-{
-    "steps_info": [
-        {
-            "step_number": 1,
-            "action": "transfer_liquid",
-            "parameters": {
-                "source": "sample supernatant",
-                "target": "antibody-coated well",
-                "volume": 100
-            }
-        },
-        {
-            "step_number": 2,
-            "action": "transfer_liquid",
-            "parameters": {
-                "source": "washing buffer",
-                "target": "antibody-coated well",
-                "volume": 200
-            }
-        },
-        {
-            "step_number": 3,
-            "action": "transfer_liquid",
-            "parameters": {
-                "source": "washing buffer",
-                "target": "antibody-coated well",
-                "volume": 200
-            }
-        },
-        {
-            "step_number": 4,
-            "action": "transfer_liquid",
-            "parameters": {
-                "source": "washing buffer",
-                "target": "antibody-coated well",
-                "volume": 200
-            }
-        },
-        {
-            "step_number": 5,
-            "action": "transfer_liquid",
-            "parameters": {
-                "source": "TMB substrate",
-                "target": "antibody-coated well",
-                "volume": 100
-            }
-        }
-    ],
-    "labware_info": [
-        {"reagent_name": "sample supernatant", "material_name": "96深孔板", "positions": 1},
-        {"reagent_name": "washing buffer", "material_name": "储液槽", "positions": 2},
-        {"reagent_name": "TMB substrate", "material_name": "储液槽", "positions": 3},
-        {"reagent_name": "antibody-coated well", "material_name": "96 细胞培养皿", "positions": 4},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 5},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 6},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 7},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 8},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 9},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 10},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 11},
-        {"reagent_name": "", "material_name": "300μL Tip头", "positions": 13}
-    ]
-}

test/workflow/merge_workflow.py

@@ -1,94 +0,0 @@
-import json
-import sys
-from datetime import datetime
-from pathlib import Path
-
-ROOT_DIR = Path(__file__).resolve().parents[2]
-if str(ROOT_DIR) not in sys.path:
-    sys.path.insert(0, str(ROOT_DIR))
-
-import pytest
-
-from scripts.workflow import build_protocol_graph, draw_protocol_graph, draw_protocol_graph_with_ports
-
-
-ROOT_DIR = Path(__file__).resolve().parents[2]
-if str(ROOT_DIR) not in sys.path:
-    sys.path.insert(0, str(ROOT_DIR))
-
-
-def _normalize_steps(data):
-    normalized = []
-    for step in data:
-        action = step.get("action") or step.get("operation")
-        if not action:
-            continue
-        raw_params = step.get("parameters") or step.get("action_args") or {}
-        params = dict(raw_params)
-
-        if "source" in raw_params and "sources" not in raw_params:
-            params["sources"] = raw_params["source"]
-        if "target" in raw_params and "targets" not in raw_params:
-            params["targets"] = raw_params["target"]
-
-        description = step.get("description") or step.get("purpose")
-        step_dict = {"action": action, "parameters": params}
-        if description:
-            step_dict["description"] = description
-        normalized.append(step_dict)
-    return normalized
-
-
-def _normalize_labware(data):
-    labware = {}
-    for item in data:
-        reagent_name = item.get("reagent_name")
-        key = reagent_name or item.get("material_name") or item.get("name")
-        if not key:
-            continue
-        key = str(key)
-        idx = 1
-        original_key = key
-        while key in labware:
-            idx += 1
-            key = f"{original_key}_{idx}"
-
-        labware[key] = {
-            "slot": item.get("positions") or item.get("slot"),
-            "labware": item.get("material_name") or item.get("labware"),
-            "well": item.get("well", []),
-            "type": item.get("type", "reagent"),
-            "role": item.get("role", ""),
-            "name": key,
-        }
-    return labware
-
-
-@pytest.mark.parametrize("protocol_name", [
-    "example_bio",
-    # "bioyond_materials_liquidhandling_1",
-    "example_prcxi",
-])
-def test_build_protocol_graph(protocol_name):
-    data_path = Path(__file__).with_name(f"{protocol_name}.json")
-    with data_path.open("r", encoding="utf-8") as fp:
-        d = json.load(fp)
-
-    if "workflow" in d and "reagent" in d:
-        protocol_steps = d["workflow"]
-        labware_info = d["reagent"]
-    elif "steps_info" in d and "labware_info" in d:
-        protocol_steps = _normalize_steps(d["steps_info"])
-        labware_info = _normalize_labware(d["labware_info"])
-    else:
-        raise ValueError("Unsupported protocol format")
-
-    graph = build_protocol_graph(
-        labware_info=labware_info,
-        protocol_steps=protocol_steps,
-        workstation_name="PRCXi",
-    )
-    timestamp = datetime.now().strftime("%Y%m%d_%H%M")
-    output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png")
-    draw_protocol_graph_with_ports(graph, str(output_path))
-    print(graph)

unilabos/app/main.py

@@ -11,14 +11,18 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.utils.banner_print import print_status, print_unilab_banner
 from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.resources.graphio import modify_to_backend_format
+
 
 def load_config_from_file(config_path):
     if config_path is None:
@@ -180,7 +184,6 @@ def main():
         working_dir = os.path.abspath(os.getcwd())
     else:
         working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
     if args_dict.get("working_dir"):
         working_dir = args_dict.get("working_dir", "")
         if config_path and not os.path.exists(config_path):
@@ -212,14 +215,6 @@ def main():
     # 加载配置文件
     print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path)
-
-    # 根据配置重新设置日志级别
-    from unilabos.utils.log import configure_logger, logger
-
-    if hasattr(BasicConfig, "log_level"):
-        logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-        configure_logger(loglevel=BasicConfig.log_level)
-
     if args_dict["addr"] == "test":
         print_status("使用测试环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
@@ -273,8 +268,6 @@ def main():
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
     from unilabos.app.register import register_devices_and_resources
-    from unilabos.resources.graphio import modify_to_backend_format
-    from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
@@ -356,7 +349,7 @@ def main():
 
     if BasicConfig.upload_registry:
         # 设备注册到服务端 - 需要 ak 和 sk
-        if BasicConfig.ak and BasicConfig.sk:
+        if args_dict.get("ak") and args_dict.get("sk"):
             print_status("开始注册设备到服务端...", "info")
             try:
                 register_devices_and_resources(lab_registry)

unilabos/app/web/client.py

@@ -6,8 +6,6 @@ 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
@@ -75,8 +73,6 @@ 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_add.json"), "w", encoding="utf-8") as f:
-            f.write(json.dumps({"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, indent=4))
         # 从序列化数据中提取所有节点的UUID（保存旧UUID）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
         if not self.initialized or first_add:
@@ -86,18 +82,16 @@ 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=60,
+                timeout=100,
             )
         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=10,
+                timeout=100,
             )
 
-        with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            f.write(f"{response.status_code}" + "\n" + response.text)
         # 处理响应，构建UUID映射
         uuid_mapping = {}
         if response.status_code == 200:
@@ -128,16 +122,12 @@ 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:
@@ -193,16 +183,12 @@ 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/config/config.py

@@ -2,7 +2,7 @@ import base64
 import traceback
 import os
 import importlib.util
-from typing import Optional, Literal
+from typing import Optional
 from unilabos.utils import logger
 
 
@@ -18,7 +18,6 @@ class BasicConfig:
     vis_2d_enable = False
     enable_resource_load = True
     communication_protocol = "websocket"
-    log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
     def auth_secret(cls):

unilabos/devices/workstation/README.md

@@ -37,7 +37,7 @@ def _initialize_material_system(self, deck_config: Dict[str, Any], children_conf
 **定义在**: `workstation_base.py`
 
 **设计目的**：
-- 提供外部物料系统（如Bioyond、LIMS等）集成的标准接口
+- 提供外部物料系统（如Bioyong、LIMS等）集成的标准接口
 - 双向同步：从外部系统同步到本地deck，以及将本地变更同步到外部系统
 - 处理外部系统的变更通知
 
@@ -59,7 +59,7 @@ async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
 **扩展功能**：
 - HTTP报送接收服务集成
 - 具体工作流实现（液体转移、板洗等）
-- Bioyond物料系统同步器示例
+- Bioyong物料系统同步器示例
 - 外部报送处理方法
 
 ## 技术栈
@@ -142,11 +142,11 @@ success = workstation.execute_workflow("liquid_transfer", {
 ### 3. 外部系统集成
 
 ```python
-class BioyondResourceSynchronizer(ResourceSynchronizer):
-    """Bioyond系统同步器"""
+class BioyongResourceSynchronizer(ResourceSynchronizer):
+    """Bioyong系统同步器"""
     
     async def sync_from_external(self) -> bool:
-        # 从Bioyond API获取物料
+        # 从Bioyong API获取物料
         external_materials = await self._fetch_bioyong_materials()
         
         # 转换并添加到本地deck

unilabos/devices/workstation/bioyond_studio/config.py

@@ -9,6 +9,22 @@ API_CONFIG = {
     "api_host": ""
 }
 
+# 站点类型配置
+STATION_TYPES = {
+    "REACTION": "reaction_station",      # 仅反应站
+    "DISPENSING": "dispensing_station",  # 仅配液站
+    "HYBRID": "hybrid_station"           # 混合模式
+}
+
+# 默认站点配置
+DEFAULT_STATION_CONFIG = {
+    "station_type": STATION_TYPES["REACTION"],  # 默认反应站模式
+    "enable_reaction_station": True,            # 是否启用反应站功能
+    "enable_dispensing_station": False,         # 是否启用配液站功能
+    "station_name": "BioyondReactionStation",   # 站点名称
+    "description": "Bioyond反应工作站"          # 站点描述
+}
+
 # 工作流映射配置
 WORKFLOW_MAPPINGS = {
     "reactor_taken_out": "",
@@ -33,75 +49,52 @@ WORKFLOW_TO_SECTION_MAP = {
 }
 
 # 库位映射配置
-WAREHOUSE_MAPPING = {
-    "粉末堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            # 样品板
-            "A1": "3a14198e-6929-31f0-8a22-0f98f72260df",
-            "A2": "3a14198e-6929-4379-affa-9a2935c17f99",
-            "A3": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
-            "A4": "3a14198e-6929-5e99-2b79-80720f7cfb54",
-            "B1": "3a14198e-6929-f525-9a1b-1857552b28ee",
-            "B2": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
-            "B3": "3a14198e-6929-2d86-a468-602175a2b5aa",
-            "B4": "3a14198e-6929-1a98-ae57-e97660c489ad",
-            # 分装板
-            "C1": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-            "C2": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
-            "C3": "3a14198e-6929-72ac-32ce-9b50245682b8",
-            "C4": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
-            "D1": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
-            "D2": "3a14198e-6929-dde1-fc78-34a84b71afdf",
-            "D3": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
-            "D4": "3a14198e-6929-7ac8-915a-fea51cb2e884"
-        }
-    },
-    "溶液堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198e-d724-e036-afdc-2ae39a7f3383",
-            "A2": "3a14198e-d724-afa4-fc82-0ac8a9016791",
-            "A3": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
-            "A4": "3a14198e-d724-df6d-5e32-5483b3cab583",
-            "B1": "3a14198e-d724-d818-6d4f-5725191a24b5",
-            "B2": "3a14198e-d724-be8a-5e0b-012675e195c6",
-            "B3": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
-            "B4": "3a14198e-d724-1e28-c885-574c3df468d0",
-            "C1": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
-            "C2": "3a14198e-d724-ab4e-48cb-817c3c146707",
-            "C3": "3a14198e-d724-7f18-1853-39d0c62e1d33",
-            "C4": "3a14198e-d724-28a2-a760-baa896f46b66",
-            "D1": "3a14198e-d724-d378-d266-2508a224a19f",
-            "D2": "3a14198e-d724-f56e-468b-0110a8feb36a",
-            "D3": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
-            "D4": "3a14198e-d724-0ddd-9654-f9352a421de9"
-        }
-    },
-    "试剂堆栈": {
-        "uuid": "",
-        "site_uuids": {
-            "A1": "3a14198c-c2cf-8b40-af28-b467808f1c36",
-            "A2": "3a14198c-c2d0-f3e7-871a-e470d144296f",
-            "A3": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094",
-            "A4": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
-            "B1": "3a14198c-c2d0-354f-39ad-642e1a72fcb8",
-            "B2": "3a14198c-c2d0-1559-105d-0ea30682cab4",
-            "B3": "3a14198c-c2d0-725e-523d-34c037ac2440",
-            "B4": "3a14198c-c2d0-efce-0939-69ca5a7dfd39"
-        }
-    }
+LOCATION_MAPPING = {
+    'A01': '',
+    'A02': '',
+    'A03': '',
+    'A04': '',
+    'A05': '',
+    'A06': '',
+    'A07': '',
+    'A08': '',
+    'B01': '',
+    'B02': '',
+    'B03': '',
+    'B04': '',
+    'B05': '',
+    'B06': '',
+    'B07': '',
+    'B08': '',
+    'C01': '',
+    'C02': '',
+    'C03': '',
+    'C04': '',
+    'C05': '',
+    'C06': '',
+    'C07': '',
+    'C08': '',
+    'D01': '',
+    'D02': '',
+    'D03': '',
+    'D04': '',
+    'D05': '',
+    'D06': '',
+    'D07': '',
+    'D08': '',
 }
 
 # 物料类型配置
+MATERIAL_TYPE_IDS = {
+    "样品板": "",
+    "样品": "",
+    "烧杯": ""
+}
+
 MATERIAL_TYPE_MAPPINGS = {
-    "烧杯": ("BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"),
-    "试剂瓶": ("BIOYOND_PolymerStation_1BottleCarrier", ""),
-    "样品板": ("BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"),
-    "分装板": ("BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"),
-    "样品瓶": ("BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"),
-    "90%分装小瓶": ("BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"),
-    "10%分装小瓶": ("BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"),
+    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
+    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
+    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
 }
 
 # 步骤参数配置（各工作流的步骤UUID）
@@ -134,5 +127,3 @@ WORKFLOW_STEP_IDS = {
         "observe": ""
     }
 }
-
-LOCATION_MAPPING = {}

unilabos/devices/workstation/bioyond_studio/experiment.py

@@ -1,205 +1,203 @@
+# experiment_workflow.py
 """
 实验流程主程序
 """
 
 import json
-from unilabos.devices.workstation.bioyond_studio.reaction_station import BioyondReactionStation
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, DECK_CONFIG, MATERIAL_TYPE_MAPPINGS
+from bioyond_rpc import BioyondV1RPC
+from config import API_CONFIG, WORKFLOW_MAPPINGS
 
 
 def run_experiment():
     """运行实验流程"""
-
+    
     # 初始化Bioyond客户端
     config = {
         **API_CONFIG,
-        "workflow_mappings": WORKFLOW_MAPPINGS,
-        "material_type_mappings": MATERIAL_TYPE_MAPPINGS
+        "workflow_mappings": WORKFLOW_MAPPINGS
     }
-
-    # 创建BioyondReactionStation实例，传入deck配置
-    Bioyond = BioyondReactionStation(
-        config=config,
-        deck=DECK_CONFIG
-    )
-
+    
+    Bioyond = BioyondV1RPC(config)
+    
     print("\n============= 多工作流参数测试（简化接口+材料缓存）=============")
-
+    
     # 显示可用的材料名称（前20个）
-    available_materials = Bioyond.hardware_interface.get_available_materials()
+    available_materials = Bioyond.get_available_materials()
     print(f"可用材料名称（前20个）: {available_materials[:20]}")
     print(f"总共有 {len(available_materials)} 个材料可用\n")
-
+    
     # 1. 反应器放入
     print("1. 添加反应器放入工作流，带参数...")
     Bioyond.reactor_taken_in(
-        assign_material_name="BTDA-DD",
-        cutoff="10000",
+        assign_material_name="BTDA-DD", 
+        cutoff="10000", 
         temperature="-10"
     )
-
+    
     # 2. 液体投料-烧杯 (第一个)
     print("2. 添加液体投料-烧杯，带参数...")
     Bioyond.liquid_feeding_beaker(
-        volume="34768.7",
+        volume="34768.7", 
         assign_material_name="ODA",
-        time="0",
-        torque_variation="1",
-        titration_type="1",
+        time="0", 
+        torque_variation="1", 
+        titrationType="1", 
         temperature=-10
     )
-
+    
     # 3. 液体投料-烧杯 (第二个)
     print("3. 添加液体投料-烧杯，带参数...")
     Bioyond.liquid_feeding_beaker(
-        volume="34080.9",
+        volume="34080.9", 
         assign_material_name="MPDA",
-        time="5",
-        torque_variation="2",
-        titration_type="1",
+        time="5", 
+        torque_variation="2", 
+        titrationType="1", 
         temperature=0
     )
-
+    
     # 4. 液体投料-小瓶非滴定
     print("4. 添加液体投料-小瓶非滴定，带参数...")
     Bioyond.liquid_feeding_vials_non_titration(
-        volume_formula="639.5",
-        assign_material_name="SIDA",
-        titration_type="1",
-        time="0",
-        torque_variation="1",
+        volumeFormula="639.5", 
+        assign_material_name="SIDA", 
+        titration_type="1", 
+        time="0", 
+        torque_variation="1", 
         temperature=-10
     )
-
+    
     # 5. 液体投料溶剂
     print("5. 添加液体投料溶剂，带参数...")
     Bioyond.liquid_feeding_solvents(
         assign_material_name="NMP",
-        volume="19000",
-        titration_type="1",
-        time="5",
-        torque_variation="2",
+        volume="19000", 
+        titration_type="1", 
+        time="5", 
+        torque_variation="2", 
         temperature=-10
     )
-
+    
     # 6-8. 固体进料小瓶 (三个)
     print("6. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="180",
+        material_id="3", 
+        time="180", 
         torque_variation="2",
-        assign_material_name="BTDA1",
+        assign_material_name="BTDA-1", 
         temperature=-10.00
     )
-
+    
     print("7. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="180",
+        material_id="3", 
+        time="180", 
         torque_variation="2",
-        assign_material_name="BTDA2",
+        assign_material_name="BTDA-2", 
         temperature=25.00
     )
-
+    
     print("8. 添加固体进料小瓶，带参数...")
     Bioyond.solid_feeding_vials(
-        material_id="3",
-        time="480",
+        material_id="3", 
+        time="480", 
         torque_variation="2",
-        assign_material_name="BTDA3",
+        assign_material_name="BTDA-3", 
         temperature=25.00
     )
-
+    
     # 液体投料滴定（第一个）
     print("9. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="{{6-0-5}}+{{7-0-5}}+{{8-0-5}}",
+        volume_formula="1000", 
         assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature="25.00"
     )
-
+    
     # 液体投料滴定（第二个）
     print("10. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
         assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature="25.00"
     )
 
     # 液体投料滴定（第三个）
     print("11. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
         assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature="25.00"
     )
-
+    
     print("12. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
         assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature="25.00"
     )
-
+    
     print("13. 添加液体投料滴定，带参数...")  # ODPA
     Bioyond.liquid_feeding_titration(
-        volume_formula="500",
+        volume_formula="500", 
         assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
+        temperature="25.00"
+    )
+    
+    print("14. 添加液体投料滴定，带参数...")  # ODPA
+    Bioyond.liquid_feeding_titration(
+        volume_formula="500", 
+        assign_material_name="BTDA-DD",
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature="25.00"
     )
 
-    print("14. 添加液体投料滴定，带参数...")  # ODPA
-    Bioyond.liquid_feeding_titration(
-        volume_formula="500",
-        assign_material_name="BTDA-DD",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
-        temperature="25.00"
-    )
+
 
     print("15. 添加液体投料溶剂，带参数...")
     Bioyond.liquid_feeding_solvents(
         assign_material_name="PGME",
-        volume="16894.6",
-        titration_type="1",
-        time="360",
-        torque_variation="2",
+        volume="16894.6", 
+        titration_type="1", 
+        time="360", 
+        torque_variation="2", 
         temperature=25.00
     )
-
+    
     # 16. 反应器取出
     print("16. 添加反应器取出工作流...")
     Bioyond.reactor_taken_out()
-
+    
     # 显示当前工作流序列
     sequence = Bioyond.get_workflow_sequence()
     print("\n当前工作流执行顺序:")
     print(sequence)
-
+    
     # 执行process_and_execute_workflow，合并工作流并创建任务
     print("\n4. 执行process_and_execute_workflow...")
-
+    
     result = Bioyond.process_and_execute_workflow(
-        workflow_name="test3",
-        task_name="实验3"
+        workflow_name="test3_86", 
+        task_name="实验3_86"
     )
-
+    
     # 显示执行结果
     print("\n5. 执行结果:")
     if isinstance(result, str):
@@ -207,9 +205,9 @@ def run_experiment():
             result_dict = json.loads(result)
             if result_dict.get("success"):
                 print("任务创建成功!")
-                # print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
-                # print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
-                # print(f"- 任务结果: {result_dict.get('task')}")
+                print(f"- 工作流: {result_dict.get('workflow', {}).get('name')}")
+                print(f"- 工作流ID: {result_dict.get('workflow', {}).get('id')}")
+                print(f"- 任务结果: {result_dict.get('task')}")
             else:
                 print(f"任务创建失败: {result_dict.get('error')}")
         except:
@@ -222,179 +220,179 @@ def run_experiment():
             print(f"- 任务结果: {result.get('task')}")
         else:
             print(f"任务创建失败: {result.get('error')}")
-
+    
     # 可选：启动调度器
     # Bioyond.scheduler_start()
-
+    
     return Bioyond
 
 
-# def prepare_materials(bioyond):
-#     """准备实验材料（可选）"""
-
-#     # 样品板材料数据定义
-#     material_data_yp_1 = {
-#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-#         "name": "样品板-1",
-#         "unit": "个",
-#         "quantity": 1,
-#         "details": [
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD-1",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "PEPA",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD-2",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-1",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "PMDA",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-2",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             }
-#         ],
-#         "Parameters": "{}"
-#     }
-
-#     material_data_yp_2 = {
-#         "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
-#         "name": "样品板-2",
-#         "unit": "个",
-#         "quantity": 1,
-#         "details": [
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BPDA-DD",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "SIDA",
-#                 "quantity": 1,
-#                 "x": 1,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-1",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 1,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-2",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 2,
-#                 "Parameters": "{\"molecular\": 1}"
-#             },
-#             {
-#                 "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
-#                 "name": "BTDA-3",
-#                 "quantity": 1,
-#                 "x": 2,
-#                 "y": 3,
-#                 "Parameters": "{\"molecular\": 1}"
-#             }
-#         ],
-#         "Parameters": "{}"
-#     }
-
-#     # 烧杯材料数据定义
-#     beaker_materials = [
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "PDA-1",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "TFDB",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "ODA",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "MPDA",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         },
-#         {
-#             "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
-#             "name": "PDA-2",
-#             "unit": "微升",
-#             "quantity": 1,
-#             "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
-#         }
-#     ]
-
-#     # 如果需要，可以在这里调用add_material方法添加材料
-#     # 例如:
-#     # result = bioyond.add_material(json.dumps(material_data_yp_1))
-#     # print(f"添加材料结果: {result}")
-
-#     return {
-#         "sample_plates": [material_data_yp_1, material_data_yp_2],
-#         "beakers": beaker_materials
-#     }
+def prepare_materials(bioyond):
+    """准备实验材料（可选）"""
+    
+    # 样品板材料数据定义
+    material_data_yp_1 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-1",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-1",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PEPA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD-2",
+                "quantity": 1,
+                "x": 1,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "PMDA",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    material_data_yp_2 = {
+        "typeId": "3a142339-80de-8f25-6093-1b1b1b6c322e",
+        "name": "样品板-2",
+        "unit": "个",
+        "quantity": 1,
+        "details": [
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BPDA-DD",
+                "quantity": 1,
+                "x": 1,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "SIDA",
+                "quantity": 1,
+                "x": 1,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-1",
+                "quantity": 1,
+                "x": 2,
+                "y": 1,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-2",
+                "quantity": 1,
+                "x": 2,
+                "y": 2,
+                "Parameters": "{\"molecular\": 1}"
+            },
+            {
+                "typeId": "3a14233a-84a3-088d-6676-7cb4acd57c64",
+                "name": "BTDA-3",
+                "quantity": 1,
+                "x": 2,
+                "y": 3,
+                "Parameters": "{\"molecular\": 1}"
+            }
+        ],
+        "Parameters": "{}"
+    }
+    
+    # 烧杯材料数据定义
+    beaker_materials = [
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-1",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "TFDB",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "ODA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "MPDA",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        },
+        {
+            "typeId": "3a14233b-f0a9-ba84-eaa9-0d4718b361b6",
+            "name": "PDA-2",
+            "unit": "微升",
+            "quantity": 1,
+            "parameters": "{\"DeviceMaterialType\":\"NMP\"}"
+        }
+    ]
+    
+    # 如果需要，可以在这里调用add_material方法添加材料
+    # 例如:
+    # result = bioyond.add_material(json.dumps(material_data_yp_1))
+    # print(f"添加材料结果: {result}")
+    
+    return {
+        "sample_plates": [material_data_yp_1, material_data_yp_2],
+        "beakers": beaker_materials
+    }
 
 
 if __name__ == "__main__":
     # 运行主实验流程
     bioyond_client = run_experiment()
-
+    
     # 可选：准备材料数据
     # materials = prepare_materials(bioyond_client)
     # print(f"\n准备的材料数据: {materials}")

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -1,783 +0,0 @@
-import json
-import requests
-from typing import List, Dict, Any
-from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
-from unilabos.devices.workstation.bioyond_studio.config import (
-    WORKFLOW_STEP_IDS,
-    WORKFLOW_TO_SECTION_MAP,
-    ACTION_NAMES
-)
-from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
-
-
-class BioyondReactionStation(BioyondWorkstation):
-    """Bioyond反应站类
-
-    继承自BioyondWorkstation，提供反应站特定的业务方法
-    """
-
-    def __init__(self, config: dict = None, deck=None, protocol_type=None, **kwargs):
-        """初始化反应站
-
-        Args:
-            config: 配置字典，应包含workflow_mappings等配置
-            deck: Deck对象
-            protocol_type: 协议类型（由ROS系统传递，此处忽略）
-            **kwargs: 其他可能的参数
-        """
-        if deck is None and config:
-            deck = config.get('deck')
-
-        print(f"BioyondReactionStation初始化 - config包含workflow_mappings: {'workflow_mappings' in (config or {})}")
-        if config and 'workflow_mappings' in config:
-            print(f"workflow_mappings内容: {config['workflow_mappings']}")
-
-        super().__init__(bioyond_config=config, deck=deck)
-
-        print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
-        print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
-
-    # ==================== 工作流方法 ====================
-
-    def reactor_taken_out(self):
-        """反应器取出"""
-        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_out"}')
-        reactor_taken_out_params = {"param_values": {}}
-        self.pending_task_params.append(reactor_taken_out_params)
-        print(f"成功添加反应器取出工作流")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def reactor_taken_in(
-        self,
-        assign_material_name: str,
-        cutoff: str = "900000",
-        temperature: float = -10.00
-    ):
-        """反应器放入
-
-        Args:
-            assign_material_name: 物料名称（不能为空）
-            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}
-
-        Raises:
-            ValueError: 若物料名称无效或 cutoff 格式错误
-        """
-        if not assign_material_name:
-            raise ValueError("物料名称不能为空")
-        try:
-            float(cutoff)
-        except ValueError:
-            raise ValueError("cutoff 必须是有效的数字字符串")
-
-        self.append_to_workflow_sequence('{"web_workflow_name": "reactor_taken_in"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        step_id = WORKFLOW_STEP_IDS["reactor_taken_in"]["config"]
-        reactor_taken_in_params = {
-            "param_values": {
-                step_id: {
-                    ACTION_NAMES["reactor_taken_in"]["config"]: [
-                        {"m": 0, "n": 3, "Key": "cutoff", "Value": cutoff},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
-                    ],
-                    ACTION_NAMES["reactor_taken_in"]["stirring"]: [
-                        {"m": 0, "n": 3, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(reactor_taken_in_params)
-        print(f"成功添加反应器放入参数: material={assign_material_name}->ID:{material_id}, cutoff={cutoff}, temp={temperature:.2f}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def solid_feeding_vials(
-        self,
-        material_id: str,
-        time: str = "0",
-        torque_variation: int = 1,
-        assign_material_name: str = None,
-        temperature: float = 25.00
-    ):
-        """固体进料小瓶
-
-        Args:
-            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(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
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        feeding_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["feeding"]
-        observe_step_id = WORKFLOW_STEP_IDS["solid_feeding_vials"]["observe"]
-
-        solid_feeding_vials_params = {
-            "param_values": {
-                feeding_step_id: {
-                    ACTION_NAMES["solid_feeding_vials"]["feeding"]: [
-                        {"m": 0, "n": 3, "Key": "materialId", "Value": material_id},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id_m} if material_id_m else {}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["solid_feeding_vials"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(solid_feeding_vials_params)
-        print(f"成功添加固体进料小瓶参数: material_id={material_id}, time={time}min, torque={torque_variation}, temp={temperature:.2f}°C")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_vials_non_titration(
-        self,
-        volume_formula: str,
-        assign_material_name: str,
-        titration_type: str = "1",
-        time: str = "0",
-        torque_variation: int = 1,
-        temperature: float = 25.00
-    ):
-        """液体进料小瓶(非滴定)
-
-        Args:
-            volume_formula: 分液公式(μL)
-            assign_material_name: 物料名称
-            titration_type: 是否滴定(1=否, 2=是)
-            time: 观察时间(分钟)
-            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)"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_vials_non_titration"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["liquid"]: [
-                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_vials_non_titration"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料小瓶(非滴定)参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_solvents(
-        self,
-        assign_material_name: str,
-        volume: str = None,
-        solvents = None,
-        titration_type: str = "1",
-        time: str = "360",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """液体进料-溶剂
-
-        Args:
-            assign_material_name: 物料名称
-            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(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 not volume 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:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_solvents"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_solvents"]["liquid"]: [
-                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 1, "Key": "volume", "Value": volume},
-                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_solvents"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料溶剂参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_titration(
-        self,
-        volume_formula: str,
-        assign_material_name: str,
-        titration_type: str = "1",
-        time: str = "90",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """液体进料(滴定)
-
-        Args:
-            volume_formula: 分液公式(μL)
-            assign_material_name: 物料名称
-            titration_type: 是否滴定(1=否, 2=是)
-            time: 观察时间(分钟)
-            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)"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_titration"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_titration"]["liquid"]: [
-                        {"m": 0, "n": 3, "Key": "volumeFormula", "Value": volume_formula},
-                        {"m": 0, "n": 3, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 3, "Key": "assignMaterialName", "Value": material_id}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_titration"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料滴定参数: volume={volume_formula}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def liquid_feeding_beaker(
-        self,
-        volume: str = "35000",
-        assign_material_name: str = "BAPP",
-        time: str = "0",
-        torque_variation: int = 1,
-        titration_type: str = "1",
-        temperature: float = 25.00
-    ):
-        """液体进料烧杯
-
-        Args:
-            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(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)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["liquid_feeding_beaker"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["liquid_feeding_beaker"]["liquid"]: [
-                        {"m": 0, "n": 2, "Key": "volume", "Value": volume},
-                        {"m": 0, "n": 2, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 2, "Key": "titrationType", "Value": titration_type}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["liquid_feeding_beaker"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加液体进料烧杯参数: volume={volume}μL, material={assign_material_name}->ID:{material_id}")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    def drip_back(
-        self,
-        assign_material_name: str,
-        volume: str,
-        titration_type: str = "1",
-        time: str = "90",
-        torque_variation: int = 2,
-        temperature: float = 25.00
-    ):
-        """滴回去
-
-        Args:
-            assign_material_name: 物料名称(液体种类)
-            volume: 分液量(μL)
-            titration_type: 是否滴定(1=否, 2=是)
-            time: 观察时间(分钟)
-            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"}')
-        material_id = self.hardware_interface._get_material_id_by_name(assign_material_name)
-        if material_id is None:
-            raise ValueError(f"无法找到物料 {assign_material_name} 的 ID")
-
-        if isinstance(temperature, str):
-            temperature = float(temperature)
-
-        liquid_step_id = WORKFLOW_STEP_IDS["drip_back"]["liquid"]
-        observe_step_id = WORKFLOW_STEP_IDS["drip_back"]["observe"]
-
-        params = {
-            "param_values": {
-                liquid_step_id: {
-                    ACTION_NAMES["drip_back"]["liquid"]: [
-                        {"m": 0, "n": 1, "Key": "titrationType", "Value": titration_type},
-                        {"m": 0, "n": 1, "Key": "assignMaterialName", "Value": material_id},
-                        {"m": 0, "n": 1, "Key": "volume", "Value": volume}
-                    ]
-                },
-                observe_step_id: {
-                    ACTION_NAMES["drip_back"]["observe"]: [
-                        {"m": 1, "n": 0, "Key": "time", "Value": time},
-                        {"m": 1, "n": 0, "Key": "torqueVariation", "Value": str(torque_variation)},
-                        {"m": 1, "n": 0, "Key": "temperature", "Value": f"{temperature:.2f}"}
-                    ]
-                }
-            }
-        }
-
-        self.pending_task_params.append(params)
-        print(f"成功添加滴回去参数: material={assign_material_name}->ID:{material_id}, volume={volume}μL")
-        print(f"当前队列长度: {len(self.pending_task_params)}")
-        return json.dumps({"suc": True})
-
-    # ==================== 工作流管理方法 ====================
-
-    def get_workflow_sequence(self) -> List[str]:
-        """获取当前工作流执行顺序
-
-        Returns:
-            工作流名称列表
-        """
-        id_to_name = {workflow_id: name for name, workflow_id in self.workflow_mappings.items()}
-        workflow_names = []
-        for workflow_id in self.workflow_sequence:
-            workflow_name = id_to_name.get(workflow_id, workflow_id)
-            workflow_names.append(workflow_name)
-        print(f"工作流序列: {workflow_names}")
-        return workflow_names
-
-    def workflow_step_query(self, workflow_id: str) -> dict:
-        """查询工作流步骤参数
-
-        Args:
-            workflow_id: 工作流ID
-
-        Returns:
-            工作流步骤参数字典
-        """
-        return self.hardware_interface.workflow_step_query(workflow_id)
-
-    def create_order(self, json_str: str) -> dict:
-        """创建订单
-
-        Args:
-            json_str: 订单参数的JSON字符串
-
-        Returns:
-            创建结果
-        """
-        return self.hardware_interface.create_order(json_str)
-
-    # ==================== 工作流执行核心方法 ====================
-
-    def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
-        """处理网页工作流列表
-
-        Args:
-            web_workflow_json: JSON 格式的网页工作流列表
-
-        Returns:
-            List[Dict[str, str]]: 包含工作流 ID 和名称的字典列表
-        """
-        try:
-            web_workflow_data = json.loads(web_workflow_json)
-            web_workflow_list = web_workflow_data.get("web_workflow_list", [])
-            workflows_result = []
-            for name in web_workflow_list:
-                workflow_id = self.workflow_mappings.get(name, "")
-                if not workflow_id:
-                    print(f"警告：未找到工作流名称 {name} 对应的 ID")
-                    continue
-                workflows_result.append({"id": workflow_id, "name": name})
-            print(f"process_web_workflows 输出: {workflows_result}")
-            return workflows_result
-        except json.JSONDecodeError as e:
-            print(f"错误：无法解析 web_workflow_json: {e}")
-            return []
-        except Exception as e:
-            print(f"错误：处理工作流失败: {e}")
-            return []
-
-    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
-        """
-        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
-
-        Args:
-            workflow_name: 合并后的工作流名称
-            task_name: 任务名称
-
-        Returns:
-            任务创建结果
-        """
-        web_workflow_list = self.get_workflow_sequence()
-        print(f"\n{'='*60}")
-        print(f"📋 处理网页工作流列表: {web_workflow_list}")
-        print(f"{'='*60}")
-
-        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
-        workflows_result = self.process_web_workflows(web_workflow_json)
-
-        if not workflows_result:
-            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
-
-        print(f"workflows_result 类型: {type(workflows_result)}")
-        print(f"workflows_result 内容: {workflows_result}")
-
-        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
-
-        merge_data = {
-            "name": workflow_name,
-            "workflows": workflows_with_params
-        }
-
-        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
-        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
-
-        if not merged_workflow:
-            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
-
-        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
-        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
-
-        order_params = [{
-            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
-            "orderName": task_name,
-            "workFlowId": workflow_id,
-            "borderNumber": 1,
-            "paramValues": {}
-        }]
-
-        result = self.create_order(json.dumps(order_params))
-
-        if not result:
-            return self._create_error_result("创建任务失败", "create_order")
-
-        # 清空工作流序列和参数，防止下次执行时累积重复
-        self.pending_task_params = []
-        self.clear_workflows()  # 清空工作流序列，避免重复累积
-
-        # print(f"\n✅ 任务创建成功: {result}")
-        # print(f"\n✅ 任务创建成功")
-        print(f"{'='*60}\n")
-        return json.dumps({"success": True, "result": result})
-
-    def _build_workflows_with_parameters(self, workflows_result: list) -> list:
-        """
-        构建带参数的工作流列表
-
-        Args:
-            workflows_result: 处理后的工作流列表（应为包含 id 和 name 的字典列表）
-
-        Returns:
-            符合新接口格式的工作流参数结构
-        """
-        workflows_with_params = []
-        total_params = 0
-        successful_params = 0
-        failed_params = []
-
-        for idx, workflow_info in enumerate(workflows_result):
-            if not isinstance(workflow_info, dict):
-                print(f"错误：workflows_result[{idx}] 不是字典，而是 {type(workflow_info)}: {workflow_info}")
-                continue
-            workflow_id = workflow_info.get("id")
-            if not workflow_id:
-                print(f"警告：workflows_result[{idx}] 缺少 'id' 键")
-                continue
-            workflow_name = workflow_info.get("name", "")
-            # print(f"\n🔧 处理工作流 [{idx}]: {workflow_name} (ID: {workflow_id})")
-
-            if idx >= len(self.pending_task_params):
-                # print(f"   ⚠️ 无对应参数，跳过")
-                workflows_with_params.append({"id": workflow_id})
-                continue
-
-            param_data = self.pending_task_params[idx]
-            param_values = param_data.get("param_values", {})
-            if not param_values:
-                # print(f"   ⚠️ 参数为空，跳过")
-                workflows_with_params.append({"id": workflow_id})
-                continue
-
-            step_parameters = {}
-            for step_id, actions_dict in param_values.items():
-                # print(f"   📍 步骤ID: {step_id}")
-                for action_name, param_list in actions_dict.items():
-                    # print(f"      🔹 模块: {action_name}, 参数数量: {len(param_list)}")
-                    if step_id not in step_parameters:
-                        step_parameters[step_id] = {}
-                    if action_name not in step_parameters[step_id]:
-                        step_parameters[step_id][action_name] = []
-                    for param_item in param_list:
-                        param_key = param_item.get("Key", "")
-                        param_value = param_item.get("Value", "")
-                        total_params += 1
-                        step_parameters[step_id][action_name].append({
-                            "Key": param_key,
-                            "DisplayValue": param_value,
-                            "Value": param_value
-                        })
-                        successful_params += 1
-                        # print(f"         ✓ {param_key} = {param_value}")
-
-            workflows_with_params.append({
-                "id": workflow_id,
-                "stepParameters": step_parameters
-            })
-
-        self._print_mapping_stats(total_params, successful_params, failed_params)
-        return workflows_with_params
-
-    def _print_mapping_stats(self, total: int, success: int, failed: list):
-        """打印参数映射统计"""
-        print(f"\n{'='*20} 参数映射统计 {'='*20}")
-        print(f"📊 总参数数量: {total}")
-        print(f"✅ 成功映射: {success}")
-        print(f"❌ 映射失败: {len(failed)}")
-        if not failed:
-            print("🎉 成功映射所有参数！")
-        else:
-            print(f"⚠️ 失败的参数: {', '.join(failed)}")
-        success_rate = (success/total*100) if total > 0 else 0
-        print(f"📈 映射成功率: {success_rate:.1f}%")
-        print("="*60)
-
-    def _create_error_result(self, error_msg: str, step: str) -> str:
-        """创建统一的错误返回格式"""
-        print(f"❌ {error_msg}")
-        return json.dumps({
-            "success": False,
-            "error": f"process_and_execute_workflow: {error_msg}",
-            "method": "process_and_execute_workflow",
-            "step": step
-        })
-
-    def merge_workflow_with_parameters(self, json_str: str) -> dict:
-        """
-        调用新接口：合并工作流并传递参数
-
-        Args:
-            json_str: JSON格式的字符串，包含:
-                - name: 工作流名称
-                - workflows: [{"id": "工作流ID", "stepParameters": {...}}]
-
-        Returns:
-            合并后的工作流信息
-        """
-        try:
-            data = json.loads(json_str)
-
-            # 在工作流名称后面添加时间戳，避免重复
-            if "name" in data and data["name"]:
-                timestamp = self.hardware_interface.get_current_time_iso8601().replace(":", "-").replace(".", "-")
-                original_name = data["name"]
-                data["name"] = f"{original_name}_{timestamp}"
-                print(f"🕒 工作流名称已添加时间戳: {original_name} -> {data['name']}")
-
-            request_data = {
-                "apiKey": API_CONFIG["api_key"],
-                "requestTime": self.hardware_interface.get_current_time_iso8601(),
-                "data": data
-            }
-            print(f"\n📤 发送合并请求:")
-            print(f"   工作流名称: {data.get('name')}")
-            print(f"   子工作流数量: {len(data.get('workflows', []))}")
-
-            # 打印完整的POST请求内容
-            print(f"\n🔍 POST请求详细内容:")
-            print(f"   URL: {self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters")
-            print(f"   Headers: {{'Content-Type': 'application/json'}}")
-            print(f"   Request Data:")
-            print(f"   {json.dumps(request_data, indent=4, ensure_ascii=False)}")
-            #
-            response = requests.post(
-                f"{self.hardware_interface.host}/api/lims/workflow/merge-workflow-with-parameters",
-                json=request_data,
-                headers={"Content-Type": "application/json"},
-                timeout=30
-            )
-
-            # # 打印响应详细内容
-            # print(f"\n📥 POST响应详细内容:")
-            # print(f"   状态码: {response.status_code}")
-            # print(f"   响应头: {dict(response.headers)}")
-            # print(f"   响应体: {response.text}")
-            # #
-            try:
-                result = response.json()
-                # #
-                # print(f"\n📋 解析后的响应JSON:")
-                # print(f"   {json.dumps(result, indent=4, ensure_ascii=False)}")
-                # #
-            except json.JSONDecodeError:
-                print(f"❌ 服务器返回非 JSON 格式响应: {response.text}")
-                return None
-
-            if result.get("code") == 1:
-                print(f"✅ 工作流合并成功（带参数）")
-                return result.get("data", {})
-            else:
-                error_msg = result.get('message', '未知错误')
-                print(f"❌ 工作流合并失败: {error_msg}")
-                return None
-
-        except requests.exceptions.Timeout:
-            print(f"❌ 合并工作流请求超时")
-            return None
-        except requests.exceptions.RequestException as e:
-            print(f"❌ 合并工作流网络异常: {str(e)}")
-            return None
-        except json.JSONDecodeError as e:
-            print(f"❌ 合并工作流响应解析失败: {str(e)}")
-            return None
-        except Exception as e:
-            print(f"❌ 合并工作流异常: {str(e)}")
-            return None
-
-    def _validate_and_refresh_workflow_if_needed(self, workflow_name: str) -> bool:
-        """验证工作流ID是否有效，如果无效则重新合并
-
-        Args:
-            workflow_name: 工作流名称
-
-        Returns:
-            bool: 验证或刷新是否成功
-        """
-        print(f"\n🔍 验证工作流ID有效性...")
-        if not self.workflow_sequence:
-            print(f"   ⚠️ 工作流序列为空，需要重新合并")
-            return False
-        first_workflow_id = self.workflow_sequence[0]
-        try:
-            structure = self.workflow_step_query(first_workflow_id)
-            if structure:
-                print(f"   ✅ 工作流ID有效")
-                return True
-            else:
-                print(f"   ⚠️ 工作流ID已过期，需要重新合并")
-                return False
-        except Exception as e:
-            print(f"   ❌ 工作流ID验证失败: {e}")
-            print(f"   💡 将重新合并工作流")
-            return False

unilabos/devices/workstation/workstation_base.py

@@ -171,6 +171,7 @@ class WorkstationBase(ABC):
     def post_init(self, ros_node: ROS2WorkstationNode) -> None:
         # 初始化物料系统
         self._ros_node = ros_node
+        self._ros_node.update_resource([self.deck])
 
     def _build_resource_mappings(self, deck: Deck):
         """递归构建资源映射"""

unilabos/devices/workstation/workstation_http_service.py

@@ -668,7 +668,7 @@ __all__ = [
 
 if __name__ == "__main__":
     # 简单测试HTTP服务
-    class BioyondWorkstation:
+    class DummyWorkstation:
         device_id = "WS-001"
         
         def process_step_finish_report(self, report_request):

unilabos/devices/workstation/workstation_material_management.py

@@ -0,0 +1,583 @@
+"""
+工作站物料管理基类
+Workstation Material Management Base Class
+
+基于PyLabRobot的物料管理系统
+"""
+from typing import Dict, Any, List, Optional, Union, Type
+from abc import ABC, abstractmethod
+import json
+
+from pylabrobot.resources import (
+    Resource as PLRResource,
+    Container,
+    Deck,
+    Coordinate as PLRCoordinate,
+)
+
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.utils.log import logger
+from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
+
+
+class MaterialManagementBase(ABC):
+    """物料管理基类
+    
+    定义工作站物料管理的标准接口：
+    1. 物料初始化 - 根据配置创建物料资源
+    2. 物料追踪 - 实时跟踪物料位置和状态
+    3. 物料查找 - 按类型、位置、状态查找物料
+    4. 物料转换 - PyLabRobot与UniLab资源格式转换
+    """
+
+    def __init__(
+        self,
+        device_id: str,
+        deck_config: Dict[str, Any],
+        resource_tracker: DeviceNodeResourceTracker,
+        children_config: Dict[str, Dict[str, Any]] = None
+    ):
+        self.device_id = device_id
+        self.deck_config = deck_config
+        self.resource_tracker = resource_tracker
+        self.children_config = children_config or {}
+        
+        # 创建主台面
+        self.plr_deck = self._create_deck()
+        
+        # 扩展ResourceTracker
+        self._extend_resource_tracker()
+        
+        # 注册deck到resource tracker
+        self.resource_tracker.add_resource(self.plr_deck)
+        
+        # 初始化子资源
+        self.plr_resources = {}
+        self._initialize_materials()
+
+    def _create_deck(self) -> Deck:
+        """创建主台面"""
+        return Deck(
+            name=f"{self.device_id}_deck",
+            size_x=self.deck_config.get("size_x", 1000.0),
+            size_y=self.deck_config.get("size_y", 1000.0),
+            size_z=self.deck_config.get("size_z", 500.0),
+            origin=PLRCoordinate(0, 0, 0)
+        )
+
+    def _extend_resource_tracker(self):
+        """扩展ResourceTracker以支持PyLabRobot特定功能"""
+        
+        def find_by_type(resource_type):
+            """按类型查找资源"""
+            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
+        
+        def find_by_category(category: str):
+            """按类别查找资源"""
+            found = []
+            for resource in self._get_all_resources():
+                if hasattr(resource, 'category') and resource.category == category:
+                    found.append(resource)
+            return found
+        
+        def find_by_name_pattern(pattern: str):
+            """按名称模式查找资源"""
+            import re
+            found = []
+            for resource in self._get_all_resources():
+                if re.search(pattern, resource.name):
+                    found.append(resource)
+            return found
+        
+        # 动态添加方法到resource_tracker
+        self.resource_tracker.find_by_type = find_by_type
+        self.resource_tracker.find_by_category = find_by_category
+        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
+
+    def _find_resources_by_type_recursive(self, resource, target_type):
+        """递归查找指定类型的资源"""
+        found = []
+        if isinstance(resource, target_type):
+            found.append(resource)
+        
+        # 递归查找子资源
+        children = getattr(resource, "children", [])
+        for child in children:
+            found.extend(self._find_resources_by_type_recursive(child, target_type))
+        
+        return found
+
+    def _get_all_resources(self) -> List[PLRResource]:
+        """获取所有资源"""
+        all_resources = []
+        
+        def collect_resources(resource):
+            all_resources.append(resource)
+            children = getattr(resource, "children", [])
+            for child in children:
+                collect_resources(child)
+        
+        collect_resources(self.plr_deck)
+        return all_resources
+
+    def _initialize_materials(self):
+        """初始化物料"""
+        try:
+            # 确定创建顺序，确保父资源先于子资源创建
+            creation_order = self._determine_creation_order()
+            
+            # 按顺序创建资源
+            for resource_id in creation_order:
+                config = self.children_config[resource_id]
+                self._create_plr_resource(resource_id, config)
+            
+            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
+            
+        except Exception as e:
+            logger.error(f"物料初始化失败: {e}")
+
+    def _determine_creation_order(self) -> List[str]:
+        """确定资源创建顺序"""
+        order = []
+        visited = set()
+        
+        def visit(resource_id: str):
+            if resource_id in visited:
+                return
+            visited.add(resource_id)
+            
+            config = self.children_config.get(resource_id, {})
+            parent_id = config.get("parent")
+            
+            # 如果有父资源，先访问父资源
+            if parent_id and parent_id in self.children_config:
+                visit(parent_id)
+            
+            order.append(resource_id)
+        
+        for resource_id in self.children_config:
+            visit(resource_id)
+        
+        return order
+
+    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
+        """创建PyLabRobot资源"""
+        try:
+            resource_type = config.get("type", "unknown")
+            data = config.get("data", {})
+            location_config = config.get("location", {})
+            
+            # 创建位置坐标
+            location = PLRCoordinate(
+                x=location_config.get("x", 0.0),
+                y=location_config.get("y", 0.0),
+                z=location_config.get("z", 0.0)
+            )
+            
+            # 根据类型创建资源
+            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
+            
+            if resource:
+                # 设置父子关系
+                parent_id = config.get("parent")
+                if parent_id and parent_id in self.plr_resources:
+                    parent_resource = self.plr_resources[parent_id]
+                    parent_resource.assign_child_resource(resource, location)
+                else:
+                    # 直接放在deck上
+                    self.plr_deck.assign_child_resource(resource, location)
+                
+                # 保存资源引用
+                self.plr_resources[resource_id] = resource
+                
+                # 注册到resource tracker
+                self.resource_tracker.add_resource(resource)
+                
+                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
+            
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id}: {e}")
+
+    @abstractmethod
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建资源 - 子类必须实现"""
+        pass
+
+    # ============ 物料查找接口 ============
+    
+    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
+        """按材料类型查找物料"""
+        return self.resource_tracker.find_by_category(material_type)
+
+    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
+        """按ID查找物料"""
+        return self.plr_resources.get(resource_id)
+
+    def find_available_positions(self, position_type: str) -> List[PLRResource]:
+        """查找可用位置"""
+        positions = self.resource_tracker.find_by_category(position_type)
+        available = []
+        
+        for pos in positions:
+            if hasattr(pos, 'is_available') and pos.is_available():
+                available.append(pos)
+            elif hasattr(pos, 'children') and len(pos.children) == 0:
+                available.append(pos)
+        
+        return available
+
+    def get_material_inventory(self) -> Dict[str, int]:
+        """获取物料库存统计"""
+        inventory = {}
+        
+        for resource in self._get_all_resources():
+            if hasattr(resource, 'category'):
+                category = resource.category
+                inventory[category] = inventory.get(category, 0) + 1
+        
+        return inventory
+
+    # ============ 物料状态更新接口 ============
+    
+    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
+        """更新物料位置"""
+        try:
+            material = self.find_material_by_id(material_id)
+            if material:
+                material.location = new_location
+                return True
+            return False
+        except Exception as e:
+            logger.error(f"更新物料位置失败: {e}")
+            return False
+
+    def move_material(self, material_id: str, target_container_id: str) -> bool:
+        """移动物料到目标容器"""
+        try:
+            material = self.find_material_by_id(material_id)
+            target = self.find_material_by_id(target_container_id)
+            
+            if material and target:
+                # 从原位置移除
+                if material.parent:
+                    material.parent.unassign_child_resource(material)
+                
+                # 添加到新位置
+                target.assign_child_resource(material)
+                return True
+            
+            return False
+            
+        except Exception as e:
+            logger.error(f"移动物料失败: {e}")
+            return False
+
+    # ============ 资源转换接口 ============
+    
+    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
+        """将PyLabRobot资源转换为UniLab格式"""
+        return resource_plr_to_ulab(plr_resource)
+
+    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
+        """将UniLab格式转换为PyLabRobot资源"""
+        return resource_ulab_to_plr(unilab_resource)
+
+    def get_deck_state(self) -> Dict[str, Any]:
+        """获取Deck状态"""
+        try:
+            return {
+                "deck_info": {
+                    "name": self.plr_deck.name,
+                    "size": {
+                        "x": self.plr_deck.size_x,
+                        "y": self.plr_deck.size_y,
+                        "z": self.plr_deck.size_z
+                    },
+                    "children_count": len(self.plr_deck.children)
+                },
+                "resources": {
+                    resource_id: self.convert_to_unilab_format(resource)
+                    for resource_id, resource in self.plr_resources.items()
+                },
+                "inventory": self.get_material_inventory()
+            }
+        except Exception as e:
+            logger.error(f"获取Deck状态失败: {e}")
+            return {"error": str(e)}
+
+    # ============ 数据持久化接口 ============
+    
+    def save_state_to_file(self, file_path: str) -> bool:
+        """保存状态到文件"""
+        try:
+            state = self.get_deck_state()
+            with open(file_path, 'w', encoding='utf-8') as f:
+                json.dump(state, f, indent=2, ensure_ascii=False)
+            logger.info(f"状态已保存到: {file_path}")
+            return True
+        except Exception as e:
+            logger.error(f"保存状态失败: {e}")
+            return False
+
+    def load_state_from_file(self, file_path: str) -> bool:
+        """从文件加载状态"""
+        try:
+            with open(file_path, 'r', encoding='utf-8') as f:
+                state = json.load(f)
+            
+            # 重新创建资源
+            self._recreate_resources_from_state(state)
+            logger.info(f"状态已从文件加载: {file_path}")
+            return True
+            
+        except Exception as e:
+            logger.error(f"加载状态失败: {e}")
+            return False
+
+    def _recreate_resources_from_state(self, state: Dict[str, Any]):
+        """从状态重新创建资源"""
+        # 清除现有资源
+        self.plr_resources.clear()
+        self.plr_deck.children.clear()
+        
+        # 从状态重新创建
+        resources_data = state.get("resources", {})
+        for resource_id, resource_data in resources_data.items():
+            try:
+                plr_resource = self.convert_from_unilab_format(resource_data)
+                self.plr_resources[resource_id] = plr_resource
+                self.plr_deck.assign_child_resource(plr_resource)
+            except Exception as e:
+                logger.error(f"重新创建资源失败 {resource_id}: {e}")
+
+
+class CoinCellMaterialManagement(MaterialManagementBase):
+    """纽扣电池物料管理类
+    
+    从 button_battery_station 抽取的物料管理功能
+    """
+
+    def _create_resource_by_type(
+        self, 
+        resource_id: str, 
+        resource_type: str, 
+        config: Dict[str, Any], 
+        data: Dict[str, Any], 
+        location: PLRCoordinate
+    ) -> Optional[PLRResource]:
+        """根据类型创建纽扣电池相关资源"""
+        
+        # 导入纽扣电池资源类
+        from unilabos.device_comms.button_battery_station import (
+            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
+            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
+        )
+        
+        try:
+            if resource_type == "material_plate":
+                return self._create_material_plate(resource_id, config, data, location)
+            
+            elif resource_type == "plate_slot":
+                return self._create_plate_slot(resource_id, config, data, location)
+            
+            elif resource_type == "clip_magazine":
+                return self._create_clip_magazine(resource_id, config, data, location)
+            
+            elif resource_type == "battery_press_slot":
+                return self._create_battery_press_slot(resource_id, config, data, location)
+            
+            elif resource_type == "tip_box":
+                return self._create_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "waste_tip_box":
+                return self._create_waste_tip_box(resource_id, config, data, location)
+            
+            elif resource_type == "bottle_rack":
+                return self._create_bottle_rack(resource_id, config, data, location)
+            
+            elif resource_type == "battery":
+                return self._create_battery(resource_id, config, data, location)
+            
+            else:
+                logger.warning(f"未知的资源类型: {resource_type}")
+                return None
+                
+        except Exception as e:
+            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
+            return None
+
+    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
+        
+        plate = MaterialPlate(
+            name=resource_id,
+            size_x=config.get("size_x", 80.0),
+            size_y=config.get("size_y", 80.0),
+            size_z=config.get("size_z", 10.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 8.0),
+            hole_spacing_x=config.get("hole_spacing_x", 20.0),
+            hole_spacing_y=config.get("hole_spacing_y", 20.0),
+            number=data.get("number", "")
+        )
+        plate.location = location
+        
+        # 如果有预填充的极片数据，创建极片
+        electrode_sheets = data.get("electrode_sheets", [])
+        for i, sheet_data in enumerate(electrode_sheets):
+            if i < len(plate.children):  # 确保不超过洞位数量
+                hole = plate.children[i]
+                sheet = ElectrodeSheet(
+                    name=f"{resource_id}_sheet_{i}",
+                    diameter=sheet_data.get("diameter", 14.0),
+                    thickness=sheet_data.get("thickness", 0.1),
+                    mass=sheet_data.get("mass", 0.01),
+                    material_type=sheet_data.get("material_type", "cathode"),
+                    info=sheet_data.get("info", "")
+                )
+                hole.place_electrode_sheet(sheet)
+        
+        return plate
+
+    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        
+        slot = PlateSlot(
+            name=resource_id,
+            max_plates=config.get("max_plates", 8)
+        )
+        slot.location = location
+        return slot
+
+    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        
+        magazine = ClipMagazine(
+            name=resource_id,
+            size_x=config.get("size_x", 150.0),
+            size_y=config.get("size_y", 100.0),
+            size_z=config.get("size_z", 50.0),
+            hole_diameter=config.get("hole_diameter", 15.0),
+            hole_depth=config.get("hole_depth", 40.0),
+            hole_spacing=config.get("hole_spacing", 25.0),
+            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
+        )
+        magazine.location = location
+        return magazine
+
+    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        
+        slot = BatteryPressSlot(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            depth=config.get("depth", 15.0)
+        )
+        slot.location = location
+        return slot
+
+    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建枪头盒"""
+        from unilabos.device_comms.button_battery_station import TipBox64
+        
+        tip_box = TipBox64(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            with_tips=data.get("with_tips", True)
+        )
+        tip_box.location = location
+        return tip_box
+
+    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建废枪头盒"""
+        from unilabos.device_comms.button_battery_station import WasteTipBox
+        
+        waste_box = WasteTipBox(
+            name=resource_id,
+            size_x=config.get("size_x", 127.8),
+            size_y=config.get("size_y", 85.5),
+            size_z=config.get("size_z", 60.0),
+            max_tips=config.get("max_tips", 100)
+        )
+        waste_box.location = location
+        return waste_box
+
+    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建瓶架"""
+        from unilabos.device_comms.button_battery_station import BottleRack
+        
+        rack = BottleRack(
+            name=resource_id,
+            size_x=config.get("size_x", 210.0),
+            size_y=config.get("size_y", 140.0),
+            size_z=config.get("size_z", 100.0),
+            bottle_diameter=config.get("bottle_diameter", 30.0),
+            bottle_height=config.get("bottle_height", 100.0),
+            position_spacing=config.get("position_spacing", 35.0)
+        )
+        rack.location = location
+        return rack
+
+    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
+        """创建电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        
+        battery = Battery(
+            name=resource_id,
+            diameter=config.get("diameter", 20.0),
+            height=config.get("height", 3.2),
+            max_volume=config.get("max_volume", 100.0),
+            barcode=data.get("barcode", "")
+        )
+        battery.location = location
+        return battery
+
+    # ============ 纽扣电池特定查找方法 ============
+    
+    def find_material_plates(self):
+        """查找所有料板"""
+        from unilabos.device_comms.button_battery_station import MaterialPlate
+        return self.resource_tracker.find_by_type(MaterialPlate)
+    
+    def find_batteries(self):
+        """查找所有电池"""
+        from unilabos.device_comms.button_battery_station import Battery
+        return self.resource_tracker.find_by_type(Battery)
+    
+    def find_electrode_sheets(self):
+        """查找所有极片"""
+        found = []
+        plates = self.find_material_plates()
+        for plate in plates:
+            for hole in plate.children:
+                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
+                    found.append(hole._electrode_sheet)
+        return found
+    
+    def find_plate_slots(self):
+        """查找所有板槽位"""
+        from unilabos.device_comms.button_battery_station import PlateSlot
+        return self.resource_tracker.find_by_type(PlateSlot)
+    
+    def find_clip_magazines(self):
+        """查找所有子弹夹"""
+        from unilabos.device_comms.button_battery_station import ClipMagazine
+        return self.resource_tracker.find_by_type(ClipMagazine)
+    
+    def find_press_slots(self):
+        """查找所有压制槽"""
+        from unilabos.device_comms.button_battery_station import BatteryPressSlot
+        return self.resource_tracker.find_by_type(BatteryPressSlot)

unilabos/registry/devices/bioyond.yaml

@@ -1,252 +0,0 @@
-workstation.bioyond_dispensing_station:
-  category:
-  - workstation
-  - bioyond
-  class:
-    action_value_mappings:
-      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: ''
-  init_param_schema:
-    config:
-      properties:
-        config:
-          type: string
-      required:
-      - config
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -1,404 +0,0 @@
-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/laiyu_liquid.yaml

@@ -1361,7 +1361,8 @@ laiyu_liquid:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -1491,9 +1492,11 @@ laiyu_liquid:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/liquid_handler.yaml

@@ -3994,7 +3994,8 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4150,9 +4151,11 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5012,7 +5015,8 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5155,9 +5159,11 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -7801,7 +7807,8 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times: 0
+          mix_times:
+          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -7930,9 +7937,11 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  maximum: 2147483647
-                  minimum: -2147483648
-                  type: integer
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/registry.py

@@ -708,8 +708,6 @@ class Registry:
                         for status_name, status_type in device_config["class"]["status_types"].items():
                             device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
                         for action_name, action_config in device_config["class"]["action_value_mappings"].items():
-                            if action_config["type"] not in action_str_type_mapping:
-                                continue
                             action_config["type"] = action_str_type_mapping[action_config["type"]]
                         # 添加内置的驱动命令动作
                         self._add_builtin_actions(device_config, device_id)

unilabos/registry/resources/bioyond/bottles.yaml

@@ -48,25 +48,3 @@ BIOYOND_PolymerStation_Solution_Beaker:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-BIOYOND_PolymerStation_TipBox:
-  category:
-  - bottles
-  - tip_boxes
-  class:
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
-    type: pylabrobot
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  version: 1.0.0
-BIOYOND_PolymerStation_Reactor:
-  category:
-  - bottles
-  - reactors
-  class:
-    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
-    type: pylabrobot
-  handles: []
-  icon: ''
-  init_param_schema: {}
-  version: 1.0.0

unilabos/registry/resources/bioyond/deck.yaml

@@ -22,21 +22,3 @@ BIOYOND_PolymerReactionStation_Deck:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-
-YB_Deck11:
-  category:
-  - deck
-  class:
-    module: unilabos.resources.bioyond.decks:YB_Deck
-    type: pylabrobot
-  description: BIOYOND PolymerReactionStation Deck
-  handles: []
-  icon: 配液站.webp
-  init_param_schema: {}
-  registry_type: resource
-  version: 1.0.0
-
-
-
-
-

unilabos/registry/resources/organic/container.yaml

@@ -3,7 +3,7 @@ container:
   - container
   class:
     module: unilabos.resources.container:RegularContainer
-    type: pylabrobot
+    type: unilabos
   description: regular organic container
   handles:
   - data_key: fluid_in

unilabos/resources/bioyond/bottles.py

@@ -90,89 +90,3 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
         barcode=barcode,
         model="BIOYOND_PolymerStation_Reagent_Bottle",
     )
-
-
-def BIOYOND_PolymerStation_Reactor(
-    name: str,
-    diameter: float = 30.0,
-    height: float = 80.0,
-    max_volume: float = 50000.0,  # 50mL
-    barcode: str = None,
-) -> Bottle:
-    """创建反应器"""
-    return Bottle(
-        name=name,
-        diameter=diameter,
-        height=height,
-        max_volume=max_volume,
-        barcode=barcode,
-        model="BIOYOND_PolymerStation_Reactor",
-    )
-
-
-def BIOYOND_PolymerStation_TipBox(
-    name: str,
-    size_x: float = 127.76,  # 枪头盒宽度
-    size_y: float = 85.48,   # 枪头盒长度
-    size_z: float = 100.0,   # 枪头盒高度
-    barcode: str = None,
-):
-    """创建4×6枪头盒 (24个枪头)
-
-    Args:
-        name: 枪头盒名称
-        size_x: 枪头盒宽度 (mm)
-        size_y: 枪头盒长度 (mm)
-        size_z: 枪头盒高度 (mm)
-        barcode: 条形码
-
-    Returns:
-        TipBoxCarrier: 包含24个枪头孔位的枪头盒
-    """
-    from pylabrobot.resources import Container, Coordinate
-
-    # 创建枪头盒容器
-    tip_box = Container(
-        name=name,
-        size_x=size_x,
-        size_y=size_y,
-        size_z=size_z,
-        category="tip_rack",
-        model="BIOYOND_PolymerStation_TipBox_4x6",
-    )
-
-    # 设置自定义属性
-    tip_box.barcode = barcode
-    tip_box.tip_count = 24  # 4行×6列
-    tip_box.num_items_x = 6  # 6列
-    tip_box.num_items_y = 4  # 4行
-
-    # 创建24个枪头孔位 (4行×6列)
-    # 假设孔位间距为 9mm
-    tip_spacing_x = 9.0  # 列间距
-    tip_spacing_y = 9.0  # 行间距
-    start_x = 14.38  # 第一个孔位的x偏移
-    start_y = 11.24  # 第一个孔位的y偏移
-
-    for row in range(4):  # A, B, C, D
-        for col in range(6):  # 1-6
-            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
-            x = start_x + col * tip_spacing_x
-            y = start_y + row * tip_spacing_y
-
-            # 创建枪头孔位容器
-            tip_spot = Container(
-                name=spot_name,
-                size_x=8.0,  # 单个枪头孔位大小
-                size_y=8.0,
-                size_z=size_z - 10.0,  # 略低于盒子高度
-                category="tip_spot",
-            )
-
-            # 添加到枪头盒
-            tip_box.assign_child_resource(
-                tip_spot,
-                location=Coordinate(x=x, y=y, z=0)
-            )
-
-    return tip_box

unilabos/resources/bioyond/decks.py

@@ -1,27 +1,11 @@
-from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
 
-from unilabos.resources.bioyond.warehouses import (
-    bioyond_warehouse_1x4x4,
-    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
-    bioyond_warehouse_1x4x2,
-    bioyond_warehouse_liquid_and_lid_handling,
-    bioyond_warehouse_1x2x2,
-    bioyond_warehouse_1x3x3,
-    bioyond_warehouse_10x1x1,
-    bioyond_warehouse_3x3x1,
-    bioyond_warehouse_3x3x1_2,
-    bioyond_warehouse_5x1x1,
-    bioyond_warehouse_1x8x4,
-    bioyond_warehouse_reagent_storage,
-    bioyond_warehouse_liquid_preparation,
-    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
-)
+from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling
 
 
 class BIOYOND_PolymerReactionStation_Deck(Deck):
     def __init__(
-        self,
+        self, 
         name: str = "PolymerReactionStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -35,22 +19,15 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
     def setup(self) -> None:
         # 添加仓库
-        # 说明: 堆栈1物理上分为左右两部分
-        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
-        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
         self.warehouses = {
-            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
-            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
-            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
-            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
-            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
+            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
+            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
+            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
         }
         self.warehouse_locations = {
-            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
-            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
-            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
-            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
+            "堆栈1": Coordinate(0.0, 430.0, 0.0),
+            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
+            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
 
@@ -60,7 +37,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
 
 class BIOYOND_PolymerPreparationStation_Deck(Deck):
     def __init__(
-        self,
+        self, 
         name: str = "PolymerPreparationStation_Deck",
         size_x: float = 2700.0,
         size_y: float = 1080.0,
@@ -89,60 +66,3 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-class BIOYOND_YB_Deck(Deck):
-    def __init__(
-        self,
-        name: str = "YB_Deck",
-        size_x: float = 4150,
-        size_y: float = 1400.0,
-        size_z: float = 2670.0,
-        category: str = "deck",
-        setup: bool = False
-    ) -> None:
-        super().__init__(name=name, size_x=4150.0, size_y=1400.0, size_z=2670.0)
-        if setup:
-            self.setup()
-
-    def setup(self) -> None:
-        # 添加仓库
-        self.warehouses = {
-            "321窗口": bioyond_warehouse_1x2x2("321窗口"),
-            "43窗口": bioyond_warehouse_1x2x2("43窗口"),
-            "手动传递窗左": bioyond_warehouse_1x3x3("手动传递窗左"),
-            "手动传递窗右": bioyond_warehouse_1x3x3("手动传递窗右"),
-            "加样头堆栈左": bioyond_warehouse_10x1x1("加样头堆栈左"),
-            "加样头堆栈右": bioyond_warehouse_10x1x1("加样头堆栈右"),
-
-            "15ml配液堆栈左": bioyond_warehouse_3x3x1("15ml配液堆栈左"),
-            "母液加样右": bioyond_warehouse_3x3x1_2("母液加样右"),
-            "大瓶母液堆栈左": bioyond_warehouse_5x1x1("大瓶母液堆栈左"),
-            "大瓶母液堆栈右": bioyond_warehouse_5x1x1("大瓶母液堆栈右"),
-        }
-        # warehouse 的位置
-        self.warehouse_locations = {
-            "321窗口": Coordinate(-150.0, 158.0, 0.0),
-            "43窗口": Coordinate(4160.0, 158.0, 0.0),
-            "手动传递窗左": Coordinate(-150.0, 877.0, 0.0),
-            "手动传递窗右": Coordinate(4160.0, 877.0, 0.0),
-            "加样头堆栈左": Coordinate(385.0, 1300.0, 0.0),
-            "加样头堆栈右": Coordinate(2187.0, 1300.0, 0.0),
-
-            "15ml配液堆栈左": Coordinate(749.0, 355.0, 0.0),
-            "母液加样右": Coordinate(2152.0, 333.0, 0.0),
-            "大瓶母液堆栈左": Coordinate(1164.0, 676.0, 0.0),
-            "大瓶母液堆栈右": Coordinate(2717.0, 676.0, 0.0),
-        }
-
-        for warehouse_name, warehouse in self.warehouses.items():
-            self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])
-
-def YB_Deck(name: str) -> Deck:
-    by=BIOYOND_YB_Deck(name=name)
-    by.setup()
-    return by
-
-
-
-
-

unilabos/resources/bioyond/warehouses.py

@@ -2,42 +2,22 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
+    """创建BioYond 4x1x4仓库"""
     return warehouse_factory(
         name=name,
-        num_items_x=4,
+        num_items_x=1,
         num_items_y=4,
-        num_items_z=1,
+        num_items_z=4,
         dx=10.0,
         dy=10.0,
         dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
         category="warehouse",
-        col_offset=0,  # 从01开始: A01, A02, A03, A04
     )
 
 
-def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
-    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,
-        num_items_y=4,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-        col_offset=4,  # 从05开始: A05, A06, A07, A08
-    )
-
-
-
 def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
     """创建BioYond 4x1x2仓库"""
     return warehouse_factory(
@@ -54,113 +34,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
         category="warehouse",
         removed_positions=None
     )
- # 定义benyond的堆栈
-def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=1,
-        num_items_y=2,
-        num_items_z=2,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=10,
-        num_items_y=1,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=1,
-        num_items_y=3,
-        num_items_z=3,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,
-        num_items_y=1,
-        num_items_z=3,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
 
-def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,
-        num_items_y=3,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=5,
-        num_items_y=1,
-        num_items_z=1,
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,
-        num_items_y=3,
-        num_items_z=1,
-        dx=12.0,
-        dy=12.0,
-        dz=12.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
 
 def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
     """创建BioYond开关盖加液模块台面"""
@@ -177,72 +51,4 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
         removed_positions=None
-    )
-
-
-def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
-    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=8,  # 8列（01-08）
-        num_items_y=4,  # 4行（A-D）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=147.0,
-        item_dy=106.0,
-        item_dz=130.0,
-        category="warehouse",
-    )
-
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,  # 2列（01-02）
-        num_items_y=1,  # 1行（A）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-
-def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
-    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,  # 4列（01-04）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
     )

unilabos/resources/container.py

@@ -1,84 +1,67 @@
 import json
-from typing import Dict, Any
 
-from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource
 
 from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
-class RegularContainer(Container):
-    def __init__(self, *args, **kwargs):
-        if "size_x" not in kwargs:
-            kwargs["size_x"] = 0
-        if "size_y" not in kwargs:
-            kwargs["size_y"] = 0
-        if "size_z" not in kwargs:
-            kwargs["size_z"] = 0
-        self.kwargs = kwargs
-        self.state = {}
-        super().__init__(*args, **kwargs)
+class RegularContainer(object):
+    # 第一个参数必须是id传入
+    # noinspection PyShadowingBuiltins
+    def __init__(self, id: str):
+        self.id = id
+        self.ulr_resource = Resource()
+        self._data = None
 
-    def load_state(self, state: Dict[str, Any]):
-        self.state = state
-#
-# class RegularContainer(object):
-#     # 第一个参数必须是id传入
-#     # noinspection PyShadowingBuiltins
-#     def __init__(self, id: str):
-#         self.id = id
-#         self.ulr_resource = Resource()
-#         self._data = None
-#
-#     @property
-#     def ulr_resource_data(self):
-#         if self._data is None:
-#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-#         return self._data
-#
-#     @ulr_resource_data.setter
-#     def ulr_resource_data(self, value: dict):
-#         self._data = value
-#         self.ulr_resource.data = json.dumps(self._data)
-#
-#     @property
-#     def liquid_type(self):
-#         return self.ulr_resource_data.get("liquid_type", None)
-#
-#     @liquid_type.setter
-#     def liquid_type(self, value: str):
-#         if value is not None:
-#             self.ulr_resource_data["liquid_type"] = value
-#         else:
-#             self.ulr_resource_data.pop("liquid_type", None)
-#
-#     @property
-#     def liquid_volume(self):
-#         return self.ulr_resource_data.get("liquid_volume", None)
-#
-#     @liquid_volume.setter
-#     def liquid_volume(self, value: float):
-#         if value is not None:
-#             self.ulr_resource_data["liquid_volume"] = value
-#         else:
-#             self.ulr_resource_data.pop("liquid_volume", None)
-#
-#     def get_ulr_resource(self) -> Resource:
-#         """
-#         获取UlrResource对象
-#         :return: UlrResource对象
-#         """
-#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
-#         return self.ulr_resource
-#
-#     def get_ulr_resource_as_dict(self) -> Resource:
-#         """
-#         获取UlrResource对象
-#         :return: UlrResource对象
-#         """
-#         to_dict = convert_from_ros_msg(self.get_ulr_resource())
-#         to_dict["type"] = "container"
-#         return to_dict
-#
-#     def __str__(self):
-#         return f"{self.id}"
+    @property
+    def ulr_resource_data(self):
+        if self._data is None:
+            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+        return self._data
+
+    @ulr_resource_data.setter
+    def ulr_resource_data(self, value: dict):
+        self._data = value
+        self.ulr_resource.data = json.dumps(self._data)
+
+    @property
+    def liquid_type(self):
+        return self.ulr_resource_data.get("liquid_type", None)
+
+    @liquid_type.setter
+    def liquid_type(self, value: str):
+        if value is not None:
+            self.ulr_resource_data["liquid_type"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_type", None)
+
+    @property
+    def liquid_volume(self):
+        return self.ulr_resource_data.get("liquid_volume", None)
+
+    @liquid_volume.setter
+    def liquid_volume(self, value: float):
+        if value is not None:
+            self.ulr_resource_data["liquid_volume"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_volume", None)
+
+    def get_ulr_resource(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+        return self.ulr_resource
+
+    def get_ulr_resource_as_dict(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        to_dict = convert_from_ros_msg(self.get_ulr_resource())
+        to_dict["type"] = "container"
+        return to_dict
+
+    def __str__(self):
+        return f"{self.id}"

unilabos/resources/graphio.py

@@ -1,23 +1,18 @@
 import importlib
 import inspect
 import json
-import os.path
 import traceback
-from typing import Union, Any, Dict, List, Tuple
-import uuid
+from typing import Union, Any, Dict, List
 import networkx as nx
 from pylabrobot.resources import ResourceHolder
 from unilabos_msgs.msg import Resource
 
-from unilabos.config.config import BasicConfig
 from unilabos.resources.container import RegularContainer
-from unilabos.resources.itemized_carrier import ItemizedCarrier
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
 from unilabos.ros.nodes.resource_tracker import (
     ResourceDictInstance,
     ResourceTreeSet,
 )
-from unilabos.utils import logger
 from unilabos.utils.banner_print import print_status
 
 try:
@@ -49,33 +44,6 @@ def canonicalize_nodes_data(
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
-        if not isinstance(node.get("config"), dict):
-            node["config"] = {}
-        if not node.get("type"):
-            node["type"] = "device"
-            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'type', defaulting to 'device'", "warning")
-        if node.get("name", None) is None:
-            node["name"] = node.get("id")
-            print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
-        if not isinstance(node.get("position"), dict):
-            node["position"] = {"position": {}}
-            x = node.pop("x", None)
-            if x is not None:
-                node["position"]["position"]["x"] = x
-            y = node.pop("y", None)
-            if y is not None:
-                node["position"]["position"]["y"] = y
-            z = node.pop("z", None)
-            if z is not None:
-                node["position"]["position"]["z"] = z
-        if "sample_id" in node:
-            sample_id = node.pop("sample_id")
-            if sample_id:
-                logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
-        for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
-                v = node.pop(k)
-                node["config"][k] = v
 
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
@@ -333,10 +301,6 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
         "nodes": [node.res_content.model_dump(by_alias=True) for node in resource_tree_set.all_nodes],
         "links": standardized_links,
     }
-    dump_json_path = os.path.join(BasicConfig.working_dir, os.path.basename(graphml_file).rsplit(".")[0] + ".json")
-    with open(dump_json_path, "w", encoding="utf-8") as f:
-        f.write(json.dumps(graph_data, indent=4, ensure_ascii=False))
-        print_status(f"GraphML converted to JSON and saved to {dump_json_path}", "info")
     physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
     handle_communications(physical_setup_graph)
 
@@ -535,7 +499,6 @@ 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"],
@@ -576,18 +539,16 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
         replace_info = {
             "plate": "plate",
             "well": "well",
-            "tip_spot": "tip_spot",
-            "trash": "trash",
+            "tip_spot": "container",
+            "trash": "container",
             "deck": "deck",
-            "tip_rack": "tip_rack",
-            "warehouse": "warehouse",
-            "container": "container",
+            "tip_rack": "container",
         }
         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 source
+            return "container"
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
         r = {
@@ -615,13 +576,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
     return r
 
 
-def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[str, Tuple[str, str]] = {}, deck: Any = None) -> list[dict]:
+def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
     """
     将 bioyond 物料格式转换为 ulab 物料格式
 
     Args:
         bioyond_materials: bioyond 系统的物料查询结果列表
-        type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
+        type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
         location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
 
     Returns:
@@ -631,168 +592,85 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
 
     for material in bioyond_materials:
         className = (
-            type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
+            type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
         )
 
-        plr_material_result = initialize_resource(
+        plr_material: ResourcePLR = initialize_resource(
             {"name": material["name"], "class": className}, resource_type=ResourcePLR
         )
-
-        # initialize_resource 可能返回列表或单个对象
-        if isinstance(plr_material_result, list):
-            if len(plr_material_result) == 0:
-                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
-                continue
-            plr_material = plr_material_result[0]
-        else:
-            plr_material = plr_material_result
-
-        # 确保 plr_material 是 ResourcePLR 实例
-        if not isinstance(plr_material, ResourcePLR):
-            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
-            continue
-
         plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
-        plr_material.unilabos_uuid = str(uuid.uuid4())
 
         # 处理子物料（detail）
         if material.get("detail") and len(material["detail"]) > 0:
-            for bottle in reversed(plr_material.children):
-                plr_material.unassign_child_resource(bottle)
             child_ids = []
             for detail in material["detail"]:
                 number = (
                     (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
-                    + (detail.get("y", 0) - 1) * plr_material.num_items_y
-                    + (detail.get("x", 0) - 1)
+                    + (detail.get("x", 0) - 1) * plr_material.num_items_x
+                    + (detail.get("y", 0) - 1)
                 )
-                typeName = detail.get("typeName", detail.get("name", ""))
-                if typeName in type_mapping:
-                    bottle = plr_material[number] = initialize_resource(
-                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
+                bottle = plr_material[number]
+                if detail["name"] in type_mapping:
+                    # plr_material.unassign_child_resource(bottle)
+                    plr_material.sites[number] = None
+                    plr_material[number] = initialize_resource(
+                        {"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
                     )
+                else:
                     bottle.tracker.liquids = [
                         (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                     ]
-                    bottle.code = detail.get("code", "")
+                bottle.code = detail.get("code", "")
         else:
-            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
-            if hasattr(plr_material, 'capacity'):
-                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
-                bottle.tracker.liquids = [
-                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
-                ]
+            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            bottle.tracker.liquids = [
+                (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
+            ]
 
         plr_materials.append(plr_material)
 
         if deck and hasattr(deck, "warehouses"):
             for loc in material.get("locations", []):
-                wh_name = loc.get("whName")
-
-                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
-                if wh_name == "堆栈1":
-                    x_val = loc.get("x", 1)
-                    if 1 <= x_val <= 4:
-                        wh_name = "堆栈1左"
-                    elif 5 <= x_val <= 8:
-                        wh_name = "堆栈1右"
-                    else:
-                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
-                        continue
-
-                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
-                    warehouse = deck.warehouses[wh_name]
-
-                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
-                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
-                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
-                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
-
-                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
-                    if wh_name == "堆栈1右":
-                        y = y - 4  # 将5-8映射到1-4
-
-                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
-                    # Bioyond的y坐标表示线性位置序号，而不是列号
-                    if warehouse.num_items_y == 1:
-                        # 1行warehouse: 直接用y作为线性索引
-                        idx = y - 1
-                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
-                    else:
-                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
-                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
-                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
-                        row_idx = x - 1  # x表示行: 转为0-based
-                        col_idx = y - 1  # y表示列: 转为0-based
-                        layer_idx = z - 1  # 转为0-based
-                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
-                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
-
+                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
+                    warehouse = deck.warehouses[loc["whName"]]
+                    idx = (
+                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
+                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
+                        + (loc.get("z", 0) - 1)
+                    )
                     if 0 <= idx < warehouse.capacity:
                         if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                             warehouse[idx] = plr_material
-                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
-                    else:
-                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
 
     return plr_materials
 
 
-def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
+def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
     bioyond_materials = []
-    for resource in plr_resources:
-        if hasattr(resource, "capacity") and resource.capacity > 1:
-            material = {
-                "typeId": type_mapping.get(resource.model)[1],
-                "name": resource.name,
-                "unit": "个",
-                "quantity": 1,
-                "details": [],
-                "Parameters": "{}"
-            }
-            for bottle in resource.children:
-                if isinstance(resource, ItemizedCarrier):
-                    site = resource.get_child_identifier(bottle)
-                else:
-                    site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
-                detail_item = {
-                    "typeId": type_mapping.get(bottle.model)[1],
-                    "name": bottle.name,
+    for plr_material in plr_materials:
+        material = {
+            "name": plr_material.name,
+            "typeName": plr_material.__class__.__name__,
+            "code": plr_material.code,
+            "quantity": 0,
+            "detail": [],
+            "locations": [],
+        }
+        if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
+            for idx in range(plr_material.capacity):
+                bottle = plr_material[idx]
+                detail = {
+                    "x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
+                    "y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
+                    "z": (idx % plr_material.num_items_x) + 1,
                     "code": bottle.code if hasattr(bottle, "code") else "",
                     "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
-                    "x": site["x"] + 1,
-                    "y": site["y"] + 1,
-                    "molecular": 1,
-                    "Parameters": json.dumps({"molecular": 1})
                 }
-                material["details"].append(detail_item)
+                material["detail"].append(detail)
+            material["quantity"] = 1.0
         else:
-            bottle = resource[0] if resource.capacity > 0 else resource
-            material = {
-                "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.name if hasattr(resource, "name") else "",
-                "unit": "个",  # 修复：Bioyond API 要求 unit 字段不能为空
-                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
-                "Parameters": "{}"
-            }
-
-        if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
-            site_in_parent = resource.parent.get_child_identifier(resource)
-            material["locations"] = [
-                {
-                    "id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
-                    "whid": warehouse_mapping[resource.parent.name]["uuid"],
-                    "whName": resource.parent.name,
-                    "x": site_in_parent["z"] + 1,
-                    "y": site_in_parent["y"] + 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-
-        print(f"material_data: {material}")
+            bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
+            material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
         bioyond_materials.append(material)
     return bioyond_materials
 
@@ -817,8 +695,6 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
     elif type(resource_class_config) == str:
         # Allow special resource class names to be used
         if resource_class_config not in lab_registry.resource_type_registry:
-            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
-            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
             return [resource_config]
         # If the resource class is a string, look up the class in the
         # resource_type_registry and import it
@@ -841,7 +717,6 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
             else:
                 r = resource_plr
         elif resource_class_config["type"] == "unilabos":
-            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
             res_instance.ulr_resource = convert_to_ros_msg(
                 Resource, {k: v for k, v in resource_config.items() if k != "class"}

unilabos/resources/itemized_carrier.py

@@ -32,7 +32,6 @@ class Bottle(Well):
         barcode: Optional[str] = "",
         category: str = "container",
         model: Optional[str] = None,
-        **kwargs,
     ):
         super().__init__(
             name=name,
@@ -74,11 +73,9 @@ class ItemizedCarrier(ResourcePLR):
     num_items_x: int = 0,
     num_items_y: int = 0,
     num_items_z: int = 0,
-    layout: str = "x-y",
     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,
@@ -90,9 +87,6 @@ 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):
       sites = sites or {}
       self.sites: List[Optional[ResourcePLR]] = list(sites.values())
@@ -155,7 +149,7 @@ class ItemizedCarrier(ResourcePLR):
   def assign_resource_to_site(self, resource: ResourcePLR, spot: int):
     if self.sites[spot] is not None and not isinstance(self.sites[spot], ResourceHolder):
       raise ValueError(f"spot {spot} already has a resource, {resource}")
-    self.assign_child_resource(resource, location=self.child_locations.get(list(self._ordering.keys())[spot]), spot=spot)
+    self.assign_child_resource(resource, location=self.child_locations.get(str(spot)), spot=spot)
 
   def unassign_child_resource(self, resource: ResourcePLR):
     found = False
@@ -166,92 +160,8 @@ class ItemizedCarrier(ResourcePLR):
         break
     if not found:
       raise ValueError(f"Resource {resource} is not assigned to this carrier")
-    super().unassign_child_resource(resource)
-    # if hasattr(resource, "unassign"):
-    #   resource.unassign()
-
-  def get_child_identifier(self, child: ResourcePLR):
-    """Get the identifier information for a given child resource.
-    
-    Args:
-        child: The Resource object to find the identifier for
-        
-    Returns:
-        dict: A dictionary containing:
-            - identifier: The string identifier (e.g. "A1", "B2")
-            - idx: The integer index in the sites list
-            - x: The x index (column index, 0-based)
-            - y: The y index (row index, 0-based)  
-            - z: The z index (layer index, 0-based)
-            
-    Raises:
-        ValueError: If the child resource is not found in this carrier
-    """
-    # Find the child resource in sites
-    for idx, resource in enumerate(self.sites):
-      if resource is child:
-        # Get the identifier from ordering keys
-        identifier = list(self._ordering.keys())[idx]
-        
-        # Parse identifier to get x, y, z indices
-        x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
-        
-        return {
-          "identifier": identifier,
-          "idx": idx,
-          "x": x_idx,
-          "y": y_idx,
-          "z": z_idx
-        }
-    
-    # If not found, raise an error
-    raise ValueError(f"Resource {child} is not assigned to this carrier")
-
-  def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
-    """Parse identifier string to get x, y, z indices.
-    
-    Args:
-        identifier: String identifier like "A1", "B2", etc.
-        idx: Linear index as fallback for calculation
-        
-    Returns:
-        Tuple of (x_idx, y_idx, z_idx)
-    """
-    # If we have explicit dimensions, calculate from idx
-    if self.num_items_x > 0 and self.num_items_y > 0:
-      # Calculate 3D indices from linear index
-      z_idx = idx // (self.num_items_x * self.num_items_y) if self.num_items_z > 0 else 0
-      remaining = idx % (self.num_items_x * self.num_items_y)
-      y_idx = remaining // self.num_items_x
-      x_idx = remaining % self.num_items_x
-      return x_idx, y_idx, z_idx
-    
-    # Fallback: parse from Excel-style identifier
-    if isinstance(identifier, str) and len(identifier) >= 2:
-      # Extract row (letter) and column (number)
-      row_letters = ""
-      col_numbers = ""
-      
-      for char in identifier:
-        if char.isalpha():
-          row_letters += char
-        elif char.isdigit():
-          col_numbers += char
-      
-      if row_letters and col_numbers:
-        # Convert letter(s) to row index (A=0, B=1, etc.)
-        y_idx = 0
-        for char in row_letters:
-          y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
-        
-        # Convert number to column index (1-based to 0-based)
-        x_idx = int(col_numbers) - 1
-        z_idx = 0  # Default layer
-        
-        return x_idx, y_idx, z_idx
-    
-    # If all else fails, assume linear arrangement
-    return idx, 0, 0
+    if hasattr(resource, "unassign"):
+      resource.unassign()
 
   def __getitem__(
     self,
@@ -409,10 +319,9 @@ class ItemizedCarrier(ResourcePLR):
       "num_items_x": self.num_items_x,
       "num_items_y": self.num_items_y,
       "num_items_z": self.num_items_z,
-      "layout": self.layout,
       "sites": [{
         "label": str(identifier),
-        "visible": False if identifier in self.invisible_slots else True,
+        "visible": True if self[identifier] is not None else False,
         "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,
@@ -435,8 +344,6 @@ 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__(
             name=name,
@@ -446,5 +353,4 @@ class BottleCarrier(ItemizedCarrier):
             sites=sites,
             category=category,
             model=model,
-            invisible_slots=invisible_slots,
         )

unilabos/resources/warehouse.py

@@ -5,13 +5,10 @@ from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_reso
 from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR
 
 
-LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
-
-
 def warehouse_factory(
     name: str,
-    num_items_x: int = 1,
-    num_items_y: int = 4,
+    num_items_x: int = 4,
+    num_items_y: int = 1,
     num_items_z: int = 4,
     dx: float = 137.0,
     dy: float = 96.0,
@@ -23,7 +20,6 @@ def warehouse_factory(
     empty: bool = False,
     category: str = "warehouse",
     model: Optional[str] = None,
-    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
     # 创建16个板架位 (4层 x 4位置)
     locations = []
@@ -37,19 +33,14 @@ def warehouse_factory(
                 locations.append(Coordinate(x, y, z))
     if removed_positions:
         locations = [loc for i, loc in enumerate(locations) if i not in removed_positions]
-    _sites = create_homogeneous_resources(
+    sites = create_homogeneous_resources(
         klass=ResourceHolder,
         locations=locations,
         resource_size_x=127.0,
         resource_size_y=86.0,
         name_prefix=name,
     )
-    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    # 应用列偏移量，支持A05-D08等命名
-    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
-    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
-    sites = {i: site for i, site in zip(keys, _sites.values())}
-
+    
     return WareHouse(
         name=name,
         size_x=dx + item_dx * num_items_x,
@@ -77,7 +68,6 @@ class WareHouse(ItemizedCarrier):
         num_items_x: int,
         num_items_y: int,
         num_items_z: int,
-        layout: str = "x-y",
         sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
         category: str = "warehouse",
         model: Optional[str] = None,
@@ -93,7 +83,6 @@ class WareHouse(ItemizedCarrier):
             num_items_x=num_items_x,
             num_items_y=num_items_y,
             num_items_z=num_items_z,
-            layout=layout,
             sites=sites,
             category=category,
             model=model,

unilabos/ros/initialize_device.py

@@ -26,7 +26,6 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
     d = None
     original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
-    uid = device_config["uuid"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if len(device_class_config) == 0:
             raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
@@ -51,7 +50,7 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         )
         try:
             d = DEVICE(
-                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
             )
         except DeviceInitError as ex:
             return d

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, SingleThreadedExecutor
+from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.timer import Timer
 

unilabos/ros/nodes/base_device_node.py

@@ -6,7 +6,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
+from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -49,11 +49,11 @@ from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import (
     DeviceNodeResourceTracker,
-    ResourceTreeSet, ResourceTreeInstance,
+    ResourceTreeSet,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from rclpy.task import Task
+from unilabos.utils.async_util import run_async_func
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -132,7 +132,6 @@ class ROSLoggerAdapter:
 def init_wrapper(
     self,
     device_id: str,
-    device_uuid: str,
     driver_class: type[T],
     device_config: Dict[str, Any],
     status_types: Dict[str, Any],
@@ -151,7 +150,6 @@ def init_wrapper(
     if children is None:
         children = []
     kwargs["device_id"] = device_id
-    kwargs["device_uuid"] = device_uuid
     kwargs["driver_class"] = driver_class
     kwargs["device_config"] = device_config
     kwargs["driver_params"] = driver_params
@@ -268,7 +266,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         self,
         driver_instance: T,
         device_id: str,
-        device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
@@ -281,7 +278,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         Args:
             driver_instance: 设备实例
             device_id: 设备标识符
-            device_uuid: 设备标识符
             status_types: 需要发布的状态和传感器信息
             action_value_mappings: 设备动作
             hardware_interface: 硬件接口配置
@@ -289,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """
         self.driver_instance = driver_instance
         self.device_id = device_id
-        self.uuid = device_uuid
+        self.uuid = str(uuid.uuid4())
         self.publish_high_frequency = False
         self.callback_group = ReentrantCallbackGroup()
         self.resource_tracker = resource_tracker
@@ -338,12 +334,12 @@ 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", 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),
+            "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"),
         }
 
         def re_register_device(req, res):
@@ -558,11 +554,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
     async def update_resource(self, resources: List["ResourcePLR"]):
         r = SerialCommand.Request()
         tree_set = ResourceTreeSet.from_plr_resources(resources)
-        for tree in tree_set.trees:
-            root_node = tree.root_node
-            if not root_node.res_content.uuid_parent:
-                logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
-                root_node.res_content.parent_uuid = self.uuid
         r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
         response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
         try:
@@ -573,52 +564,6 @@ 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
@@ -628,7 +573,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         - update: 更新现有资源
         - remove: 从资源树中移除资源
         """
-        from pylabrobot.resources.resource import Resource as ResourcePLR
         try:
             data = json.loads(req.command)
             results = []
@@ -659,7 +603,28 @@ 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)
-                            self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                            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()}"
+                                        )
                         func = getattr(self.driver_instance, "resource_tree_add", None)
                         if callable(func):
                             func(plr_resources)
@@ -672,17 +637,6 @@ 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"
@@ -694,28 +648,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             results.append({"success": True, "action": "update"})
                     elif action == "remove":
                         # 移除资源
-                        found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
-                            [{"uuid": uid} for uid in resources_uuid], try_mode=True
-                        )
-                        found_plr_resources = []
-                        other_plr_resources = []
-                        for found_resource in found_resources:
-                            for resource in found_resource:
-                                if issubclass(resource.__class__, ResourcePLR):
-                                    found_plr_resources.append(resource)
-                                else:
-                                    other_plr_resources.append(resource)
+                        plr_resources: List[ResourcePLR] = [
+                            self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
+                        ]
                         func = getattr(self.driver_instance, "resource_tree_remove", None)
                         if callable(func):
-                            func(found_plr_resources)
-                        for plr_resource in found_plr_resources:
-                            if plr_resource.parent is not None:
-                                plr_resource.parent.unassign_child_resource(plr_resource)
+                            func(plr_resources)
+                        for plr_resource in plr_resources:
+                            plr_resource.parent.unassign_child_resource(plr_resource)
                             self.resource_tracker.remove_resource(plr_resource)
-                            self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
-                        for other_plr_resource in other_plr_resources:
-                            self.resource_tracker.remove_resource(other_plr_resource)
-                            self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
                         results.append({"success": True, "action": "remove"})
                 except Exception as e:
                     error_msg = f"Error processing {action} operation: {str(e)}"
@@ -915,7 +856,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             action_type,
             action_name,
             execute_callback=self._create_execute_callback(action_name, action_value_mapping),
-            callback_group=self.callback_group,
+            callback_group=ReentrantCallbackGroup(),
         )
 
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
@@ -979,7 +920,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             queried_resources = []
                             for resource_data in resource_inputs:
                                 r = SerialCommand.Request()
-                                r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
+                                r.command = json.dumps({"id": resource_data["id"], "with_children": True})
                                 # 发送请求并等待响应
                                 response: SerialCommand_Response = await self._resource_clients[
                                     "resource_get"
@@ -995,10 +936,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
-                            final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
-                                self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
-                            ]
-                            action_kwargs[k] = final_resources
+                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
 
                         except Exception as e:
                             self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
@@ -1385,19 +1323,18 @@ class ROS2DeviceNode:
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
 
-    @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-        def _handle_future_exception(fut):
-            try:
-                fut.result()
-            except Exception as e:
-                error(f"异步任务 {func.__name__} 报错了")
-                error(traceback.format_exc())
+    # 类变量，用于循环管理
+    _loop = None
+    _loop_running = False
+    _loop_thread = None
 
-        future = rclpy.get_global_executor().create_task(func(**kwargs))
-        if trace_error:
-            future.add_done_callback(_handle_future_exception)
-        return future
+    @classmethod
+    def get_loop(cls):
+        return cls._loop
+
+    @classmethod
+    def run_async_func(cls, func, trace_error=True, **kwargs):
+        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
 
     @property
     def driver_instance(self):
@@ -1410,7 +1347,6 @@ class ROS2DeviceNode:
     def __init__(
         self,
         device_id: str,
-        device_uuid: str,
         driver_class: Type[T],
         device_config: Dict[str, Any],
         driver_params: Dict[str, Any],
@@ -1426,7 +1362,6 @@ class ROS2DeviceNode:
 
         Args:
             device_id: 设备标识符
-            device_uuid: 设备uuid
             driver_class: 设备类
             device_config: 原始初始化的json
             driver_params: driver初始化的参数
@@ -1437,6 +1372,11 @@ class ROS2DeviceNode:
             print_publish: 是否打印发布信息
             driver_is_ros:
         """
+        # 在初始化时检查循环状态
+        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
+            pass
+        elif ROS2DeviceNode._loop_thread is None:
+            self._start_loop()
 
         # 保存设备类是否支持异步上下文
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1496,7 +1436,6 @@ class ROS2DeviceNode:
                 children=children,
                 driver_instance=self._driver_instance,  # type: ignore
                 device_id=device_id,
-                device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
@@ -1507,7 +1446,6 @@ class ROS2DeviceNode:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
                 device_id=device_id,
-                device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
@@ -1525,6 +1463,17 @@ class ROS2DeviceNode:
             except Exception as e:
                 self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
 
+    def _start_loop(self):
+        def run_event_loop():
+            loop = asyncio.new_event_loop()
+            ROS2DeviceNode._loop = loop
+            asyncio.set_event_loop(loop)
+            loop.run_forever()
+
+        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
+        ROS2DeviceNode._loop_thread.start()
+        logger.info(f"循环线程已启动")
+
 
 class DeviceInfoType(TypedDict):
     id: str

unilabos/ros/nodes/presets/host_node.py

@@ -18,7 +18,7 @@ from unilabos_msgs.srv import (
     ResourceDelete,
     ResourceUpdate,
     ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -41,7 +41,6 @@ from unilabos.ros.nodes.resource_tracker import (
     ResourceTreeSet,
     ResourceTreeInstance,
 )
-from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.type_check import serialize_result_info
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -100,6 +99,17 @@ class HostNode(BaseROS2DeviceNode):
         """
         if self._instance is not None:
             self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
+        # 初始化Node基类，传递空参数覆盖列表
+        BaseROS2DeviceNode.__init__(
+            self,
+            driver_instance=self,
+            device_id=device_id,
+            status_types={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
+            hardware_interface={},
+            print_publish=False,
+            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
+        )
 
         # 设置单例实例
         self.__class__._instance = self
@@ -117,91 +127,6 @@ class HostNode(BaseROS2DeviceNode):
             bridges = []
         self.bridges = bridges
 
-        # 创建 host_node 作为一个单独的 ResourceTree
-        host_node_dict = {
-            "id": "host_node",
-            "uuid": str(uuid.uuid4()),
-            "parent_uuid": "",
-            "name": "host_node",
-            "type": "device",
-            "class": "host_node",
-            "config": {},
-            "data": {},
-            "children": [],
-            "description": "",
-            "schema": {},
-            "model": {},
-            "icon": "",
-        }
-
-        # 创建 host_node 的 ResourceTree
-        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
-        host_node_tree = ResourceTreeInstance(host_node_instance)
-        resources_config.trees.insert(0, host_node_tree)
-        try:
-            for bridge in self.bridges:
-                if hasattr(bridge, "resource_tree_add") and resources_config:
-                    from unilabos.app.web.client import HTTPClient
-
-                    client: HTTPClient = bridge
-                    resource_start_time = time.time()
-                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
-                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
-                    device_uuid = resources_config.root_nodes[0].res_content.uuid
-                    resource_end_time = time.time()
-                    logger.info(
-                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-                    )
-                    for edge in self.resources_edge_config:
-                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
-                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
-                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
-                    resource_edge_end_time = time.time()
-                    logger.info(
-                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
-                    )
-                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
-                    # resources_config 的 root node 是
-                    # # 创建反向映射：new_uuid -> old_uuid
-                    # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
-                    # for tree in resources_config.trees:
-                    #     node = tree.root_node
-                    #     if node.res_content.type == "device":
-                    #         if node.res_content.id == "host_node":
-                    #             continue
-                    #         # slave节点走c2s更新接口，拿到add自行update uuid
-                    #         device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                    #         old_uuid = reverse_uuid_mapping.get(node.res_content.uuid)
-                    #         if old_uuid:
-                    #             # 找到旧UUID，使用UUID查找
-                    #             resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
-                    #         else:
-                    #             # 未找到旧UUID，使用name查找
-                    #             resource_instance = device_tracker.figure_resource(
-                    #                 {"name": node.res_content.name}
-                    #             )
-                    #         device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
-                    #     else:
-                    #         try:
-                    #             for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
-                    #                 self.resource_tracker.add_resource(plr_resource)
-                    #         except Exception as ex:
-                    #             self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
-        except Exception as ex:
-            logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
-        # 初始化Node基类，传递空参数覆盖列表
-        BaseROS2DeviceNode.__init__(
-            self,
-            driver_instance=self,
-            device_id=device_id,
-            device_uuid=host_node_dict["uuid"],
-            status_types={},
-            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
-            hardware_interface={},
-            print_publish=False,
-            resource_tracker=self._resource_tracker,  # host node并不是通过initialize 包一层传进来的
-        )
-
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
@@ -282,10 +207,84 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
+        # 创建 host_node 作为一个单独的 ResourceTree
 
+        host_node_dict = {
+            "id": "host_node",
+            "uuid": str(uuid.uuid4()),
+            "parent_uuid": "",
+            "name": "host_node",
+            "type": "device",
+            "class": "host_node",
+            "config": {},
+            "data": {},
+            "children": [],
+            "description": "",
+            "schema": {},
+            "model": {},
+            "icon": "",
+        }
+
+        # 创建 host_node 的 ResourceTree
+        host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
+        host_node_tree = ResourceTreeInstance(host_node_instance)
+        resources_config.trees.insert(0, host_node_tree)
+        try:
+            for bridge in self.bridges:
+                if hasattr(bridge, "resource_tree_add") and resources_config:
+                    from unilabos.app.web.client import HTTPClient
+
+                    client: HTTPClient = bridge
+                    resource_start_time = time.time()
+                    # 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
+                    uuid_mapping = client.resource_tree_add(resources_config, "", True)
+                    resource_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
+                    for edge in self.resources_edge_config:
+                        edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
+                        edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config)
+                    resource_edge_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
+                    # resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
+                    # resources_config 的 root node 是
+                    # 创建反向映射：new_uuid -> old_uuid
+                    reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
+                    for tree in resources_config.trees:
+                        node = tree.root_node
+                        if node.res_content.type == "device":
+                            for sub_node in node.children:
+                                # 只有二级子设备
+                                if sub_node.res_content.type != "device":
+                                    # slave节点走c2s更新接口，拿到add自行update uuid
+                                    device_tracker = self.devices_instances[node.res_content.id].resource_tracker
+                                    # sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
+                                    old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
+                                    if old_uuid:
+                                        # 找到旧UUID，使用UUID查找
+                                        resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
+                                    else:
+                                        # 未找到旧UUID，使用name查找
+                                        resource_instance = device_tracker.figure_resource(
+                                            {"name": sub_node.res_content.name}
+                                        )
+                                    device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                        else:
+                            try:
+                                for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
+                                    self.resource_tracker.add_resource(plr_resource)
+                            except Exception as ex:
+                                self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
+        except Exception as ex:
+            self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
+            self.lab_logger().error(traceback.format_exc())
         # 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=self.callback_group
+            discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
         )
 
         # 添加ping-pong相关属性
@@ -494,7 +493,7 @@ 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.split("/")[-1]]
+        device_ids = [device_id]
         bind_parent_id = [res_creation_input["parent"]]
         bind_location = [bind_locations]
         other_calling_param = [
@@ -618,7 +617,7 @@ class HostNode(BaseROS2DeviceNode):
                                 topic,
                                 lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
                                 1,
-                                callback_group=self.callback_group,
+                                callback_group=ReentrantCallbackGroup(),
                             )
                             # 标记为已订阅
                             self._subscribed_topics.add(topic)
@@ -829,41 +828,41 @@ 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=self.callback_group
+                ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
             ),
             "resource_get": self.create_service(
-                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group
+                SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
             ),
             "resource_delete": self.create_service(
                 ResourceDelete,
                 "/resources/delete",
                 self._resource_delete_callback,
-                callback_group=self.callback_group,
+                callback_group=ReentrantCallbackGroup(),
             ),
             "resource_update": self.create_service(
                 ResourceUpdate,
                 "/resources/update",
                 self._resource_update_callback,
-                callback_group=self.callback_group,
+                callback_group=ReentrantCallbackGroup(),
             ),
             "resource_list": self.create_service(
-                ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group
+                ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
             ),
             "node_info_update": self.create_service(
                 SerialCommand,
                 "/node_info_update",
                 self._node_info_update_callback,
-                callback_group=self.callback_group,
+                callback_group=ReentrantCallbackGroup(),
             ),
             "c2s_update_resource_tree": self.create_service(
                 SerialCommand,
                 "/c2s_update_resource_tree",
                 self._resource_tree_update_callback,
-                callback_group=self.callback_group,
+                callback_group=ReentrantCallbackGroup(),
             ),
         }
 
-    async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response):  # OK
         resource_tree_set = ResourceTreeSet.load(data["data"])
         mount_uuid = data["mount_uuid"]
         first_add = data["first_add"]
@@ -904,7 +903,7 @@ class HostNode(BaseROS2DeviceNode):
         response.response = json.dumps(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
-    async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
+    def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
         uuid_list: List[str] = data["data"]
         with_children: bool = data["with_children"]
         from unilabos.app.web.client import http_client
@@ -912,7 +911,7 @@ class HostNode(BaseROS2DeviceNode):
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
 
-    async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
+    def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
         """
         子节点通知Host物料树删除
         """
@@ -920,7 +919,7 @@ class HostNode(BaseROS2DeviceNode):
         response.response = "OK"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
 
-    async def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
+    def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
         """
         子节点通知Host物料树更新
         """
@@ -933,29 +932,20 @@ class HostNode(BaseROS2DeviceNode):
 
         from unilabos.app.web.client import http_client
 
-        uuid_to_trees: Dict[str, List[ResourceTreeInstance]] = collections.defaultdict(list)
-        for tree in resource_tree_set.trees:
-            uuid_to_trees[tree.root_node.res_content.parent_uuid].append(tree)
+        resource_start_time = time.time()
+        uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
+        success = bool(uuid_mapping)
+        resource_end_time = time.time()
+        self.lab_logger().info(
+            f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+        )
+        if uuid_mapping:
+            self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
+        # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
+        response.response = json.dumps(uuid_mapping)
+        self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
-        for uid, trees in uuid_to_trees.items():
-            new_tree_set = ResourceTreeSet(trees)
-            resource_start_time = time.time()
-            self.lab_logger().info(
-                f"[Host Node-Resource] 物料 {[root_node.res_content.id for root_node in new_tree_set.root_nodes]} {uid} 挂载 {trees[0].root_node.res_content.parent_uuid} 请求更新上传"
-            )
-            uuid_mapping = http_client.resource_tree_add(new_tree_set, uid, False)
-            success = bool(uuid_mapping)
-            resource_end_time = time.time()
-            self.lab_logger().info(
-                f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
-            )
-            if uuid_mapping:
-                self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
-            # 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
-            response.response = json.dumps(uuid_mapping)
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
-
-    async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
+    def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
         """
         子节点通知Host物料树更新
 
@@ -968,13 +958,13 @@ class HostNode(BaseROS2DeviceNode):
             action = data["action"]
             data = data["data"]
             if action == "add":
-                await self._resource_tree_action_add_callback(data, response)
+                self._resource_tree_action_add_callback(data, response)
             elif action == "get":
-                await self._resource_tree_action_get_callback(data, response)
+                self._resource_tree_action_get_callback(data, response)
             elif action == "update":
-                await self._resource_tree_action_update_callback(data, response)
+                self._resource_tree_action_update_callback(data, response)
             elif action == "remove":
-                await self._resource_tree_action_remove_callback(data, response)
+                self._resource_tree_action_remove_callback(data, response)
             else:
                 self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
                 response.response = "ERROR"
@@ -1070,12 +1060,7 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             data = json.loads(request.command)
-            if "uuid" in data and data["uuid"] is not None:
-                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
-            elif "id" in data and data["id"].startswith("/"):
-                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
-            else:
-                raise ValueError("没有使用正确的物料 id 或 uuid")
+            http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
             response.response = json.dumps(http_req["data"])
             return response
         except Exception as e:

unilabos/ros/nodes/presets/workstation.py

@@ -6,14 +6,13 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
 import rclpy
 from rosidl_runtime_py import message_to_ordereddict
-from unilabos_msgs.msg import Resource
-from unilabos_msgs.srv import ResourceUpdate
 
 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
 from rclpy.callback_groups import ReentrantCallbackGroup
-from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore
 
 from unilabos.compile import action_protocol_generators
 from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
@@ -21,11 +20,11 @@ from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_action_type,
     convert_to_ros_msg,
+    convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
-from unilabos.utils.type_check import get_result_info_str
+from unilabos.utils.type_check import serialize_result_info, get_result_info_str
 
 if TYPE_CHECKING:
     from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -51,7 +50,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
-        device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
@@ -66,7 +64,6 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=driver_instance,
             device_id=device_id,
-            device_uuid=device_uuid,
             status_types=status_types,
             action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
             hardware_interface=hardware_interface,
@@ -194,7 +191,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
             action_type,
             action_name,
             execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
-            callback_group=self.callback_group,
+            callback_group=ReentrantCallbackGroup(),
         )
         self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
         return
@@ -225,29 +222,16 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 # 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>"]:
-                        self.lab_logger().info(f"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
-
-                        try:
-                            # 统一处理单个或多个资源
-                            resource_id = (
-                                protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                            )
-                            resource_uuid = protocol_kwargs[k].get("uuid", None)
-                            r = SerialCommand_Request()
-                            r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
-                            # 发送请求并等待响应
-                            response: SerialCommand_Response = await self._resource_clients[
-                                "resource_get"
-                            ].call_async(
-                                r
-                            )  # type: ignore
-                            raw_data = json.loads(response.response)
-                            tree_set = ResourceTreeSet.from_raw_list(raw_data)
-                            target = tree_set.dump()
-                            protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
-                        except Exception as ex:
-                            self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
-                            raise
+                        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]
+                        )
 
                 self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 

unilabos/ros/nodes/resource_tracker.py

@@ -1,4 +1,3 @@
-import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
@@ -32,7 +31,7 @@ class ResourceDictPositionObject(BaseModel):
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
-    layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
+    layout: Literal["2d"] = Field(description="Resource layout", default="2d")
     position: ResourceDictPositionObject = Field(
         description="Resource position", default_factory=ResourceDictPositionObject
     )
@@ -42,9 +41,6 @@ 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"
-    )
 
 
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -53,9 +49,7 @@ 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"
-    )
+    schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
     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
@@ -63,10 +57,8 @@ class ResourceDict(BaseModel):
     type: Literal["device"] | str = Field(description="Resource type")
     klass: str = Field(alias="class", description="Resource class name")
     position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
-    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"]):
@@ -143,16 +135,12 @@ 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))
 
     def get_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
         res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
         res_dict["position"] = self.res_content.position.position.model_dump()
         return res_dict
@@ -225,7 +213,7 @@ class ResourceTreeInstance(object):
             if node.res_content.uuid:
                 known_uuids.add(node.res_content.uuid)
             else:
-                logger.warning(f"警告: 资源 {node.res_content.id} 没有uuid")
+                print(f"警告: 资源 {node.res_content.id} 没有uuid")
 
             # 验证并递归处理子节点
             for child in node.children:
@@ -301,6 +289,8 @@ class ResourceTreeSet(object):
         elif isinstance(resource_list[0], ResourceTreeInstance):
             # 已经是ResourceTree列表
             self.trees = cast(List[ResourceTreeInstance], resource_list)
+        elif isinstance(resource_list[0], list):
+            pass
         else:
             raise TypeError(
                 f"不支持的类型: {type(resource_list[0])}。"
@@ -317,52 +307,27 @@ class ResourceTreeSet(object):
             replace_info = {
                 "plate": "plate",
                 "well": "well",
+                "tip_spot": "container",
+                "trash": "container",
                 "deck": "deck",
-                "tip_rack": "tip_rack",
-                "tip_spot": "tip_spot",
-                "tube": "tube",
-                "bottle_carrier": "bottle_carrier",
+                "tip_rack": "container",
             }
             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 source
+                return "container"
 
-        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()}")
-
-            # 获取unilabos_extra，默认为空字典
-            extra = getattr(res, "unilabos_extra", {})
-
-            uuid_list.append((uid, parent_uuid, extra))
+        def build_uuid_mapping(res: "PLRResource", uuid_list: list):
+            """递归构建uuid映射字典"""
+            uuid_list.append(getattr(res, "unilabos_uuid", ""))
             for child in res.children:
-                build_uuid_mapping(child, uuid_list, uid)
+                build_uuid_mapping(child, uuid_list)
 
         def resource_plr_inner(
             d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
         ) -> ResourceDictInstance:
-            current_uuid, parent_uuid, extra = uuids.pop(0)
-
-            raw_pos = (
-                {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
-                if d["location"]
-                else {"x": 0, "y": 0, "z": 0}
-            )
-            pos = {
-                "size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
-                "scale": {"x": 1.0, "y": 1.0, "z": 1.0},
-                "layout": d.get("layout", "x-y"),
-                "position": raw_pos,
-                "position3d": raw_pos,
-                "rotation": d["rotation"],
-                "cross_section_type": d.get("cross_section_type", "rectangle"),
-            }
+            current_uuid = uuids.pop(0)
 
             # 先构建当前节点的字典（不包含children）
             r_dict = {
@@ -370,30 +335,15 @@ 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",
-                    ]
-                },
+                "position": (
+                    {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
+                    if d["location"]
+                    else {"x": 0, "y": 0, "z": 0}
+                ),
+                "config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
                 "data": states[d["name"]],
-                "extra": extra,
             }
 
             # 先转换为 ResourceDictInstance，获取其中的 ResourceDict
@@ -411,7 +361,7 @@ class ResourceTreeSet(object):
         for resource in resources:
             # 构建uuid列表
             uuid_list = []
-            build_uuid_mapping(resource, uuid_list, getattr(resource.parent, "unilabos_uuid", None))
+            build_uuid_mapping(resource, uuid_list)
 
             serialized_data = resource.serialize()
             all_states = resource.serialize_all_state()
@@ -434,27 +384,25 @@ class ResourceTreeSet(object):
         import inspect
 
         # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
+        TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
 
-        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"""
+        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"""
             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, name_to_extra)
+                collect_node_data(child, name_to_uuid, all_states)
 
         def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
             """转换节点为 PLR 字典格式"""
             res = node.res_content
-            plr_type = TYPE_MAP.get(res.type, res.type)
+            plr_type = TYPE_MAP.get(res.type, "tip_spot")
             if res.type not in TYPE_MAP:
-                logger.warning(f"未知类型 {res.type}")
+                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
 
             d = {
-                **res.config,
                 "name": res.name,
-                "type": res.config.get("type", plr_type),
+                "type": plr_type,
                 "size_x": res.config.get("size_x", 0),
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
@@ -465,38 +413,36 @@ class ResourceTreeSet(object):
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-                "category": res.config.get("category", plr_type),
+                "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] = {}
-            name_to_extra: Dict[str, dict] = {}
-            collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra)
+            collect_node_data(tree.root_node, name_to_uuid, all_states)
             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")
                 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 和 Extra
+                # 使用 DeviceNodeResourceTracker 设置 UUID
                 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:
@@ -769,9 +715,16 @@ class ResourceTreeSet(object):
         Returns:
             ResourceTreeSet: 反序列化后的资源树集合
         """
+        # 将每个字典转换为 ResourceInstanceDict
+        # FIXME: 需要重新确定parent关系
         nested_lists = []
         for tree_data in data:
-            nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees)
+            flatten_instances = [
+                ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
+            ]
+            nested_lists.append(flatten_instances)
+
+        # 使用现有的构造函数创建 ResourceTreeSet
         return cls(nested_lists)
 
 
@@ -824,8 +777,7 @@ class DeviceNodeResourceTracker(object):
         else:
             return getattr(resource, uuid_attr, None)
 
-    @classmethod
-    def set_resource_uuid(cls, resource, new_uuid: str):
+    def _set_resource_uuid(self, resource, new_uuid: str):
         """
         设置资源的 uuid，统一处理 dict 和 instance 两种类型
 
@@ -838,26 +790,6 @@ 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):
-            # ⭐ 修复：合并extra而不是覆盖
-            current_extra = resource.get("extra", {})
-            current_extra.update(extra)
-            resource["extra"] = current_extra
-        else:
-            # ⭐ 修复：合并unilabos_extra而不是覆盖
-            current_extra = getattr(resource, "unilabos_extra", {})
-            current_extra.update(extra)
-            setattr(resource, "unilabos_extra", current_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
@@ -898,7 +830,7 @@ class DeviceNodeResourceTracker(object):
             resource_name = self._get_resource_attr(res, "name")
             if resource_name and resource_name in name_to_uuid_map:
                 new_uuid = name_to_uuid_map[resource_name]
-                self.set_resource_uuid(res, new_uuid)
+                self._set_resource_uuid(res, new_uuid)
                 self.uuid_to_resources[new_uuid] = res
                 logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
                 return 1
@@ -906,34 +838,11 @@ 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
 
-        Args:0
+        Args:
             resource: 资源对象（可以是dict或实例）
             uuid_map: uuid映射字典，{old_uuid: new_uuid}
 
@@ -943,18 +852,17 @@ class DeviceNodeResourceTracker(object):
 
         def process(res):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
-            replaced = 0
             if current_uuid and current_uuid in uuid_map:
                 new_uuid = uuid_map[current_uuid]
                 if current_uuid != new_uuid:
-                    self.set_resource_uuid(res, new_uuid)
+                    self._set_resource_uuid(res, new_uuid)
                     # 更新uuid_to_resources映射
                     if current_uuid in self.uuid_to_resources:
                         self.uuid_to_resources.pop(current_uuid)
                     self.uuid_to_resources[new_uuid] = res
                     logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}")
-                    replaced = 1
-            return replaced
+                    return 1
+            return 0
 
         return self._traverse_and_process(resource, process)
 
@@ -969,11 +877,8 @@ class DeviceNodeResourceTracker(object):
         def process(res):
             current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
             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}")
             return 0
 
         self._traverse_and_process(resource, process)
@@ -1008,23 +913,9 @@ class DeviceNodeResourceTracker(object):
         Args:
             resource: 资源对象（可以是dict或实例）
         """
-        root_uuids = {}
         for r in self.resources:
-            res_uuid = r.get("uuid") if isinstance(r, dict) else getattr(r, "unilabos_uuid", None)
-            if res_uuid:
-                root_uuids[res_uuid] = r
             if id(r) == id(resource):
                 return
-
-        # 这里只做uuid的根节点比较
-        if isinstance(resource, dict):
-            res_uuid = resource.get("uuid")
-        else:
-            res_uuid = getattr(resource, "unilabos_uuid", None)
-        if res_uuid in root_uuids:
-            old_res = root_uuids[res_uuid]
-            # self.remove_resource(old_res)
-            logger.warning(f"资源{resource}已存在，旧资源: {old_res}")
         self.resources.append(resource)
         # 递归收集uuid映射
         self._collect_uuid_mapping(resource)
@@ -1155,19 +1046,13 @@ class DeviceNodeResourceTracker(object):
     ) -> List[Tuple[Any, Any]]:
         res_list = []
         # print(resource, target_resource_cls_type, identifier_key, compare_value)
-        children = []
-        if not isinstance(resource, dict):
-            children = getattr(resource, "children", [])
-        else:
-            children = resource.get("children")
-            if children is not None:
-                children = list(children.values()) if isinstance(children, dict) else children
+        children = getattr(resource, "children", [])
         for child in children:
             res_list.extend(
                 self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
             )
         if issubclass(type(resource), target_resource_cls_type):
-            if type(resource) == dict:
+            if target_resource_cls_type == dict:
                 # 对于字典类型，直接检查 identifier_key
                 if identifier_key in resource:
                     if resource[identifier_key] == compare_value:

unilabos/ros/utils/driver_creator.py

@@ -336,9 +336,6 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for material_id, child in self.children.items():
-                if child["type"] != "device":
-                    self.resource_tracker.add_resource(self.children[material_id])
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/utils/async_util.py

@@ -0,0 +1,22 @@
+import asyncio
+import traceback
+from asyncio import get_event_loop
+
+from unilabos.utils.log import error
+
+
+def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
+    if loop is None:
+        loop = get_event_loop()
+
+    def _handle_future_exception(fut):
+        try:
+            fut.result()
+        except Exception as e:
+            error(f"异步任务 {func.__name__} 报错了")
+            error(traceback.format_exc())
+
+    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
+    if trace_error:
+        future.add_done_callback(_handle_future_exception)
+    return future