Merge branch 'dev' into feature/organic-extraction

* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>

.conda/base/recipe.yaml

@@ -46,7 +46,7 @@ requirements:
   - jinja2
   - requests
   - uvicorn
-  - opcua
+  - opcua # [not osx]
   - pyserial
   - pandas
   - pymodbus

.cursor/rules/device-drivers.mdc

@@ -0,0 +1,328 @@
+---
+description: 设备驱动开发规范
+globs: ["unilabos/devices/**/*.py"]
+---
+
+# 设备驱动开发规范
+
+## 目录结构
+
+```
+unilabos/devices/
+├── virtual/           # 虚拟设备（用于测试）
+│   ├── virtual_stirrer.py
+│   └── virtual_centrifuge.py
+├── liquid_handling/   # 液体处理设备
+├── balance/           # 天平设备
+├── hplc/              # HPLC设备
+├── pump_and_valve/    # 泵和阀门
+├── temperature/       # 温度控制设备
+├── workstation/       # 工作站（组合设备）
+└── ...
+```
+
+## 设备类完整模板
+
+```python
+import asyncio
+import logging
+import time as time_module
+from typing import Dict, Any, Optional
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+
+class MyDevice:
+    """
+    设备类描述
+
+    Attributes:
+        device_id: 设备唯一标识
+        config: 设备配置字典
+        data: 设备状态数据
+    """
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(
+        self,
+        device_id: str = None,
+        config: Dict[str, Any] = None,
+        **kwargs
+    ):
+        """
+        初始化设备
+
+        Args:
+            device_id: 设备ID
+            config: 配置字典
+            **kwargs: 其他参数
+        """
+        # 兼容不同调用方式
+        if device_id is None and 'id' in kwargs:
+            device_id = kwargs.pop('id')
+        if config is None and 'config' in kwargs:
+            config = kwargs.pop('config')
+
+        self.device_id = device_id or "unknown_device"
+        self.config = config or {}
+        self.data = {}
+
+        # 从config读取参数
+        self.port = self.config.get('port') or kwargs.get('port', 'COM1')
+        self._max_value = self.config.get('max_value', 1000.0)
+
+        # 初始化日志
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+
+        self.logger.info(f"设备 {self.device_id} 已创建")
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """
+        ROS节点注入 - 在ROS节点创建后调用
+
+        Args:
+            ros_node: ROS2设备节点实例
+        """
+        self._ros_node = ros_node
+
+    async def initialize(self) -> bool:
+        """
+        初始化设备 - 连接硬件、设置初始状态
+
+        Returns:
+            bool: 初始化是否成功
+        """
+        self.logger.info(f"初始化设备 {self.device_id}")
+
+        try:
+            # 执行硬件初始化
+            # await self._connect_hardware()
+
+            # 设置初始状态
+            self.data.update({
+                "status": "待机",
+                "is_running": False,
+                "current_value": 0.0,
+            })
+
+            self.logger.info(f"设备 {self.device_id} 初始化完成")
+            return True
+
+        except Exception as e:
+            self.logger.error(f"初始化失败: {e}")
+            self.data["status"] = f"错误: {e}"
+            return False
+
+    async def cleanup(self) -> bool:
+        """
+        清理设备 - 断开连接、释放资源
+
+        Returns:
+            bool: 清理是否成功
+        """
+        self.logger.info(f"清理设备 {self.device_id}")
+
+        self.data.update({
+            "status": "离线",
+            "is_running": False,
+        })
+
+        return True
+
+    # ==================== 设备动作 ====================
+
+    async def execute_action(
+        self,
+        param1: float,
+        param2: str = "",
+        **kwargs
+    ) -> bool:
+        """
+        执行设备动作
+
+        Args:
+            param1: 参数1
+            param2: 参数2（可选）
+
+        Returns:
+            bool: 动作是否成功
+        """
+        # 类型转换和验证
+        try:
+            param1 = float(param1)
+        except (ValueError, TypeError) as e:
+            self.logger.error(f"参数类型错误: {e}")
+            return False
+
+        # 参数验证
+        if param1 > self._max_value:
+            self.logger.error(f"参数超出范围: {param1} > {self._max_value}")
+            return False
+
+        self.logger.info(f"执行动作: param1={param1}, param2={param2}")
+
+        # 更新状态
+        self.data.update({
+            "status": "运行中",
+            "is_running": True,
+        })
+
+        # 执行动作（带进度反馈）
+        duration = 10.0  # 秒
+        start_time = time_module.time()
+
+        while True:
+            elapsed = time_module.time() - start_time
+            remaining = max(0, duration - elapsed)
+            progress = min(100, (elapsed / duration) * 100)
+
+            self.data.update({
+                "status": f"运行中: {progress:.0f}%",
+                "remaining_time": remaining,
+            })
+
+            if remaining <= 0:
+                break
+
+            await self._ros_node.sleep(1.0)
+
+        # 完成
+        self.data.update({
+            "status": "完成",
+            "is_running": False,
+        })
+
+        self.logger.info("动作执行完成")
+        return True
+
+    # ==================== 状态属性 ====================
+
+    @property
+    def status(self) -> str:
+        """设备状态 - 自动发布为ROS Topic"""
+        return self.data.get("status", "未知")
+
+    @property
+    def is_running(self) -> bool:
+        """是否正在运行"""
+        return self.data.get("is_running", False)
+
+    @property
+    def current_value(self) -> float:
+        """当前值"""
+        return self.data.get("current_value", 0.0)
+
+    # ==================== 辅助方法 ====================
+
+    def get_device_info(self) -> Dict[str, Any]:
+        """获取设备信息"""
+        return {
+            "device_id": self.device_id,
+            "status": self.status,
+            "is_running": self.is_running,
+            "current_value": self.current_value,
+        }
+
+    def __str__(self) -> str:
+        return f"MyDevice({self.device_id}: {self.status})"
+```
+
+## 关键规则
+
+### 1. 参数处理
+
+所有动作方法的参数都可能以字符串形式传入，必须进行类型转换：
+
+```python
+async def my_action(self, value: float, **kwargs) -> bool:
+    # 始终进行类型转换
+    try:
+        value = float(value)
+    except (ValueError, TypeError) as e:
+        self.logger.error(f"参数类型错误: {e}")
+        return False
+```
+
+### 2. vessel 参数处理
+
+vessel 参数可能是字符串ID或字典：
+
+```python
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    if isinstance(vessel, dict):
+        return vessel.get("id", "")
+    return str(vessel) if vessel else ""
+```
+
+### 3. 状态更新
+
+使用 `self.data` 字典存储状态，属性读取状态：
+
+```python
+# 更新状态
+self.data["status"] = "运行中"
+self.data["current_speed"] = 300.0
+
+# 读取状态（通过属性）
+@property
+def status(self) -> str:
+    return self.data.get("status", "待机")
+```
+
+### 4. 异步等待
+
+使用 ROS 节点的 sleep 方法：
+
+```python
+# 正确
+await self._ros_node.sleep(1.0)
+
+# 避免（除非在纯 Python 测试环境）
+await asyncio.sleep(1.0)
+```
+
+### 5. 进度反馈
+
+长时间运行的操作需要提供进度反馈：
+
+```python
+while remaining > 0:
+    progress = (elapsed / total_time) * 100
+    self.data["status"] = f"运行中: {progress:.0f}%"
+    self.data["remaining_time"] = remaining
+
+    await self._ros_node.sleep(1.0)
+```
+
+## 虚拟设备
+
+虚拟设备用于测试和演示，放在 `unilabos/devices/virtual/` 目录：
+
+- 类名以 `Virtual` 开头
+- 文件名以 `virtual_` 开头
+- 模拟真实设备的行为和时序
+- 使用表情符号增强日志可读性（可选）
+
+## 工作站设备
+
+工作站是组合多个设备的复杂设备：
+
+```python
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+class MyWorkstation(WorkstationBase):
+    """组合工作站"""
+
+    async def execute_workflow(self, workflow: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+```
+
+## 设备注册
+
+设备类开发完成后，需要在注册表中注册：
+
+1. 创建/编辑 `unilabos/registry/devices/my_category.yaml`
+2. 添加设备配置（参考 `virtual_device.yaml`）
+3. 运行 `--complete_registry` 自动生成 schema

.cursor/rules/protocol-development.mdc

@@ -0,0 +1,240 @@
+---
+description: 协议编译器开发规范
+globs: ["unilabos/compile/**/*.py"]
+---
+
+# 协议编译器开发规范
+
+## 概述
+
+协议编译器负责将高级实验操作（如 Stir、Add、Filter）编译为设备可执行的动作序列。
+
+## 文件命名
+
+- 位置: `unilabos/compile/`
+- 命名: `{operation}_protocol.py`
+- 示例: `stir_protocol.py`, `add_protocol.py`, `filter_protocol.py`
+
+## 协议函数模板
+
+```python
+from typing import List, Dict, Any, Union
+import networkx as nx
+import logging
+
+from .utils.unit_parser import parse_time_input
+from .utils.vessel_parser import extract_vessel_id
+
+logger = logging.getLogger(__name__)
+
+
+def generate_{operation}_protocol(
+    G: nx.DiGraph,
+    vessel: Union[str, dict],
+    param1: Union[str, float] = "0",
+    param2: float = 0.0,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成{操作}协议序列
+
+    Args:
+        G: 物理拓扑图 (NetworkX DiGraph)
+        vessel: 容器ID或Resource字典
+        param1: 参数1（支持字符串单位，如 "5 min"）
+        param2: 参数2
+        **kwargs: 其他参数
+
+    Returns:
+        List[Dict]: 动作序列
+
+    Raises:
+        ValueError: 参数无效时
+    """
+    # 1. 提取 vessel_id
+    vessel_id = extract_vessel_id(vessel)
+
+    # 2. 验证参数
+    if not vessel_id:
+        raise ValueError("vessel 参数不能为空")
+
+    if vessel_id not in G.nodes():
+        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
+
+    # 3. 解析参数（支持单位）
+    parsed_param1 = parse_time_input(param1)  # "5 min" -> 300.0
+
+    # 4. 查找设备
+    device_id = find_connected_device(G, vessel_id, device_type="my_device")
+
+    # 5. 生成动作序列
+    action_sequence = []
+
+    action = {
+        "device_id": device_id,
+        "action_name": "my_action",
+        "action_kwargs": {
+            "vessel": {"id": vessel_id},  # 始终使用字典格式
+            "param1": float(parsed_param1),
+            "param2": float(param2),
+        }
+    }
+    action_sequence.append(action)
+
+    logger.info(f"生成协议: {len(action_sequence)} 个动作")
+    return action_sequence
+
+
+def find_connected_device(
+    G: nx.DiGraph,
+    vessel_id: str,
+    device_type: str = ""
+) -> str:
+    """
+    查找与容器相连的设备
+
+    Args:
+        G: 拓扑图
+        vessel_id: 容器ID
+        device_type: 设备类型关键字
+
+    Returns:
+        str: 设备ID
+    """
+    # 查找所有匹配类型的设备
+    device_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '') or ''
+        if device_type.lower() in node_class.lower():
+            device_nodes.append(node)
+
+    # 检查连接
+    if vessel_id and device_nodes:
+        for device in device_nodes:
+            if G.has_edge(device, vessel_id) or G.has_edge(vessel_id, device):
+                return device
+
+    # 返回第一个可用设备
+    if device_nodes:
+        return device_nodes[0]
+
+    # 默认设备
+    return f"{device_type}_1"
+```
+
+## 关键规则
+
+### 1. vessel 参数处理
+
+vessel 参数可能是字符串或字典，需要统一处理：
+
+```python
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """提取vessel_id"""
+    if isinstance(vessel, dict):
+        # 可能是 {"id": "xxx"} 或完整 Resource 对象
+        return vessel.get("id", list(vessel.values())[0].get("id", ""))
+    return str(vessel) if vessel else ""
+```
+
+### 2. action_kwargs 中的 vessel
+
+始终使用 `{"id": vessel_id}` 格式传递 vessel：
+
+```python
+# 正确
+"action_kwargs": {
+    "vessel": {"id": vessel_id},  # 字符串ID包装为字典
+}
+
+# 避免
+"action_kwargs": {
+    "vessel": vessel_resource,  # 不要传递完整 Resource 对象
+}
+```
+
+### 3. 单位解析
+
+使用 `parse_time_input` 解析时间参数：
+
+```python
+from .utils.unit_parser import parse_time_input
+
+# 支持格式: "5 min", "1 h", "300", "1.5 hours"
+time_seconds = parse_time_input("5 min")  # -> 300.0
+time_seconds = parse_time_input(120)      # -> 120.0
+time_seconds = parse_time_input("1 h")    # -> 3600.0
+```
+
+### 4. 参数验证
+
+所有参数必须进行验证和类型转换：
+
+```python
+# 验证范围
+if speed < 10.0 or speed > 1500.0:
+    logger.warning(f"速度 {speed} 超出范围，修正为 300")
+    speed = 300.0
+
+# 类型转换
+param = float(param) if not isinstance(param, (int, float)) else param
+```
+
+### 5. 日志记录
+
+使用项目日志记录器：
+
+```python
+logger = logging.getLogger(__name__)
+
+def generate_protocol(...):
+    logger.info(f"开始生成协议...")
+    logger.debug(f"参数: vessel={vessel_id}, time={time}")
+    logger.warning(f"参数修正: {old_value} -> {new_value}")
+```
+
+## 便捷函数
+
+为常用操作提供便捷函数：
+
+```python
+def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict],
+                speed: float = 300.0) -> List[Dict[str, Any]]:
+    """短时间搅拌（30秒）"""
+    return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
+
+def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict],
+                   time: str = "5 min") -> List[Dict[str, Any]]:
+    """剧烈搅拌"""
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
+```
+
+## 测试函数
+
+每个协议文件应包含测试函数：
+
+```python
+def test_{operation}_protocol():
+    """测试协议生成"""
+    # 测试参数处理
+    vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
+    vessel_id = extract_vessel_id(vessel_dict)
+    assert vessel_id == "flask_1"
+
+    # 测试单位解析
+    time_s = parse_time_input("5 min")
+    assert time_s == 300.0
+
+
+if __name__ == "__main__":
+    test_{operation}_protocol()
+```
+
+## 现有协议参考
+
+- `stir_protocol.py` - 搅拌操作
+- `add_protocol.py` - 添加物料
+- `filter_protocol.py` - 过滤操作
+- `heatchill_protocol.py` - 加热/冷却
+- `separate_protocol.py` - 分离操作
+- `evaporate_protocol.py` - 蒸发操作

.cursor/rules/registry-config.mdc

@@ -0,0 +1,319 @@
+---
+description: 注册表配置规范 (YAML)
+globs: ["unilabos/registry/**/*.yaml"]
+---
+
+# 注册表配置规范
+
+## 概述
+
+注册表使用 YAML 格式定义设备和资源类型，是 Uni-Lab-OS 的核心配置系统。
+
+## 目录结构
+
+```
+unilabos/registry/
+├── devices/              # 设备类型注册
+│   ├── virtual_device.yaml
+│   ├── liquid_handler.yaml
+│   └── ...
+├── device_comms/         # 通信设备配置
+│   ├── communication_devices.yaml
+│   └── modbus_ioboard.yaml
+└── resources/            # 资源类型注册
+    ├── bioyond/
+    ├── organic/
+    ├── opentrons/
+    └── ...
+```
+
+## 设备注册表格式
+
+### 基本结构
+
+```yaml
+device_type_id:
+  # 基本信息
+  description: "设备描述"
+  version: "1.0.0"
+  category:
+    - category_name
+  icon: "icon_device.webp"
+
+  # 类配置
+  class:
+    module: "unilabos.devices.my_module:MyClass"
+    type: python
+
+    # 状态类型（属性 -> ROS消息类型）
+    status_types:
+      status: String
+      temperature: Float64
+      is_running: Bool
+
+    # 动作映射
+    action_value_mappings:
+      action_name:
+        type: UniLabJsonCommand  # 或 UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema: {...}
+        handles: {}
+```
+
+### action_value_mappings 详细格式
+
+```yaml
+action_value_mappings:
+  # 同步动作
+  my_sync_action:
+    type: UniLabJsonCommand
+    goal:
+      param1: param1
+      param2: param2
+    feedback: {}
+    result:
+      success: success
+      message: message
+    goal_default:
+      param1: 0.0
+      param2: ""
+    handles: {}
+    placeholder_keys:
+      device_param: unilabos_devices   # 设备选择器
+      resource_param: unilabos_resources  # 资源选择器
+    schema:
+      title: "动作名称参数"
+      description: "动作描述"
+      type: object
+      properties:
+        goal:
+          type: object
+          properties:
+            param1:
+              type: number
+            param2:
+              type: string
+          required:
+            - param1
+        feedback: {}
+        result:
+          type: object
+          properties:
+            success:
+              type: boolean
+            message:
+              type: string
+      required:
+        - goal
+
+  # 异步动作
+  my_async_action:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback:
+      progress: progress
+      current_status: status
+    result:
+      success: success
+    schema: {...}
+```
+
+### 自动生成的动作
+
+以 `auto-` 开头的动作由系统自动生成：
+
+```yaml
+action_value_mappings:
+  auto-initialize:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback: {}
+    result: {}
+    schema: {...}
+
+  auto-cleanup:
+    type: UniLabJsonCommandAsync
+    goal: {}
+    feedback: {}
+    result: {}
+    schema: {...}
+```
+
+### handles 配置
+
+用于工作流编辑器中的数据流连接：
+
+```yaml
+handles:
+  input:
+    - handler_key: "input_resource"
+      data_type: "resource"
+      label: "输入资源"
+      data_source: "handle"
+      data_key: "resources"
+  output:
+    - handler_key: "output_labware"
+      data_type: "resource"
+      label: "输出器皿"
+      data_source: "executor"
+      data_key: "created_resource.@flatten"
+```
+
+## 资源注册表格式
+
+```yaml
+resource_type_id:
+  description: "资源描述"
+  version: "1.0.0"
+  category:
+    - category_name
+  icon: ""
+  handles: []
+  init_param_schema: {}
+
+  class:
+    module: "unilabos.resources.my_module:MyResource"
+    type: pylabrobot  # 或 python
+```
+
+### PyLabRobot 资源示例
+
+```yaml
+BIOYOND_Electrolyte_6VialCarrier:
+  category:
+    - bottle_carriers
+    - bioyond
+  class:
+    module: "unilabos.resources.bioyond.bottle_carriers:BIOYOND_Electrolyte_6VialCarrier"
+    type: pylabrobot
+  version: "1.0.0"
+```
+
+## 状态类型映射
+
+Python 类型到 ROS 消息类型的映射：
+
+| Python 类型 | ROS 消息类型 |
+|------------|-------------|
+| `str` | `String` |
+| `bool` | `Bool` |
+| `int` | `Int64` |
+| `float` | `Float64` |
+| `list` | `String` (序列化) |
+| `dict` | `String` (序列化) |
+
+## 自动完善注册表
+
+使用 `--complete_registry` 参数自动生成 schema：
+
+```bash
+python -m unilabos.app.main --complete_registry
+```
+
+这会：
+1. 扫描设备类的方法签名
+2. 自动生成 `auto-` 前缀的动作
+3. 生成 JSON Schema
+4. 更新 YAML 文件
+
+## 验证规则
+
+1. **device_type_id** 必须唯一
+2. **module** 路径必须正确可导入
+3. **status_types** 的类型必须是有效的 ROS 消息类型
+4. **schema** 必须是有效的 JSON Schema
+
+## 示例：完整设备配置
+
+```yaml
+virtual_stirrer:
+  category:
+    - virtual_device
+  description: "虚拟搅拌器设备"
+  version: "1.0.0"
+  icon: "icon_stirrer.webp"
+  handles: []
+  init_param_schema: {}
+
+  class:
+    module: "unilabos.devices.virtual.virtual_stirrer:VirtualStirrer"
+    type: python
+
+    status_types:
+      status: String
+      operation_mode: String
+      current_speed: Float64
+      is_stirring: Bool
+      remaining_time: Float64
+
+    action_value_mappings:
+      auto-initialize:
+        type: UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema:
+          title: "initialize参数"
+          type: object
+          properties:
+            goal:
+              type: object
+              properties: {}
+            feedback: {}
+            result: {}
+          required:
+            - goal
+
+      stir:
+        type: UniLabJsonCommandAsync
+        goal:
+          stir_time: stir_time
+          stir_speed: stir_speed
+          settling_time: settling_time
+        feedback:
+          current_speed: current_speed
+          remaining_time: remaining_time
+        result:
+          success: success
+        goal_default:
+          stir_time: 60.0
+          stir_speed: 300.0
+          settling_time: 30.0
+        handles: {}
+        schema:
+          title: "stir参数"
+          description: "搅拌操作"
+          type: object
+          properties:
+            goal:
+              type: object
+              properties:
+                stir_time:
+                  type: number
+                  description: "搅拌时间（秒）"
+                stir_speed:
+                  type: number
+                  description: "搅拌速度（RPM）"
+                settling_time:
+                  type: number
+                  description: "沉降时间（秒）"
+              required:
+                - stir_time
+                - stir_speed
+            feedback:
+              type: object
+              properties:
+                current_speed:
+                  type: number
+                remaining_time:
+                  type: number
+            result:
+              type: object
+              properties:
+                success:
+                  type: boolean
+          required:
+            - goal
+```

.cursor/rules/ros-integration.mdc

@@ -0,0 +1,233 @@
+---
+description: ROS 2 集成开发规范
+globs: ["unilabos/ros/**/*.py", "**/*_node.py"]
+---
+
+# ROS 2 集成开发规范
+
+## 概述
+
+Uni-Lab-OS 使用 ROS 2 作为设备通信中间件，基于 rclpy 实现。
+
+## 核心组件
+
+### BaseROS2DeviceNode
+
+设备节点基类，提供：
+- ROS Topic 自动发布（状态属性）
+- Action Server 自动创建（设备动作）
+- 资源管理服务
+- 异步任务调度
+
+```python
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+```
+
+### 消息转换器
+
+```python
+from unilabos.ros.msgs.message_converter import (
+    convert_to_ros_msg,
+    convert_from_ros_msg_with_mapping,
+    msg_converter_manager,
+    ros_action_to_json_schema,
+    ros_message_to_json_schema,
+)
+```
+
+## 设备与 ROS 集成
+
+### post_init 方法
+
+设备类必须实现 `post_init` 方法接收 ROS 节点：
+
+```python
+class MyDevice:
+    _ros_node: BaseROS2DeviceNode
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """ROS节点注入"""
+        self._ros_node = ros_node
+```
+
+### 状态属性发布
+
+设备的 `@property` 属性会自动发布为 ROS Topic：
+
+```python
+class MyDevice:
+    @property
+    def temperature(self) -> float:
+        return self._temperature
+
+    # 自动发布到 /{namespace}/temperature Topic
+```
+
+### Topic 配置装饰器
+
+```python
+from unilabos.utils.decorator import topic_config
+
+class MyDevice:
+    @property
+    @topic_config(period=1.0, print_publish=False, qos=10)
+    def fast_data(self) -> float:
+        """高频数据 - 每秒发布一次"""
+        return self._fast_data
+
+    @property
+    @topic_config(period=5.0)
+    def slow_data(self) -> str:
+        """低频数据 - 每5秒发布一次"""
+        return self._slow_data
+```
+
+### 订阅装饰器
+
+```python
+from unilabos.utils.decorator import subscribe
+
+class MyDevice:
+    @subscribe(topic="/external/sensor_data", qos=10)
+    def on_sensor_data(self, msg):
+        """订阅外部Topic"""
+        self._sensor_value = msg.data
+```
+
+## 异步操作
+
+### 使用 ROS 节点睡眠
+
+```python
+# 推荐：使用ROS节点的睡眠方法
+await self._ros_node.sleep(1.0)
+
+# 不推荐：直接使用asyncio（可能导致回调阻塞）
+await asyncio.sleep(1.0)
+```
+
+### 获取事件循环
+
+```python
+from unilabos.ros.x.rclpyx import get_event_loop
+
+loop = get_event_loop()
+```
+
+## 消息类型
+
+### unilabos_msgs 包
+
+```python
+from unilabos_msgs.msg import Resource
+from unilabos_msgs.srv import (
+    ResourceAdd,
+    ResourceDelete,
+    ResourceUpdate,
+    ResourceList,
+    SerialCommand,
+)
+from unilabos_msgs.action import SendCmd
+```
+
+### Resource 消息结构
+
+```python
+Resource:
+    id: str
+    name: str
+    category: str
+    type: str
+    parent: str
+    children: List[str]
+    config: str  # JSON字符串
+    data: str    # JSON字符串
+    sample_id: str
+    pose: Pose
+```
+
+## 日志适配器
+
+```python
+from unilabos.utils.log import info, debug, warning, error, trace
+
+class MyDevice:
+    def __init__(self):
+        # 创建设备专属日志器
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+```
+
+ROSLoggerAdapter 同时向自定义日志和 ROS 日志发送消息。
+
+## Action Server
+
+设备动作自动创建为 ROS Action Server：
+
+```yaml
+# 在注册表中配置
+action_value_mappings:
+  my_action:
+    type: UniLabJsonCommandAsync  # 异步Action
+    goal: {...}
+    feedback: {...}
+    result: {...}
+```
+
+### Action 类型
+
+- **UniLabJsonCommand**: 同步动作
+- **UniLabJsonCommandAsync**: 异步动作（支持feedback）
+
+## 服务客户端
+
+```python
+from rclpy.client import Client
+
+# 调用其他节点的服务
+response = await self._ros_node.call_service(
+    service_name="/other_node/service",
+    request=MyServiceRequest(...)
+)
+```
+
+## 命名空间
+
+设备节点使用命名空间隔离：
+
+```
+/{device_id}/                 # 设备命名空间
+/{device_id}/status          # 状态Topic
+/{device_id}/temperature     # 温度Topic
+/{device_id}/my_action       # 动作Server
+```
+
+## 调试
+
+### 查看 Topic
+
+```bash
+ros2 topic list
+ros2 topic echo /{device_id}/status
+```
+
+### 查看 Action
+
+```bash
+ros2 action list
+ros2 action info /{device_id}/my_action
+```
+
+### 查看 Service
+
+```bash
+ros2 service list
+ros2 service call /{device_id}/resource_list unilabos_msgs/srv/ResourceList
+```
+
+## 最佳实践
+
+1. **状态属性命名**: 使用蛇形命名法（snake_case）
+2. **Topic 频率**: 根据数据变化频率调整，避免过高频率
+3. **Action 反馈**: 长时间操作提供进度反馈
+4. **错误处理**: 使用 try-except 捕获并记录错误
+5. **资源清理**: 在 cleanup 方法中正确清理资源

.cursor/rules/testing-patterns.mdc

@@ -0,0 +1,357 @@
+---
+description: 测试开发规范
+globs: ["tests/**/*.py", "**/test_*.py"]
+---
+
+# 测试开发规范
+
+## 目录结构
+
+```
+tests/
+├── __init__.py
+├── devices/              # 设备测试
+│   └── liquid_handling/
+│       └── test_transfer_liquid.py
+├── resources/            # 资源测试
+│   ├── test_bottle_carrier.py
+│   └── test_resourcetreeset.py
+├── ros/                  # ROS消息测试
+│   └── msgs/
+│       ├── test_basic.py
+│       ├── test_conversion.py
+│       └── test_mapping.py
+└── workflow/             # 工作流测试
+    └── merge_workflow.py
+```
+
+## 测试框架
+
+使用 pytest 作为测试框架：
+
+```bash
+# 运行所有测试
+pytest tests/
+
+# 运行特定测试文件
+pytest tests/resources/test_bottle_carrier.py
+
+# 运行特定测试函数
+pytest tests/resources/test_bottle_carrier.py::test_bottle_carrier
+
+# 显示详细输出
+pytest -v tests/
+
+# 显示打印输出
+pytest -s tests/
+```
+
+## 测试文件模板
+
+```python
+import pytest
+from typing import List, Dict, Any
+
+# 导入被测试的模块
+from unilabos.resources.bioyond.bottle_carriers import (
+    BIOYOND_Electrolyte_6VialCarrier,
+)
+from unilabos.resources.bioyond.bottles import (
+    BIOYOND_PolymerStation_Solid_Vial,
+)
+
+
+class TestBottleCarrier:
+    """BottleCarrier 测试类"""
+
+    def setup_method(self):
+        """每个测试方法前执行"""
+        self.carrier = BIOYOND_Electrolyte_6VialCarrier("test_carrier")
+
+    def teardown_method(self):
+        """每个测试方法后执行"""
+        pass
+
+    def test_carrier_creation(self):
+        """测试载架创建"""
+        assert self.carrier.name == "test_carrier"
+        assert len(self.carrier.sites) == 6
+
+    def test_bottle_placement(self):
+        """测试瓶子放置"""
+        bottle = BIOYOND_PolymerStation_Solid_Vial("test_bottle")
+        # 测试逻辑...
+        assert bottle.name == "test_bottle"
+
+
+def test_standalone_function():
+    """独立测试函数"""
+    result = some_function()
+    assert result is True
+
+
+# 参数化测试
+@pytest.mark.parametrize("input,expected", [
+    ("5 min", 300.0),
+    ("1 h", 3600.0),
+    ("120", 120.0),
+    (60, 60.0),
+])
+def test_time_parsing(input, expected):
+    """测试时间解析"""
+    from unilabos.compile.utils.unit_parser import parse_time_input
+    assert parse_time_input(input) == expected
+
+
+# 异常测试
+def test_invalid_input_raises_error():
+    """测试无效输入抛出异常"""
+    with pytest.raises(ValueError) as exc_info:
+        invalid_function("bad_input")
+    assert "invalid" in str(exc_info.value).lower()
+
+
+# 跳过条件测试
+@pytest.mark.skipif(
+    not os.environ.get("ROS_DISTRO"),
+    reason="需要ROS环境"
+)
+def test_ros_feature():
+    """需要ROS环境的测试"""
+    pass
+```
+
+## 设备测试
+
+### 虚拟设备测试
+
+```python
+import pytest
+import asyncio
+from unittest.mock import MagicMock, AsyncMock
+
+from unilabos.devices.virtual.virtual_stirrer import VirtualStirrer
+
+
+class TestVirtualStirrer:
+    """VirtualStirrer 测试"""
+
+    @pytest.fixture
+    def stirrer(self):
+        """创建测试用搅拌器"""
+        device = VirtualStirrer(
+            device_id="test_stirrer",
+            config={"max_speed": 1500.0, "min_speed": 50.0}
+        )
+
+        # Mock ROS节点
+        mock_node = MagicMock()
+        mock_node.sleep = AsyncMock(return_value=None)
+        device.post_init(mock_node)
+
+        return device
+
+    @pytest.mark.asyncio
+    async def test_initialize(self, stirrer):
+        """测试初始化"""
+        result = await stirrer.initialize()
+        assert result is True
+        assert stirrer.status == "待机中"
+
+    @pytest.mark.asyncio
+    async def test_stir_action(self, stirrer):
+        """测试搅拌动作"""
+        await stirrer.initialize()
+
+        result = await stirrer.stir(
+            stir_time=5.0,
+            stir_speed=300.0,
+            settling_time=2.0
+        )
+
+        assert result is True
+        assert stirrer.operation_mode == "Completed"
+
+    @pytest.mark.asyncio
+    async def test_stir_invalid_speed(self, stirrer):
+        """测试无效速度"""
+        await stirrer.initialize()
+
+        # 速度超出范围
+        result = await stirrer.stir(
+            stir_time=5.0,
+            stir_speed=2000.0,  # 超过max_speed
+            settling_time=0.0
+        )
+
+        assert result is False
+        assert "错误" in stirrer.status
+```
+
+### 异步测试配置
+
+```python
+# conftest.py
+import pytest
+import asyncio
+
+
+@pytest.fixture(scope="session")
+def event_loop():
+    """创建事件循环"""
+    loop = asyncio.get_event_loop_policy().new_event_loop()
+    yield loop
+    loop.close()
+```
+
+## 资源测试
+
+```python
+import pytest
+from unilabos.resources.resource_tracker import (
+    ResourceTreeSet,
+    ResourceTreeInstance,
+)
+
+
+def test_resource_tree_creation():
+    """测试资源树创建"""
+    tree_set = ResourceTreeSet()
+
+    # 添加资源
+    resource = {"id": "res_1", "name": "Resource 1"}
+    tree_set.add_resource(resource)
+
+    # 验证
+    assert len(tree_set.all_nodes) == 1
+    assert tree_set.get_resource("res_1") is not None
+
+
+def test_resource_tree_merge():
+    """测试资源树合并"""
+    local_set = ResourceTreeSet()
+    remote_set = ResourceTreeSet()
+
+    # 设置数据...
+
+    local_set.merge_remote_resources(remote_set)
+
+    # 验证合并结果...
+```
+
+## ROS 消息测试
+
+```python
+import pytest
+from unilabos.ros.msgs.message_converter import (
+    convert_to_ros_msg,
+    convert_from_ros_msg_with_mapping,
+    msg_converter_manager,
+)
+
+
+def test_message_conversion():
+    """测试消息转换"""
+    # Python -> ROS
+    python_data = {"id": "test", "value": 42}
+    ros_msg = convert_to_ros_msg(python_data, MyMsgType)
+
+    assert ros_msg.id == "test"
+    assert ros_msg.value == 42
+
+    # ROS -> Python
+    result = convert_from_ros_msg_with_mapping(ros_msg, mapping)
+    assert result["id"] == "test"
+```
+
+## 协议测试
+
+```python
+import pytest
+import networkx as nx
+from unilabos.compile.stir_protocol import (
+    generate_stir_protocol,
+    extract_vessel_id,
+)
+
+
+@pytest.fixture
+def topology_graph():
+    """创建测试拓扑图"""
+    G = nx.DiGraph()
+    G.add_node("flask_1", **{"class": "flask"})
+    G.add_node("stirrer_1", **{"class": "virtual_stirrer"})
+    G.add_edge("stirrer_1", "flask_1")
+    return G
+
+
+def test_generate_stir_protocol(topology_graph):
+    """测试搅拌协议生成"""
+    actions = generate_stir_protocol(
+        G=topology_graph,
+        vessel="flask_1",
+        time="5 min",
+        stir_speed=300.0
+    )
+
+    assert len(actions) == 1
+    assert actions[0]["device_id"] == "stirrer_1"
+    assert actions[0]["action_name"] == "stir"
+
+
+def test_extract_vessel_id():
+    """测试vessel_id提取"""
+    # 字典格式
+    assert extract_vessel_id({"id": "flask_1"}) == "flask_1"
+
+    # 字符串格式
+    assert extract_vessel_id("flask_2") == "flask_2"
+
+    # 空值
+    assert extract_vessel_id("") == ""
+```
+
+## 测试标记
+
+```python
+# 慢速测试
+@pytest.mark.slow
+def test_long_running():
+    pass
+
+# 需要网络
+@pytest.mark.network
+def test_network_call():
+    pass
+
+# 需要ROS
+@pytest.mark.ros
+def test_ros_feature():
+    pass
+```
+
+运行特定标记的测试：
+
+```bash
+pytest -m "not slow"  # 排除慢速测试
+pytest -m ros         # 仅ROS测试
+```
+
+## 覆盖率
+
+```bash
+# 生成覆盖率报告
+pytest --cov=unilabos tests/
+
+# HTML报告
+pytest --cov=unilabos --cov-report=html tests/
+```
+
+## 最佳实践
+
+1. **测试命名**: `test_{功能}_{场景}_{预期结果}`
+2. **独立性**: 每个测试独立运行，不依赖其他测试
+3. **Mock外部依赖**: 使用 unittest.mock 模拟外部服务
+4. **参数化**: 使用 `@pytest.mark.parametrize` 减少重复代码
+5. **fixtures**: 使用 fixtures 共享测试设置
+6. **断言清晰**: 每个断言只验证一件事

.cursor/rules/unilabos-project.mdc

@@ -0,0 +1,353 @@
+---
+description: Uni-Lab-OS 实验室自动化平台开发规范 - 核心规则
+globs: ["**/*.py", "**/*.yaml", "**/*.json"]
+---
+
+# Uni-Lab-OS 项目开发规范
+
+## 项目概述
+
+Uni-Lab-OS 是一个实验室自动化操作系统，用于连接和控制各种实验设备，实现实验工作流的自动化和标准化。
+
+## 技术栈
+
+- **Python 3.11** - 核心开发语言
+- **ROS 2** - 设备通信中间件 (rclpy)
+- **Conda/Mamba** - 包管理 (robostack-staging, conda-forge)
+- **FastAPI** - Web API 服务
+- **WebSocket** - 实时通信
+- **NetworkX** - 拓扑图管理
+- **YAML** - 配置和注册表定义
+- **PyLabRobot** - 实验室自动化库集成
+- **pytest** - 测试框架
+- **asyncio** - 异步编程
+
+## 项目结构
+
+```
+unilabos/
+├── app/           # 应用入口、Web服务、后端
+├── compile/       # 协议编译器 (stir, add, filter 等)
+├── config/        # 配置管理
+├── devices/       # 设备驱动 (真实/虚拟)
+├── device_comms/  # 设备通信协议
+├── device_mesh/   # 3D网格和可视化
+├── registry/      # 设备和资源类型注册表 (YAML)
+├── resources/     # 资源定义
+├── ros/           # ROS 2 集成
+├── utils/         # 工具函数
+└── workflow/      # 工作流管理
+```
+
+## 代码规范
+
+### Python 风格
+
+1. **类型注解**：所有函数必须使用类型注解
+   ```python
+   def transfer_liquid(
+       source: str,
+       destination: str,
+       volume: float,
+       **kwargs
+   ) -> List[Dict[str, Any]]:
+   ```
+
+2. **Docstring**：使用 Google 风格的文档字符串
+   ```python
+   def initialize(self) -> bool:
+       """
+       初始化设备
+
+       Returns:
+           bool: 初始化是否成功
+       """
+   ```
+
+3. **导入顺序**：
+   - 标准库
+   - 第三方库
+   - ROS 相关 (rclpy, unilabos_msgs)
+   - 项目内部模块
+
+### 异步编程
+
+1. 设备操作方法使用 `async def`
+2. 使用 `await self._ros_node.sleep()` 而非 `asyncio.sleep()`
+3. 长时间运行操作需提供进度反馈
+
+```python
+async def stir(self, stir_time: float, stir_speed: float, **kwargs) -> bool:
+    """执行搅拌操作"""
+    start_time = time_module.time()
+    while True:
+        elapsed = time_module.time() - start_time
+        remaining = max(0, stir_time - elapsed)
+
+        self.data.update({
+            "remaining_time": remaining,
+            "status": f"搅拌中: {stir_speed} RPM"
+        })
+
+        if remaining <= 0:
+            break
+        await self._ros_node.sleep(1.0)
+    return True
+```
+
+### 日志规范
+
+使用项目自定义日志系统：
+
+```python
+from unilabos.utils.log import logger, info, debug, warning, error, trace
+
+# 在设备类中使用
+self.logger = logging.getLogger(f"DeviceName.{self.device_id}")
+self.logger.info("设备初始化完成")
+```
+
+## 设备驱动开发
+
+### 设备类结构
+
+```python
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+
+class MyDevice:
+    """设备驱动类"""
+
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
+        self.device_id = device_id or "unknown_device"
+        self.config = config or {}
+        self.data = {}  # 设备状态数据
+
+    def post_init(self, ros_node: BaseROS2DeviceNode):
+        """ROS节点注入"""
+        self._ros_node = ros_node
+
+    async def initialize(self) -> bool:
+        """初始化设备"""
+        pass
+
+    async def cleanup(self) -> bool:
+        """清理设备"""
+        pass
+
+    # 状态属性 - 自动发布为 ROS Topic
+    @property
+    def status(self) -> str:
+        return self.data.get("status", "待机")
+```
+
+### 状态属性装饰器
+
+```python
+from unilabos.utils.decorator import topic_config
+
+class MyDevice:
+    @property
+    @topic_config(period=1.0, qos=10)  # 每秒发布一次
+    def temperature(self) -> float:
+        return self._temperature
+```
+
+### 虚拟设备
+
+虚拟设备放置在 `unilabos/devices/virtual/` 目录下，命名为 `virtual_*.py`
+
+## 注册表配置
+
+### 设备注册表 (YAML)
+
+位置: `unilabos/registry/devices/*.yaml`
+
+```yaml
+my_device_type:
+  category:
+    - my_category
+  description: "设备描述"
+  version: "1.0.0"
+  class:
+    module: "unilabos.devices.my_device:MyDevice"
+    type: python
+    status_types:
+      status: String
+      temperature: Float64
+    action_value_mappings:
+      auto-initialize:
+        type: UniLabJsonCommandAsync
+        goal: {}
+        feedback: {}
+        result: {}
+        schema: {...}
+```
+
+### 资源注册表 (YAML)
+
+位置: `unilabos/registry/resources/**/*.yaml`
+
+```yaml
+my_container:
+  category:
+    - container
+  class:
+    module: "unilabos.resources.my_resource:MyContainer"
+    type: pylabrobot
+  version: "1.0.0"
+```
+
+## 协议编译器
+
+位置: `unilabos/compile/*_protocol.py`
+
+### 协议生成函数模板
+
+```python
+from typing import List, Dict, Any, Union
+import networkx as nx
+
+def generate_my_protocol(
+    G: nx.DiGraph,
+    vessel: Union[str, dict],
+    param1: float = 0.0,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成操作协议序列
+
+    Args:
+        G: 物理拓扑图
+        vessel: 容器ID或字典
+        param1: 参数1
+
+    Returns:
+        List[Dict]: 动作序列
+    """
+    # 提取vessel_id
+    vessel_id = vessel if isinstance(vessel, str) else vessel.get("id", "")
+
+    # 查找设备
+    device_id = find_connected_device(G, vessel_id)
+
+    # 生成动作
+    action_sequence = [{
+        "device_id": device_id,
+        "action_name": "my_action",
+        "action_kwargs": {
+            "vessel": {"id": vessel_id},
+            "param1": float(param1)
+        }
+    }]
+
+    return action_sequence
+```
+
+## 测试规范
+
+### 测试文件位置
+
+- 单元测试: `tests/` 目录
+- 设备测试: `tests/devices/`
+- 资源测试: `tests/resources/`
+- ROS消息测试: `tests/ros/msgs/`
+
+### 测试命名
+
+```python
+# tests/devices/my_device/test_my_device.py
+
+import pytest
+
+def test_device_initialization():
+    """测试设备初始化"""
+    pass
+
+def test_device_action():
+    """测试设备动作"""
+    pass
+```
+
+## 错误处理
+
+```python
+from unilabos.utils.exception import UniLabException
+
+try:
+    result = await device.execute_action()
+except ValueError as e:
+    self.logger.error(f"参数错误: {e}")
+    self.data["status"] = "错误: 参数无效"
+    return False
+except Exception as e:
+    self.logger.error(f"执行失败: {e}")
+    raise
+```
+
+## 配置管理
+
+```python
+from unilabos.config.config import BasicConfig, HTTPConfig
+
+# 读取配置
+port = BasicConfig.port
+is_host = BasicConfig.is_host_mode
+
+# 配置文件: local_config.py
+```
+
+## 常用工具
+
+### 单例模式
+
+```python
+from unilabos.utils.decorator import singleton
+
+@singleton
+class MyManager:
+    pass
+```
+
+### 类型检查
+
+```python
+from unilabos.utils.type_check import NoAliasDumper
+
+yaml.dump(data, f, Dumper=NoAliasDumper)
+```
+
+### 导入管理
+
+```python
+from unilabos.utils.import_manager import get_class
+
+device_class = get_class("unilabos.devices.my_device:MyDevice")
+```
+
+## Git 提交规范
+
+提交信息格式:
+```
+<type>(<scope>): <subject>
+
+<body>
+```
+
+类型:
+- `feat`: 新功能
+- `fix`: 修复bug
+- `docs`: 文档更新
+- `refactor`: 重构
+- `test`: 测试相关
+- `chore`: 构建/工具相关
+
+示例:
+```
+feat(devices): 添加虚拟搅拌器设备
+
+- 实现VirtualStirrer类
+- 支持定时搅拌和持续搅拌模式
+- 添加速度验证逻辑
+```

.cursorignore

@@ -0,0 +1,188 @@
+# ============================================================
+# Uni-Lab-OS Cursor Ignore 配置，控制 Cursor AI 的文件索引范围
+# ============================================================
+
+# ==================== 敏感配置文件 ====================
+# 本地配置（可能包含密钥）
+**/local_config.py
+test_config.py
+local_test*.py
+
+# 环境变量和密钥
+.env
+.env.*
+**/.certs/
+*.pem
+*.key
+credentials.json
+secrets.yaml
+
+# ==================== 二进制和 3D 模型文件 ====================
+# 3D 模型文件（无需索引）
+*.stl
+*.dae
+*.glb
+*.gltf
+*.obj
+*.fbx
+*.blend
+
+# URDF/Xacro 机器人描述文件（大型XML）
+*.xacro
+
+# 图片文件
+*.png
+*.jpg
+*.jpeg
+*.gif
+*.webp
+*.ico
+*.svg
+*.bmp
+
+# 压缩包
+*.zip
+*.tar
+*.tar.gz
+*.tgz
+*.bz2
+*.rar
+*.7z
+
+# ==================== Python 生成文件 ====================
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+*.pyd
+*.egg
+*.egg-info/
+.eggs/
+dist/
+build/
+*.manifest
+*.spec
+
+# ==================== IDE 和编辑器 ====================
+.idea/
+.vscode/
+*.swp
+*.swo
+*~
+.#*
+
+# ==================== 测试和覆盖率 ====================
+.pytest_cache/
+.coverage
+.coverage.*
+htmlcov/
+.tox/
+.nox/
+coverage.xml
+*.cover
+
+# ==================== 虚拟环境 ====================
+.venv/
+venv/
+env/
+ENV/
+
+# ==================== ROS 2 生成文件 ====================
+# ROS 构建目录
+build/
+install/
+log/
+logs/
+devel/
+
+# ROS 消息生成
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+srv/_*.py
+build_isolated/
+devel_isolated/
+
+# ROS 动态配置
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# ==================== 项目特定目录 ====================
+# 工作数据目录
+unilabos_data/
+
+# 临时和输出目录
+temp/
+output/
+cursor_docs/
+configs/
+
+# 文档构建
+docs/_build/
+/site
+
+# ==================== 大型数据文件 ====================
+# 点云数据
+*.pcd
+
+# GraphML 图形文件
+*.graphml
+
+# 日志文件
+*.log
+
+# 数据库
+*.sqlite3
+*.db
+
+# Jupyter 检查点
+.ipynb_checkpoints/
+
+# ==================== 设备网格资源 ====================
+# 3D 网格文件目录（包含大量 STL/DAE 文件）
+unilabos/device_mesh/devices/**/*.stl
+unilabos/device_mesh/devices/**/*.dae
+unilabos/device_mesh/resources/**/*.stl
+unilabos/device_mesh/resources/**/*.glb
+unilabos/device_mesh/resources/**/*.xacro
+
+# RViz 配置
+*.rviz
+
+# ==================== 系统文件 ====================
+.DS_Store
+Thumbs.db
+desktop.ini
+
+# ==================== 锁文件 ====================
+poetry.lock
+Pipfile.lock
+pdm.lock
+package-lock.json
+yarn.lock
+
+# ==================== 类型检查缓存 ====================
+.mypy_cache/
+.dmypy.json
+.pytype/
+.pyre/
+pyrightconfig.json
+
+# ==================== 其他 ====================
+# Catkin
+CATKIN_IGNORE
+
+# Eclipse/Qt
+.project
+.cproject
+CMakeLists.txt.user
+*.user
+qtcreator-*

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,15 +1,11 @@
 from __future__ import annotations
 
-import asyncio
 import time
 import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
-from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources import (
@@ -28,14 +24,27 @@ from pylabrobot.resources import (
     Tip,
 )
 
-from unilabos.registry.placeholder_type import ResourceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import ResourceTreeSet
-
-
 class SimpleReturn(TypedDict):
-    samples: list
+    samples: List[List[ResourceDict]]
-    volumes: list
+    volumes: List[float]
+
+
+class SetLiquidReturn(TypedDict):
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class SetLiquidFromPlateReturn(TypedDict):
+    plate: List[List[ResourceDict]]
+    wells: List[List[ResourceDict]]
+    volumes: List[float]
+
+
+class TransferLiquidReturn(TypedDict):
+    sources: List[List[ResourceDict]]
+    targets: List[List[ResourceDict]]
+
 
 
 class SetLiquidReturn(TypedDict):
@@ -678,40 +687,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
             res_volumes.append(volume)
 
-        return SetLiquidReturn(
+        return SimpleReturn(samples=res_samples, volumes=res_volumes)
-            wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes  # type: ignore
-        )
-
-    @classmethod
-    def set_liquid_from_plate(
-        cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
-    ) -> SetLiquidFromPlateReturn:
-        """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
-
-        如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
-        """
-        # 根据 well_names 获取对应的 Well 对象
-        wells = [plate.get_well(name) for name in well_names]
-        res_volumes = []
-
-        # 如果 liquid_names 和 volumes 都为空，直接返回
-        if not liquid_names and not volumes:
-            return SetLiquidFromPlateReturn(
-                plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
-                wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
-                volumes=res_volumes,
-            )
-
-        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
-            well.set_liquids([(liquid_name, volume)])  # type: ignore
-            res_volumes.append(volume)
-
-        return SetLiquidFromPlateReturn(
-            plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
-            wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
-            volumes=res_volumes,
-        )
-
     # ---------------------------------------------------------------
     # REMOVE LIQUID --------------------------------------------------
     # ---------------------------------------------------------------
@@ -1111,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
 
         Supports three transfer modes:
@@ -1251,6 +1227,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 "Supported modes: 1->N, N->1, or N->N."
             )
 
+        return TransferLiquidReturn(
+            sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(),  # type: ignore
+            targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(),  # type: ignore
+        )
+
     async def _transfer_one_to_one(
         self,
         sources: Sequence[Container],

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -52,6 +52,7 @@ from unilabos.devices.liquid_handling.liquid_handler_abstract import (
     SimpleReturn,
     SetLiquidReturn,
     SetLiquidFromPlateReturn,
+    TransferLiquidReturn,
 )
 from unilabos.registry.placeholder_type import ResourceSlot
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -154,25 +155,29 @@ class PRCXI9300Plate(Plate):
         **kwargs,
     ):
         # 如果 ordered_items 不为 None，直接使用
+        items = None
+        ordering_param = None
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
             # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
             # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象
             # 我们只传递位置信息（键），不传递值，使用 ordering 参数
-            if ordering and isinstance(next(iter(ordering.values()), None), str):
+            if ordering:
+                values = list(ordering.values())
+                value = values[0]
+                if isinstance(value, str):
                     # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
                     # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象
                     items = None
                     # 使用 ordering 参数，只包含位置信息（键）
                     ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
+                elif value is None:
+                    ordering_param = ordering
             else:
                 # ordering 的值已经是对象，可以直接使用
                 items = ordering
                 ordering_param = None
-        else:
-            items = None
-            ordering_param = None
 
         # 根据情况传递不同的参数
         if items is not None:
@@ -590,7 +595,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return super().set_liquid(wells, liquid_names, volumes)
 
     def set_liquid_from_plate(
-        self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)
 
@@ -713,7 +718,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         return await super().transfer_liquid(
             sources,
             targets,

unilabos/devices/motor/ZDT_X42.py

@@ -0,0 +1,376 @@
+# -*- coding: utf-8 -*-
+"""
+ZDT X42 Closed-Loop Stepper Motor Driver
+RS485 Serial Communication via USB-Serial Converter
+
+- Baudrate: 115200
+"""
+
+import serial
+import time
+import threading
+import struct
+import logging
+from typing import Optional, Any
+
+try:
+    from unilabos.device_comms.universal_driver import UniversalDriver
+except ImportError:
+    class UniversalDriver:
+        def __init__(self, *args, **kwargs):
+            self.logger = logging.getLogger(self.__class__.__name__)
+        def execute_command_from_outer(self, command: Any): pass
+
+from serial.rs485 import RS485Settings
+
+
+class ZDTX42Driver(UniversalDriver):
+    """
+    ZDT X42 闭环步进电机驱动器
+
+    支持功能:
+    - 速度模式运行
+    - 位置模式运行 (相对/绝对)
+    - 位置读取和清零
+    - 使能/禁用控制
+
+    通信协议:
+    - 帧格式: [设备ID] [功能码] [数据...] [校验位=0x6B]
+    - 响应长度根据功能码决定
+    """
+
+    def __init__(
+        self,
+        port: str,
+        baudrate: int = 115200,
+        device_id: int = 1,
+        timeout: float = 0.5,
+        debug: bool = False
+    ):
+        """
+        初始化 ZDT X42 电机驱动
+
+        Args:
+            port: 串口设备路径
+            baudrate: 波特率 (默认 115200)
+            device_id: 设备地址 (1-255)
+            timeout: 通信超时时间(秒)
+            debug: 是否启用调试输出
+        """
+        super().__init__()
+        self.id = device_id
+        self.debug = debug
+        self.lock = threading.RLock()
+        self.status = "idle"         # 对应注册表中的 status (str)
+        self.position = 0             # 对应注册表中的 position (int)
+
+        try:
+            self.ser = serial.Serial(
+                port=port,
+                baudrate=baudrate,
+                timeout=timeout,
+                bytesize=serial.EIGHTBITS,
+                parity=serial.PARITY_NONE,
+                stopbits=serial.STOPBITS_ONE
+            )
+
+            # 启用 RS485 模式
+            try:
+                self.ser.rs485_mode = RS485Settings(
+                    rts_level_for_tx=True,
+                    rts_level_for_rx=False
+                )
+            except Exception:
+                pass  # RS485 模式是可选的
+
+            self.logger.info(
+                f"ZDT X42 Motor connected: {port} "
+                f"(Baud: {baudrate}, ID: {device_id})"
+            )
+            # 自动使能电机，确保初始状态可运动
+            self.enable(True)
+
+            # 启动背景轮询线程，确保 position 实时刷新
+            self._stop_event = threading.Event()
+            self._polling_thread = threading.Thread(
+                target=self._update_loop,
+                name=f"ZDTPolling_{port}",
+                daemon=True
+            )
+            self._polling_thread.start()
+        except Exception as e:
+            self.logger.error(f"Failed to open serial port {port}: {e}")
+            self.ser = None
+
+    def _update_loop(self):
+        """背景循环读取电机位置"""
+        while not self._stop_event.is_set():
+            try:
+                self.get_position()
+            except Exception as e:
+                if self.debug:
+                    self.logger.error(f"Polling error: {e}")
+            time.sleep(1.0) # 每1秒刷新一次位置数据
+
+    def _send(self, func_code: int, payload: list) -> bytes:
+        """
+        发送指令并接收响应
+
+        Args:
+            func_code: 功能码
+            payload: 数据负载 (list of bytes)
+
+        Returns:
+            响应数据 (bytes)
+        """
+        if not self.ser:
+            self.logger.error("Serial port not available")
+            return b""
+
+        with self.lock:
+            # 清空输入缓冲区
+            self.ser.reset_input_buffer()
+
+            # 构建消息: [ID] [功能码] [数据...] [校验位=0x6B]
+            message = bytes([self.id, func_code] + payload + [0x6B])
+
+            # 发送
+            self.ser.write(message)
+
+            # 根据功能码决定响应长度
+            # 查询类指令返回 10 字节，控制类指令返回 4 字节
+            read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4
+            response = self.ser.read(read_len)
+
+            # 调试输出
+            if self.debug:
+                sent_hex = message.hex().upper()
+                recv_hex = response.hex().upper() if response else 'TIMEOUT'
+                print(f"[ID {self.id}] TX: {sent_hex} → RX: {recv_hex}")
+
+            return response
+
+    def enable(self, on: bool = True) -> bool:
+        """
+        使能/禁用电机
+
+        Args:
+            on: True=使能(锁轴), False=禁用(松轴)
+
+        Returns:
+            是否成功
+        """
+        state = 1 if on else 0
+        resp = self._send(0xF3, [0xAB, state, 0])
+        return len(resp) >= 4
+
+    def move_speed(
+        self,
+        speed_rpm: int,
+        direction: str = "CW",
+        acceleration: int = 10
+    ) -> bool:
+        """
+        速度模式运行
+
+        Args:
+            speed_rpm: 转速 (RPM)
+            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
+            acceleration: 加速度 (0-255)
+
+        Returns:
+            是否成功
+        """
+        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
+        speed_bytes = struct.pack('>H', int(speed_rpm))
+        self.status = f"moving@{speed_rpm}rpm"
+        resp = self._send(0xF6, [dir_val, speed_bytes[0], speed_bytes[1], acceleration, 0])
+        return len(resp) >= 4
+
+    def move_position(
+        self,
+        pulses: int,
+        speed_rpm: int,
+        direction: str = "CW",
+        acceleration: int = 10,
+        absolute: bool = False
+    ) -> bool:
+        """
+        位置模式运行
+
+        Args:
+            pulses: 脉冲数
+            speed_rpm: 转速 (RPM)
+            direction: 方向 ("CW"=顺时针, "CCW"=逆时针)
+            acceleration: 加速度 (0-255)
+            absolute: True=绝对位置, False=相对位置
+
+        Returns:
+            是否成功
+        """
+        dir_val = 0 if direction.upper() in ["CW", "顺时针"] else 1
+        speed_bytes = struct.pack('>H', int(speed_rpm))
+        self.status = f"moving_to_{pulses}"
+        pulse_bytes = struct.pack('>I', int(pulses))
+        abs_flag = 1 if absolute else 0
+
+        payload = [
+            dir_val,
+            speed_bytes[0], speed_bytes[1],
+            acceleration,
+            pulse_bytes[0], pulse_bytes[1], pulse_bytes[2], pulse_bytes[3],
+            abs_flag,
+            0
+        ]
+
+        resp = self._send(0xFD, payload)
+        return len(resp) >= 4
+
+    def stop(self) -> bool:
+        """
+        停止电机
+
+        Returns:
+            是否成功
+        """
+        self.status = "idle"
+        resp = self._send(0xFE, [0x98, 0])
+        return len(resp) >= 4
+
+    def rotate_quarter(self, speed_rpm: int = 60, direction: str = "CW") -> bool:
+        """
+        电机旋转 1/4 圈 (阻塞式)
+        假设电机细分为 3200 脉冲/圈，1/4 圈 = 800 脉冲
+        """
+        pulses = 800
+        success = self.move_position(pulses=pulses, speed_rpm=speed_rpm, direction=direction, absolute=False)
+
+        if success:
+            # 计算预估旋转时间并进行阻塞等待 (Time = revolutions / (RPM/60))
+            # 1/4 rev / (RPM/60) = 15.0 / RPM
+            estimated_time = 15.0 / max(1, speed_rpm)
+            time.sleep(estimated_time + 0.5)  # 额外给 0.5 秒缓冲
+            self.status = "idle"
+
+        return success
+
+    def wait_time(self, duration_s: float) -> bool:
+        """
+        等待指定时间 (秒)
+        """
+        self.logger.info(f"Waiting for {duration_s} seconds...")
+        time.sleep(duration_s)
+        return True
+
+    def set_zero(self) -> bool:
+        """
+        清零当前位置
+
+        Returns:
+            是否成功
+        """
+        resp = self._send(0x0A, [])
+        return len(resp) >= 4
+
+    def get_position(self) -> Optional[int]:
+        """
+        读取当前位置 (脉冲数)
+
+        Returns:
+            当前位置脉冲数，失败返回 None
+        """
+        resp = self._send(0x32, [])
+
+        if len(resp) >= 8:
+            # 响应格式: [ID] [Func] [符号位] [数值4字节] [校验]
+            sign = resp[2]  # 0=正, 1=负
+            value = struct.unpack('>I', resp[3:7])[0]
+            self.position = -value if sign == 1 else value
+
+            if self.debug:
+                print(f"[Position] Raw: {resp.hex().upper()}, Parsed: {self.position}")
+
+            return self.position
+
+        self.logger.warning("Failed to read position")
+        return None
+
+    def close(self):
+        """关闭串口连接并停止线程"""
+        if hasattr(self, '_stop_event'):
+            self._stop_event.set()
+
+        if self.ser and self.ser.is_open:
+            self.ser.close()
+            self.logger.info("Serial port closed")
+
+
+# ============================================================
+# 测试和调试代码
+# ============================================================
+
+def test_motor():
+    """基础功能测试"""
+    logging.basicConfig(level=logging.INFO)
+
+    print("="*60)
+    print("ZDT X42 电机驱动测试")
+    print("="*60)
+
+    driver = ZDTX42Driver(
+        port="/dev/tty.usbserial-3110",
+        baudrate=115200,
+        device_id=2,
+        debug=True
+    )
+
+    if not driver.ser:
+        print("❌ 串口打开失败")
+        return
+
+    try:
+        # 测试 1: 读取位置
+        print("\n[1] 读取当前位置")
+        pos = driver.get_position()
+        print(f"✓ 当前位置: {pos} 脉冲")
+
+        # 测试 2: 使能
+        print("\n[2] 使能电机")
+        driver.enable(True)
+        time.sleep(0.3)
+        print("✓ 电机已锁定")
+
+        # 测试 3: 相对位置运动
+        print("\n[3] 相对位置运动 (1000脉冲)")
+        driver.move_position(pulses=1000, speed_rpm=60, direction="CW")
+        time.sleep(2)
+        pos = driver.get_position()
+        print(f"✓ 新位置: {pos}")
+
+        # 测试 4: 速度运动
+        print("\n[4] 速度模式 (30RPM, 3秒)")
+        driver.move_speed(speed_rpm=30, direction="CW")
+        time.sleep(3)
+        driver.stop()
+        pos = driver.get_position()
+        print(f"✓ 停止后位置: {pos}")
+
+        # 测试 5: 禁用
+        print("\n[5] 禁用电机")
+        driver.enable(False)
+        print("✓ 电机已松开")
+
+        print("\n" + "="*60)
+        print("✅ 测试完成")
+        print("="*60)
+
+    except Exception as e:
+        print(f"\n❌ 测试失败: {e}")
+        import traceback
+        traceback.print_exc()
+    finally:
+        driver.close()
+
+
+if __name__ == "__main__":
+    test_motor()

unilabos/devices/separator/chinwe.py

@@ -623,6 +623,119 @@ class ChinweDevice(UniversalDriver):
         time.sleep(duration)
         return True
 
+    def separation_step(self, motor_id: int = 5, speed: int = 60, pulses: int = 700,
+                       max_cycles: int = 0, timeout: int = 300) -> bool:
+        """
+        分液步骤 - 液位传感器与电机联动
+        当液位传感器检测到"有液"时,电机顺时针旋转指定脉冲数
+        当液位传感器检测到"无液"时,电机逆时针旋转指定脉冲数
+
+        :param motor_id: 电机ID (必须在初始化时配置的motor_ids中)
+        :param speed: 电机转速 (RPM)
+        :param pulses: 每次旋转的脉冲数 (默认700约为1/4圈,假设3200脉冲/圈)
+        :param max_cycles: 最大执行循环次数 (0=无限制,默认0)
+        :param timeout: 整体超时时间 (秒)
+        :return: 成功返回True,超时或失败返回False
+        """
+        motor_id = int(motor_id)
+        speed = int(speed)
+        pulses = int(pulses)
+        max_cycles = int(max_cycles)
+        timeout = int(timeout)
+
+        # 检查电机是否存在
+        if motor_id not in self.motors:
+            self.logger.error(f"Motor {motor_id} not found in configured motors: {list(self.motors.keys())}")
+            return False
+
+        # 检查传感器是否可用
+        if not self.sensor:
+            self.logger.error("Sensor not initialized")
+            return False
+
+        motor = self.motors[motor_id]
+
+        # 停止轮询线程，避免与 separation_step 同时读取传感器造成串口冲突
+        self.logger.info("Stopping polling thread for separation_step...")
+        self._stop_event.set()
+        if self._poll_thread and self._poll_thread.is_alive():
+            self._poll_thread.join(timeout=2.0)
+
+        # 使能电机
+        self.logger.info(f"Enabling motor {motor_id}...")
+        motor.enable(True)
+        time.sleep(0.2)
+
+        self.logger.info(f"Starting separation step: motor_id={motor_id}, speed={speed} RPM, "
+                        f"pulses={pulses}, max_cycles={max_cycles}, timeout={timeout}s")
+
+        # 记录上一次的液位状态
+        last_level = None
+        cycle_count = 0
+        start_time = time.time()
+        error_count = 0
+
+        try:
+            while True:
+                # 检查超时
+                if time.time() - start_time > timeout:
+                    self.logger.warning(f"Separation step timeout after {timeout} seconds")
+                    return False
+
+                # 检查循环次数限制
+                if max_cycles > 0 and cycle_count >= max_cycles:
+                    self.logger.info(f"Separation step completed: reached max_cycles={max_cycles}")
+                    return True
+
+                # 读取传感器数据
+                data = self.sensor.read_level()
+
+                if data is None:
+                    error_count += 1
+                    if error_count > 5:
+                        self.logger.warning("Sensor read failed multiple times, retrying...")
+                        error_count = 0
+                    time.sleep(0.5)
+                    continue
+
+                error_count = 0
+                current_level = data['level']
+                rssi = data['rssi']
+
+                # 检测状态变化 (包括首次检测)
+                if current_level != last_level:
+                    cycle_count += 1
+
+                    if current_level:
+                        # 有液 -> 电机顺时针旋转
+                        self.logger.info(f"[Cycle {cycle_count}] Liquid detected (RSSI={rssi}), "
+                                       f"rotating motor {motor_id} clockwise {pulses} pulses")
+                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=0, absolute=False)
+
+                        # 等待电机完成 (预估时间)
+                        estimated_time = 15.0 / max(1, speed)
+                        time.sleep(estimated_time + 0.5)
+
+                    else:
+                        # 无液 -> 电机逆时针旋转
+                        self.logger.info(f"[Cycle {cycle_count}] No liquid detected (RSSI={rssi}), "
+                                       f"rotating motor {motor_id} counter-clockwise {pulses} pulses")
+                        motor.run_position(pulses=pulses, speed_rpm=speed, direction=1, absolute=False)
+
+                        # 等待电机完成 (预估时间)
+                        estimated_time = 15.0 / max(1, speed)
+                        time.sleep(estimated_time + 0.5)
+
+                # 更新状态
+                last_level = current_level
+
+                # 轮询间隔
+                time.sleep(0.1)
+        finally:
+            # 恢复轮询线程
+            self.logger.info("Restarting polling thread...")
+            self._start_polling()
+
     def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool:
         """支持标准 JSON 指令调用"""
         return super().execute_command_from_outer(command_dict)

unilabos/devices/separator/xkc_sensor.py

@@ -0,0 +1,379 @@
+# -*- coding: utf-8 -*-
+"""
+XKC RS485 液位传感器 (Modbus RTU)
+
+说明:
+    1. 遵循 Modbus-RTU 协议。
+    2. 数据寄存器: 0x0001 (液位状态, 1=有液, 0=无液), 0x0002 (RSSI 信号强度)。
+    3. 地址寄存器: 0x0004 (可读写, 范围 1-254)。
+    4. 波特率寄存器: 0x0005 (可写, 代码表见 change_baudrate 方法)。
+"""
+
+import struct
+import threading
+import time
+import logging
+import serial
+from typing import Optional, Dict, Any, List
+
+from unilabos.device_comms.universal_driver import UniversalDriver
+
+class TransportManager:
+    """
+    统一通信管理类。
+    仅支持 串口 (Serial/有线) 连接。
+    """
+    def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None):
+        self.port = port
+        self.baudrate = baudrate
+        self.timeout = timeout
+        self.logger = logger
+        self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突
+
+        self.serial = None
+        self._connect_serial()
+
+    def _connect_serial(self):
+        try:
+            self.serial = serial.Serial(
+                port=self.port,
+                baudrate=self.baudrate,
+                timeout=self.timeout
+            )
+        except Exception as e:
+            raise ConnectionError(f"Serial open failed: {e}")
+
+    def close(self):
+        """关闭连接"""
+        if self.serial and self.serial.is_open:
+            self.serial.close()
+
+    def clear_buffer(self):
+        """清空缓冲区 (Thread-safe)"""
+        with self.lock:
+            if self.serial:
+                self.serial.reset_input_buffer()
+
+    def write(self, data: bytes):
+        """发送原始字节"""
+        with self.lock:
+            if self.serial:
+                self.serial.write(data)
+
+    def read(self, size: int) -> bytes:
+        """读取指定长度字节"""
+        if self.serial:
+            return self.serial.read(size)
+        return b''
+
+class XKCSensorDriver(UniversalDriver):
+    """XKC RS485 液位传感器 (Modbus RTU)"""
+
+    def __init__(self, port: str, baudrate: int = 9600, device_id: int = 6,
+                 threshold: int = 300, timeout: float = 3.0, debug: bool = False):
+        super().__init__()
+        self.port = port
+        self.baudrate = baudrate
+        self.device_id = device_id
+        self.threshold = threshold
+        self.timeout = timeout
+        self.debug = debug
+        self.level = False
+        self.rssi = 0
+        self.status = {"level": self.level, "rssi": self.rssi}
+
+        try:
+            self.transport = TransportManager(port, baudrate, timeout, logger=self.logger)
+            self.logger.info(f"XKCSensorDriver connected to {port} (ID: {device_id})")
+        except Exception as e:
+            self.logger.error(f"Failed to connect XKCSensorDriver: {e}")
+            self.transport = None
+
+        # 启动背景轮询线程，确保 status 实时刷新
+        self._stop_event = threading.Event()
+        self._polling_thread = threading.Thread(
+            target=self._update_loop,
+            name=f"XKCPolling_{port}",
+            daemon=True
+        )
+        if self.transport:
+            self._polling_thread.start()
+
+    def _update_loop(self):
+        """背景循环读取传感器数据"""
+        while not self._stop_event.is_set():
+            try:
+                self.read_level()
+            except Exception as e:
+                if self.debug:
+                    self.logger.error(f"Polling error: {e}")
+            time.sleep(2.0) # 每2秒刷新一次数据
+
+    def _crc(self, data: bytes) -> bytes:
+        crc = 0xFFFF
+        for byte in data:
+            crc ^= byte
+            for _ in range(8):
+                if crc & 0x0001: crc = (crc >> 1) ^ 0xA001
+                else: crc >>= 1
+        return struct.pack('<H', crc)
+
+    def read_level(self) -> Optional[Dict[str, Any]]:
+        """
+        读取液位。
+        返回: {'level': bool, 'rssi': int}
+        """
+        if not self.transport:
+            return None
+
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            # Modbus Read Registers: 01 03 00 01 00 02 CRC
+            payload = struct.pack('>HH', 0x0001, 0x0002)
+            msg = struct.pack('BB', self.device_id, 0x03) + payload
+            msg += self._crc(msg)
+
+            if self.debug:
+                self.logger.info(f"TX (ID {self.device_id}): {msg.hex().upper()}")
+
+            self.transport.write(msg)
+
+            # Read header
+            h = self.transport.read(3) # Addr, Func, Len
+            if self.debug:
+                self.logger.info(f"RX Header: {h.hex().upper()}")
+
+            if len(h) < 3: return None
+            length = h[2]
+
+            # Read body + CRC
+            body = self.transport.read(length + 2)
+            if self.debug:
+                self.logger.info(f"RX Body+CRC: {body.hex().upper()}")
+            if len(body) < length + 2:
+                # Firmware bug fix specific to some modules
+                if len(body) == 4 and length == 4:
+                    pass
+                else:
+                    return None
+
+            data = body[:-2]
+            # 根据手册说明:
+            # 寄存器 0x0001 (data[0:2]): 液位状态 (00 01 为有液, 00 00 为无液)
+            # 寄存器 0x0002 (data[2:4]): 信号强度 RSSI
+
+            hw_level = False
+            rssi = 0
+
+            if len(data) >= 4:
+                hw_level = ((data[0] << 8) | data[1]) == 1
+                rssi = (data[2] << 8) | data[3]
+            elif len(data) == 2:
+                # 兼容模式: 某些老固件可能只返回 1 个寄存器
+                rssi = (data[0] << 8) | data[1]
+                hw_level = rssi > self.threshold
+            else:
+                return None
+
+            # 最终判定: 优先使用硬件层级的 level 判定，但 RSSI 阈值逻辑作为补充/校验
+            # 注意: 如果用户显式设置了 THRESHOLD，我们可以在逻辑中做权衡
+            self.level = hw_level or (rssi > self.threshold)
+            self.rssi = rssi
+            result = {
+                'level': self.level,
+                'rssi': self.rssi
+            }
+            self.status = result
+            return result
+
+    def wait_level(self, target_state: bool, timeout: float = 60.0) -> bool:
+        """
+        等待液位达到目标状态 (阻塞式)
+        """
+        self.logger.info(f"Waiting for level: {target_state}")
+        start_time = time.time()
+        while (time.time() - start_time) < timeout:
+            res = self.read_level()
+            if res and res.get('level') == target_state:
+                return True
+            time.sleep(0.5)
+        self.logger.warning(f"Wait level timeout ({timeout}s)")
+        return False
+
+    def wait_for_liquid(self, target_state: bool, timeout: float = 120.0) -> bool:
+        """
+        实时检测电导率(RSSI)并等待用户指定的“有液”或“无液”状态。
+        一旦检测到符合目标状态，立即返回。
+
+        Args:
+            target_state: True 为“有液”, False 为“无液”
+            timeout: 最大等待时间(秒)
+        """
+        state_str = "有液" if target_state else "无液"
+        self.logger.info(f"开始实时检测电导率，等待状态: {state_str} (超时: {timeout}s)")
+
+        start_time = time.time()
+        while (time.time() - start_time) < timeout:
+            res = self.read_level() # 内部已更新 self.level 和 self.rssi
+            if res:
+                current_level = res.get('level')
+                current_rssi = res.get('rssi')
+                if current_level == target_state:
+                    self.logger.info(f"✅ 检测到目标状态: {state_str} (当前电导率/RSSI: {current_rssi})")
+                    return True
+
+                if self.debug:
+                    self.logger.debug(f"当前状态: {'有液' if current_level else '无液'}, RSSI: {current_rssi}")
+
+            time.sleep(0.2) # 高频采样
+
+        self.logger.warning(f"❌ 等待 {state_str} 状态超时 ({timeout}s)")
+        return False
+
+    def set_threshold(self, threshold: int):
+        """设置液位判定阈值"""
+        self.threshold = int(threshold)
+        self.logger.info(f"Threshold updated to: {self.threshold}")
+
+    def change_device_id(self, new_id: int) -> bool:
+        """
+        修改设备的 Modbus 从站地址。
+        寄存器: 0x0004, 功能码: 0x06
+        """
+        if not (1 <= new_id <= 254):
+            self.logger.error(f"Invalid device ID: {new_id}. Must be 1-254.")
+            return False
+
+        self.logger.info(f"Changing device ID from {self.device_id} to {new_id}")
+        success = self._write_single_register(0x0004, new_id)
+        if success:
+            self.device_id = new_id # 更新内存中的地址
+            self.logger.info(f"Device ID update command sent successfully (target {new_id}).")
+        return success
+
+    def change_baudrate(self, baud_code: int) -> bool:
+        """
+        更改通讯波特率 (寄存器: 0x0005)。
+        设置成功后传感器 LED 会闪烁，通常无数据返回。
+
+        波特率代码对照表 (16进制):
+        05: 2400
+        06: 4800
+        07: 9600 (默认)
+        08: 14400
+        09: 19200
+        0A: 28800
+        0C: 57600
+        0D: 115200
+        0E: 128000
+        0F: 256000
+        """
+        self.logger.info(f"Sending baudrate change command (Code: {baud_code:02X})")
+        # 写入寄存器 0x0005
+        self._write_single_register(0x0005, baud_code)
+        self.logger.info("Baudrate change command executed. Device LED should flash. Please update connection settings.")
+        return True
+
+    def factory_reset(self) -> bool:
+        """
+        恢复出厂设置 (通过广播地址 FF)。
+        设置地址为 01，逻辑为向 0x0004 写入 0x0002
+        """
+        self.logger.info("Sending factory reset command via broadcast address FF...")
+        # 广播指令通常无回显
+        self._write_single_register(0x0004, 0x0002, slave_id=0xFF)
+        self.logger.info("Factory reset command sent. Device address should be 01 now.")
+        return True
+
+    def _write_single_register(self, reg_addr: int, value: int, slave_id: Optional[int] = None) -> bool:
+        """内部辅助函数: Modbus 功能码 06 写单个寄存器"""
+        if not self.transport: return False
+
+        target_id = slave_id if slave_id is not None else self.device_id
+        msg = struct.pack('BBHH', target_id, 0x06, reg_addr, value)
+        msg += self._crc(msg)
+
+        with self.transport.lock:
+            self.transport.clear_buffer()
+            if self.debug:
+                self.logger.info(f"TX Write (Reg {reg_addr:#06x}): {msg.hex().upper()}")
+
+            self.transport.write(msg)
+
+            # 广播地址、波特率修改或厂家特定指令可能无回显
+            if target_id == 0xFF or reg_addr == 0x0005:
+                time.sleep(0.5)
+                return True
+
+            # 等待返回 (正常应返回相同报文)
+            resp = self.transport.read(len(msg))
+            if self.debug:
+                self.logger.info(f"RX Write Response: {resp.hex().upper()}")
+
+            return resp == msg
+
+    def close(self):
+        if self.transport:
+            self.transport.close()
+
+if __name__ == "__main__":
+    # 快速实例化测试
+    import logging
+    # 减少冗余日志，仅显示重要信息
+    logging.basicConfig(level=logging.INFO, format='%(levelname)s: %(message)s')
+
+    # 硬件配置 (根据实际情况修改)
+    TEST_PORT = "/dev/tty.usbserial-3110"
+    SLAVE_ID = 1
+    THRESHOLD = 300
+
+    print("\n" + "="*50)
+    print(f"  XKC RS485 传感器独立测试程序")
+    print(f"  端口: {TEST_PORT} | 地址: {SLAVE_ID} | 阈值: {THRESHOLD}")
+    print("="*50)
+
+    sensor = XKCSensorDriver(port=TEST_PORT, device_id=SLAVE_ID, threshold=THRESHOLD, debug=False)
+
+    try:
+        if sensor.transport:
+            print(f"\n开始实时连续采样测试 (持续 15 秒)...")
+            print(f"按 Ctrl+C 可提前停止\n")
+
+            start_time = time.time()
+            duration = 15
+            count = 0
+
+            while time.time() - start_time < duration:
+                count += 1
+                res = sensor.read_level()
+                if res:
+                    rssi = res['rssi']
+                    level = res['level']
+                    status_str = "【有液】" if level else "【无液】"
+                    # 使用 \r 实现单行刷新显示 (或者不刷，直接打印历史)
+                    # 为了方便查看变化，我们直接打印
+                    elapsed = time.time() - start_time
+                    print(f" [{elapsed:4.1f}s] 采样 {count:<3}: 电导率/RSSI = {rssi:<5} | 判定结果: {status_str}")
+                else:
+                    print(f" [{time.time()-start_time:4.1f}s] 采样 {count:<3}: 通信失败 (无响应)")
+
+                time.sleep(0.5) # 每秒采样 2 次
+
+            print(f"\n--- 15 秒采样测试完成 (总计 {count} 次) ---")
+
+            # [3] 测试动态修改阈值
+            print(f"\n[3] 动态修改阈值演示...")
+            new_threshold = 400
+            sensor.set_threshold(new_threshold)
+            res = sensor.read_level()
+            if res:
+                print(f"  采样 (当前阈值={new_threshold}): 电导率/RSSI = {res['rssi']:<5} | 判定结果: {'【有液】' if res['level'] else '【无液】'}")
+            sensor.set_threshold(THRESHOLD) # 还原
+
+    except KeyboardInterrupt:
+        print("\n[!] 用户中断测试")
+    except Exception as e:
+        print(f"\n[!] 测试运行出错: {e}")
+    finally:
+        sensor.close()
+        print("\n--- 测试程序已退出 ---\n")

unilabos/devices/workstation/bioyond_studio/station.py

@@ -258,7 +258,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
                 logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
 
             # 第1步：从配置中获取仓库配置
-            warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
+            warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
 
             # 确定目标仓库名称
             parent_name = None

unilabos/registry/devices/chinwe.yaml

@@ -317,6 +317,47 @@ separator.chinwe:
               - port
               type: object
         type: UniLabJsonCommand
+      separation_step:
+        goal:
+          max_cycles: 0
+          motor_id: 5
+          pulses: 700
+          speed: 60
+          timeout: 300
+        handles: {}
+        schema:
+          description: 分液步骤 - 液位传感器与电机联动 (有液→顺时针, 无液→逆时针)
+          properties:
+            goal:
+              properties:
+                max_cycles:
+                  default: 0
+                  description: 最大循环次数 (0=无限制)
+                  type: integer
+                motor_id:
+                  default: '5'
+                  description: 选择电机
+                  enum:
+                  - '4'
+                  - '5'
+                  title: '注: 4=搅拌, 5=旋钮'
+                  type: string
+                pulses:
+                  default: 700
+                  description: 每次旋转脉冲数 (约1/4圈)
+                  type: integer
+                speed:
+                  default: 60
+                  description: 电机转速 (RPM)
+                  type: integer
+                timeout:
+                  default: 300
+                  description: 超时时间 (秒)
+                  type: integer
+              required:
+              - motor_id
+              type: object
+        type: UniLabJsonCommand
       wait_sensor_level:
         goal:
           target_state: 有液

unilabos/registry/devices/liquid_handler.yaml

@@ -638,7 +638,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
+          description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
           properties:
             feedback: {}
             goal:
@@ -712,6 +712,43 @@ liquid_handler:
           title: set_group参数
           type: object
         type: UniLabJsonCommand
+      auto-set_liquid_from_plate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          liquid_names: null
+          plate: null
+          volumes: null
+          well_names: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                liquid_names:
+                  type: string
+                plate:
+                  type: string
+                volumes:
+                  type: string
+                well_names:
+                  type: string
+              required:
+              - plate
+              - well_names
+              - liquid_names
+              - volumes
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_liquid_from_plate参数
+          type: object
+        type: UniLabJsonCommand
       auto-set_tiprack:
         feedback: {}
         goal: {}
@@ -721,7 +758,7 @@ liquid_handler:
         placeholder_keys: {}
         result: {}
         schema:
-          description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
+          description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
           properties:
             feedback: {}
             goal:
@@ -4093,32 +4130,32 @@ liquid_handler:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
             handler_key: sources
-            label: sources
+            label: 待移动液体
-          - data_key: liquid
+          - data_key: targets
-            data_source: executor
-            data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
-            data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
-          output:
-          - data_key: liquid
             data_source: handle
             data_type: resource
+            handler_key: targets
+            label: 转移目标
+          - data_key: tip_racks
+            data_source: handle
+            data_type: resource
+            handler_key: tip_rack
+            label: 枪头盒
+          output:
+          - data_key: sources.@flatten
+            data_source: executor
+            data_type: resource
             handler_key: sources_out
-            label: sources
+            label: 移液后源孔
-          - data_key: liquid
+          - data_key: targets.@flatten
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -5114,19 +5151,34 @@ liquid_handler.biomek:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: liquid-input
+            handler_key: sources
             io_type: target
-            label: Liquid Input
+            label: 待移动液体
+          - data_key: targets
+            data_source: handle
+            data_type: resource
+            handler_key: targets
+            label: 转移目标
+          - data_key: tip_racks
+            data_source: handle
+            data_type: resource
+            handler_key: tip_rack
+            label: 枪头盒
           output:
-          - data_key: liquid
+          - data_key: sources.@flatten
             data_source: executor
             data_type: resource
-            handler_key: liquid-output
+            handler_key: sources_out
             io_type: source
-            label: Liquid Output
+            label: 移液后源孔
+          - data_key: targets.@flatten
+            data_source: executor
+            data_type: resource
+            handler_key: targets_out
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources
@@ -9451,6 +9503,7 @@ liquid_handler.prcxi:
                     type: string
                   type: array
                 plate:
+                  items:
                     properties:
                       category:
                         type: string
@@ -9523,6 +9576,8 @@ liquid_handler.prcxi:
                     - data
                     title: plate
                     type: object
+                  title: plate
+                  type: array
                 volumes:
                   items:
                     type: number
@@ -9544,8 +9599,7 @@ liquid_handler.prcxi:
                   title: Plate
                   type: array
                 volumes:
-                  items:
+                  items: {}
-                    type: number
                   title: Volumes
                   type: array
                 wells:
@@ -9922,18 +9976,18 @@ liquid_handler.prcxi:
             data_source: handle
             data_type: resource
             handler_key: tip_rack_identifier
-            label: 墙头盒
+            label: 枪头盒
           output:
-          - data_key: liquid
+          - data_key: sources.@flatten
-            data_source: handle
+            data_source: executor
             data_type: resource
             handler_key: sources_out
-            label: sources
+            label: 移液后源孔
-          - data_key: liquid
+          - data_key: targets.@flatten
             data_source: executor
             data_type: resource
             handler_key: targets_out
-            label: targets
+            label: 移液后目标孔
         placeholder_keys:
           sources: unilabos_resources
           targets: unilabos_resources

unilabos/registry/devices/motor.yaml

@@ -0,0 +1,286 @@
+motor.zdt_x42:
+  category:
+  - motor
+  class:
+    action_value_mappings:
+      auto-enable:
+        feedback: {}
+        goal: {}
+        goal_default:
+          'on': true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 使能或禁用电机。使能后电机进入锁轴状态，可接收运动指令；禁用后电机进入松轴状态。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                'on':
+                  default: true
+                  type: boolean
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable参数
+          type: object
+        type: UniLabJsonCommand
+      auto-get_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 获取当前电机脉冲位置。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result:
+              properties:
+                position:
+                  type: integer
+              type: object
+          required:
+          - goal
+          title: get_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          absolute: false
+          acceleration: 10
+          direction: CW
+          pulses: 1000
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 位置模式运行。控制电机移动到指定脉冲位置或相对于当前位置移动指定脉冲数。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                absolute:
+                  default: false
+                  type: boolean
+                acceleration:
+                  default: 10
+                  maximum: 255
+                  minimum: 0
+                  type: integer
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                pulses:
+                  default: 1000
+                  type: integer
+                speed_rpm:
+                  default: 60
+                  minimum: 0
+                  type: integer
+              required:
+              - pulses
+              - speed_rpm
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_speed:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 10
+          direction: CW
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 速度模式运行。控制电机以指定转速和方向持续转动。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 10
+                  maximum: 255
+                  minimum: 0
+                  type: integer
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                speed_rpm:
+                  default: 60
+                  minimum: 0
+                  type: integer
+              required:
+              - speed_rpm
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_speed参数
+          type: object
+        type: UniLabJsonCommand
+      auto-rotate_quarter:
+        feedback: {}
+        goal: {}
+        goal_default:
+          direction: CW
+          speed_rpm: 60
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 电机旋转 1/4 圈 (阻塞式)。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                direction:
+                  default: CW
+                  enum:
+                  - CW
+                  - CCW
+                  type: string
+                speed_rpm:
+                  default: 60
+                  minimum: 1
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: rotate_quarter参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_zero:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 将当前电机位置设为零点。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_zero参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 立即停止电机运动。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_time:
+        feedback: {}
+        goal: {}
+        goal_default:
+          duration_s: 1.0
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: 等待指定时间 (秒)。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                duration_s:
+                  default: 1.0
+                  minimum: 0
+                  type: number
+              required:
+              - duration_s
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_time参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.motor.ZDT_X42:ZDTX42Driver
+    status_types:
+      position: int
+      status: str
+    type: python
+  config_info: []
+  description: ZDT X42 闭环步进电机驱动。支持速度运行、精确位置控制、位置查询和清零功能。适用于各种需要精确运动控制的实验室自动化场景。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 115200
+          type: integer
+        debug:
+          default: false
+          type: boolean
+        device_id:
+          default: 1
+          type: integer
+        port:
+          type: string
+        timeout:
+          default: 0.5
+          type: number
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        position:
+          type: integer
+        status:
+          type: string
+      required:
+      - status
+      - position
+      type: object
+  version: 1.0.0

unilabos/registry/devices/sensor.yaml

@@ -0,0 +1,148 @@
+sensor.xkc_rs485:
+  category:
+  - sensor
+  - separator
+  class:
+    action_value_mappings:
+      auto-change_baudrate:
+        goal:
+          baud_code: 7
+        handles: {}
+        schema:
+          description: '更改通讯波特率 (设置成功后无返回，且需手动切换波特率重连)。代码表 (16进制): 05=2400, 06=4800,
+            07=9600, 08=14400, 09=19200, 0A=28800, 0C=57600, 0D=115200, 0E=128000,
+            0F=256000'
+          properties:
+            goal:
+              properties:
+                baud_code:
+                  description: '波特率代码 (例如: 7 为 9600, 13 即 0x0D 为 115200)'
+                  type: integer
+              required:
+              - baud_code
+              type: object
+        type: UniLabJsonCommand
+      auto-change_device_id:
+        goal:
+          new_id: 1
+        handles: {}
+        schema:
+          description: 修改传感器的 Modbus 从站地址
+          properties:
+            goal:
+              properties:
+                new_id:
+                  description: 新的从站地址 (1-254)
+                  maximum: 254
+                  minimum: 1
+                  type: integer
+              required:
+              - new_id
+              type: object
+        type: UniLabJsonCommand
+      auto-factory_reset:
+        goal: {}
+        handles: {}
+        schema:
+          description: 恢复出厂设置 (地址重置为 01)
+          properties:
+            goal:
+              type: object
+        type: UniLabJsonCommand
+      auto-read_level:
+        goal: {}
+        handles: {}
+        schema:
+          description: 直接读取当前液位及信号强度
+          properties:
+            goal:
+              type: object
+          type: object
+        type: UniLabJsonCommand
+      auto-set_threshold:
+        goal:
+          threshold: 300
+        handles: {}
+        schema:
+          description: 设置液位判定阈值
+          properties:
+            goal:
+              properties:
+                threshold:
+                  type: integer
+              required:
+              - threshold
+              type: object
+        type: UniLabJsonCommand
+      auto-wait_for_liquid:
+        goal:
+          target_state: true
+          timeout: 120
+        handles: {}
+        schema:
+          description: 实时检测电导率(RSSI)并等待用户指定的状态
+          properties:
+            goal:
+              properties:
+                target_state:
+                  default: true
+                  description: 目标状态 (True=有液, False=无液)
+                  type: boolean
+                timeout:
+                  default: 120
+                  description: 超时时间 (秒)
+              required:
+              - target_state
+              type: object
+        type: UniLabJsonCommand
+      auto-wait_level:
+        goal:
+          level: true
+          timeout: 10
+        handles: {}
+        schema:
+          description: 等待液位达到目标状态
+          properties:
+            goal:
+              properties:
+                level:
+                  type: boolean
+                timeout:
+                  type: number
+              required:
+              - level
+              type: object
+        type: UniLabJsonCommand
+    module: unilabos.devices.separator.xkc_sensor:XKCSensorDriver
+    status_types:
+      level: bool
+      rssi: int
+    type: python
+  config_info: []
+  description: XKC RS485 非接触式液位传感器 (Modbus RTU)
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        baudrate:
+          default: 9600
+          type: integer
+        debug:
+          default: false
+          type: boolean
+        device_id:
+          default: 1
+          type: integer
+        port:
+          type: string
+        threshold:
+          default: 300
+          type: integer
+        timeout:
+          default: 3.0
+          type: number
+      required:
+      - port
+      type: object
+  version: 1.0.0

unilabos/registry/resources/bioyond/bottle_carriers.yaml

@@ -46,3 +46,16 @@ BIOYOND_PolymerStation_8StockCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
+BIOYOND_PolymerStation_TipBox:
+  category:
+  - bottle_carriers
+  - tip_racks
+  class:
+    module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_TipBox
+    type: pylabrobot
+  description: BIOYOND_PolymerStation_TipBox (4x6布局，24个枪头孔位)
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/bioyond/bottles.yaml

@@ -82,14 +82,3 @@ 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

unilabos/resources/bioyond/bottle_carriers.py

@@ -1,4 +1,4 @@
-from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
+from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d, Container
 
 from unilabos.resources.itemized_carrier import BottleCarrier
 from unilabos.resources.bioyond.bottles import (
@@ -9,6 +9,28 @@ from unilabos.resources.bioyond.bottles import (
     BIOYOND_PolymerStation_Reagent_Bottle,
     BIOYOND_PolymerStation_Flask,
 )
+
+
+def BIOYOND_PolymerStation_Tip(name: str, size_x: float = 8.0, size_y: float = 8.0, size_z: float = 50.0) -> Container:
+    """创建单个枪头资源
+
+    Args:
+        name: 枪头名称
+        size_x: 枪头宽度 (mm)
+        size_y: 枪头长度 (mm)
+        size_z: 枪头高度 (mm)
+
+    Returns:
+        Container: 枪头容器
+    """
+    return Container(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        category="tip",
+        model="BIOYOND_PolymerStation_Tip",
+    )
 # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
 
 
@@ -322,3 +344,88 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
     carrier.num_items_z = 1
     carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
     return carrier
+
+
+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,
+) -> BottleCarrier:
+    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+
+    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:
+        BottleCarrier: 包含24个枪头孔位的枪头盒载架
+
+    布局说明:
+        - 4行×6列 (A-D, 1-6)
+        - 枪头孔位间距: 18mm (x方向) × 18mm (y方向)
+        - 起始位置居中对齐
+        - 索引顺序: 列优先 (0=A1, 1=B1, 2=C1, 3=D1, 4=A2, ...)
+    """
+    # 枪头孔位参数
+    num_cols = 6  # 1-6 (x方向)
+    num_rows = 4  # A-D (y方向)
+    tip_diameter = 8.0  # 枪头孔位直径
+    tip_spacing_x = 18.0  # 列间距 (增加到18mm，更宽松)
+    tip_spacing_y = 18.0  # 行间距 (增加到18mm，更宽松)
+
+    # 计算起始位置 (居中对齐)
+    total_width = (num_cols - 1) * tip_spacing_x + tip_diameter
+    total_height = (num_rows - 1) * tip_spacing_y + tip_diameter
+    start_x = (size_x - total_width) / 2
+    start_y = (size_y - total_height) / 2
+
+    # 使用 create_ordered_items_2d 创建孔位
+    # create_ordered_items_2d 返回的 key 是数字索引: 0, 1, 2, ...
+    # 顺序是列优先: 先y后x (即 0=A1, 1=B1, 2=C1, 3=D1, 4=A2, 5=B2, ...)
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=num_cols,
+        num_items_y=num_rows,
+        dx=start_x,
+        dy=start_y,
+        dz=5.0,
+        item_dx=tip_spacing_x,
+        item_dy=tip_spacing_y,
+        size_x=tip_diameter,
+        size_y=tip_diameter,
+        size_z=50.0,  # 枪头深度
+    )
+
+    # 更新 sites 中每个 ResourceHolder 的名称
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    # 创建枪头盒载架
+    # 注意：不设置 category，使用默认的 "bottle_carrier"，这样前端会显示为完整的矩形载架
+    tip_box = BottleCarrier(
+        name=name,
+        size_x=size_x,
+        size_y=size_y,
+        size_z=size_z,
+        sites=sites,  # 直接使用数字索引的 sites
+        model="BIOYOND_PolymerStation_TipBox",
+    )
+
+    # 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 = num_cols
+    tip_box.num_items_y = num_rows
+    tip_box.num_items_z = 1
+
+    # ⭐ 枪头盒不需要放入子资源
+    # 与其他 carrier 不同，枪头盒在 Bioyond 中是一个整体
+    # 不需要追踪每个枪头的状态，保持为空的 ResourceHolder 即可
+    # 这样前端会显示24个空槽位，可以用于放置枪头
+
+    return tip_box

unilabos/resources/bioyond/bottles.py

@@ -116,7 +116,9 @@ def BIOYOND_PolymerStation_TipBox(
     size_z: float = 100.0,   # 枪头盒高度
     barcode: str = None,
 ):
-    """创建4×6枪头盒 (24个枪头)
+    """创建4×6枪头盒 (24个枪头) - 使用 BottleCarrier 结构
+
+    注意：此函数已弃用，请使用 bottle_carriers.py 中的版本
 
     Args:
         name: 枪头盒名称
@@ -126,55 +128,11 @@ def BIOYOND_PolymerStation_TipBox(
         barcode: 条形码
 
     Returns:
-        TipBoxCarrier: 包含24个枪头孔位的枪头盒
+        BottleCarrier: 包含24个枪头孔位的枪头盒载架
     """
-    from pylabrobot.resources import Container, Coordinate
+    # 重定向到 bottle_carriers.py 中的实现
-
+    from unilabos.resources.bioyond.bottle_carriers import BIOYOND_PolymerStation_TipBox as TipBox_Carrier
-    # 创建枪头盒容器
+    return TipBox_Carrier(name=name, size_x=size_x, size_y=size_y, size_z=size_z, barcode=barcode)
-    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
 
 
 def BIOYOND_PolymerStation_Flask(

unilabos/resources/graphio.py

@@ -151,12 +151,40 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
     """
     # 构建 id 到 uuid 的映射
     id_to_uuid: Dict[str, str] = {}
+    uuid_to_id: Dict[str, str] = {}
     for node in resource_tree_set.all_nodes:
         id_to_uuid[node.res_content.id] = node.res_content.uuid
+        uuid_to_id[node.res_content.uuid] = node.res_content.id
+
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
+        source_uuid = link.get("source_uuid")
+        target_uuid = link.get("target_uuid")
+
+        # 添加 source_uuid
+        if source_uuid and source_uuid in uuid_to_id:
+            link["source"] = uuid_to_id[source_uuid]
+
+        # 添加 target_uuid
+        if target_uuid and target_uuid in uuid_to_id:
+            link["target"] = uuid_to_id[target_uuid]
 
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in links:
         port = link.get("port")
+        if port is None:
+            continue
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
         if isinstance(port, int):
@@ -179,13 +207,15 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in links}
+    edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
     for i, link in enumerate(links):
         s, t = link["source"], link["target"]
-        current_port = link["port"]
+        current_port = link.get("port")
+        if current_port is None:
+            continue
         if current_port.get(t) is None:
             reverse_key = (t, s)
             reverse_port = edges.get(reverse_key)
@@ -200,20 +230,6 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
     standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
-
-    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
-    for link in standardized_links:
-        source_id = link.get("source")
-        target_id = link.get("target")
-
-        # 添加 source_uuid
-        if source_id and source_id in id_to_uuid:
-            link["source_uuid"] = id_to_uuid[source_id]
-
-        # 添加 target_uuid
-        if target_id and target_id in id_to_uuid:
-            link["target_uuid"] = id_to_uuid[target_id]
-
     return standardized_links
 
 
@@ -284,6 +300,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["sourceHandle"] = port[source]
         elif "source_port" in edge:
             edge["sourceHandle"] = edge.pop("source_port")
+        elif "source_handle" in edge:
+            edge["sourceHandle"] = edge.pop("source_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -292,6 +310,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
+        elif "target_handle" in edge:
+            edge["targetHandle"] = edge.pop("target_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -759,6 +779,9 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     bottle = plr_material[number] = initialize_resource(
                         {"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
                     )
+                    # 只有具有 tracker 属性的容器才设置液体信息（如 Bottle, Well）
+                    # ResourceHolder 等不支持液体追踪的容器跳过
+                    if hasattr(bottle, "tracker"):
                         bottle.tracker.liquids = [
                             (detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
                         ]
@@ -770,6 +793,8 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
             # 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
+                # 确保 bottle 有 tracker 属性才设置液体信息
+                if hasattr(bottle, "tracker"):
                     bottle.tracker.liquids = [
                         (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
                     ]
@@ -801,24 +826,29 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                 wh_name = loc.get("whName")
                 logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
 
+                # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
+                # 必须在warehouse映射之前先获取坐标，以便后续调整
+                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)
+
                 # 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
+                # 根据列号(y)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 <= y <= 4:
-                    if 1 <= x_val <= 4:
                         wh_name = "堆栈1左"
-                    elif 5 <= x_val <= 8:
+                    elif 5 <= y <= 8:
                         wh_name = "堆栈1右"
+                        y = y - 4  # 调整列号: 5-8映射到1-4
                     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")
+                        logger.warning(f"物料 {material['name']} 的列号 y={y} 超出范围，无法映射到堆栈1左或堆栈1右")
                         continue
 
                 # 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
                 if wh_name == "站内Tip盒堆栈":
-                    y_val = loc.get("y", 1)
+                    if y == 1:
-                    if y_val == 1:
                         wh_name = "站内Tip盒堆栈(右)"
-                    elif y_val in [2, 3]:
+                    elif y in [2, 3]:
                         wh_name = "站内Tip盒堆栈(左)"
                         y = y - 1  # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
 
@@ -826,15 +856,6 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                     warehouse = deck.warehouses[wh_name]
                     logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
 
-                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
-                    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
-
                     # 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
                     # 这些warehouse使用 vertical-col-major 布局
                     if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:

unilabos/resources/plr_additional_res_reg.py

@@ -18,3 +18,9 @@ def register():
     from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
     from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 
+    # noinspection PyUnresolvedReferences
+    from unilabos.resources.bioyond.decks import (
+        BIOYOND_PolymerReactionStation_Deck,
+        BIOYOND_PolymerPreparationStation_Deck,
+        BIOYOND_YB_Deck,
+    )

unilabos/resources/resource_tracker.py

@@ -341,6 +341,7 @@ class ResourceTreeSet(object):
                 "deck": "deck",
                 "tip_rack": "tip_rack",
                 "tip_spot": "tip_spot",
+                "tip": "tip",  # 添加 tip 类型支持
                 "tube": "tube",
                 "bottle_carrier": "bottle_carrier",
             }

unilabos/ros/nodes/base_device_node.py

@@ -1581,7 +1581,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
                                 )
                                 raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
-
+            # todo: 默认反报送
             return function(**function_args)
         except KeyError as ex:
             raise JsonCommandInitError(
@@ -1614,8 +1614,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         timeout = 30.0
         elapsed = 0.0
         while not future.done() and elapsed < timeout:
-            time.sleep(0.05)
+            time.sleep(0.02)
-            elapsed += 0.05
+            elapsed += 0.02
 
         if not future.done():
             raise Exception(f"资源查询超时: {uuids_list}")

unilabos/ros/nodes/presets/host_node.py

@@ -807,7 +807,7 @@ class HostNode(BaseROS2DeviceNode):
         assign_sample_id(action_kwargs)
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
-        self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        # self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
@@ -1180,7 +1180,7 @@ class HostNode(BaseROS2DeviceNode):
         """
         更新节点信息回调
         """
-        # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
         try:
             from unilabos.app.communication import get_communication_client
             from unilabos.app.web.client import HTTPClient, http_client

unilabos/test/experiments/prcxi_9320_slim.json

@@ -0,0 +1,795 @@
+{
+  "nodes": [
+    {
+      "id": "PRCXI",
+      "name": "PRCXI",
+      "type": "device",
+      "class": "liquid_handler.prcxi",
+      "parent": "",
+      "pose": {
+        "size": {
+          "width": 562,
+          "height": 394,
+          "depth": 0
+        }
+      },
+      "config": {
+        "axis": "Left",
+        "deck": {
+          "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+          "_resource_child_name": "PRCXI_Deck"
+        },
+        "host": "10.20.30.184",
+        "port": 9999,
+        "debug": true,
+        "setup": true,
+        "is_9320": true,
+        "timeout": 10,
+        "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+        "simulator": true,
+        "channel_num": 2
+      },
+      "data": {
+        "reset_ok": true
+      },
+      "schema": {},
+      "description": "",
+      "model": null,
+      "position": {
+        "x": 0,
+        "y": 240,
+        "z": 0
+      }
+    },
+    {
+      "id": "PRCXI_Deck",
+      "name": "PRCXI_Deck",
+
+      "children": [],
+      "parent": "PRCXI",
+      "type": "deck",
+      "class": "",
+      "position": {
+        "x": 10,
+        "y": 10,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 542,
+        "size_y": 374,
+        "size_z": 0,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "deck",
+        "barcode": null
+      },
+      "data": {}
+    },
+    {
+      "id": "T1",
+      "name": "T1",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T1",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T2",
+      "name": "T2",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T2",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T3",
+      "name": "T3",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T3",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T4",
+      "name": "T4",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 288,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T4",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T5",
+      "name": "T5",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T5",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T6",
+      "name": "T6",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T6",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T7",
+      "name": "T7",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T7",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T8",
+      "name": "T8",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T8",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T9",
+      "name": "T9",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T9",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T10",
+      "name": "T10",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T10",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T11",
+      "name": "T11",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T11",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T12",
+      "name": "T12",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T12",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T13",
+      "name": "T13",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T13",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T14",
+      "name": "T14",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T14",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T15",
+      "name": "T15",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T15",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T16",
+      "name": "T16",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 414,
+        "y": 0,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T16",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    }
+  ],
+  "edges": []
+}

unilabos/test/experiments/xkc_sensor_test.json

@@ -0,0 +1,29 @@
+{
+    "nodes": [
+        {
+            "id": "Liquid_Sensor_1",
+            "name": "XKC Sensor",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "sensor.xkc_rs485",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "port": "/dev/tty.usbserial-3110",
+                "baudrate": 9600,
+                "device_id": 1,
+                "threshold": 300,
+                "timeout": 3.0
+            },
+            "data": {
+                "level": false,
+                "rssi": 0
+            }
+        }
+    ],
+    "links": []
+}

unilabos/test/experiments/zdt_motor_test.json

@@ -0,0 +1,28 @@
+{
+    "nodes": [
+        {
+            "id": "ZDT_Motor",
+            "name": "ZDT Motor",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "motor.zdt_x42",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "port": "/dev/tty.usbserial-3110",
+                "baudrate": 115200,
+                "device_id": 1,
+                "debug": true
+            },
+            "data": {
+                "position": 0,
+                "status": "idle"
+            }
+        }
+    ],
+    "links": []
+}

unilabos/workflow/common.py

@@ -19,7 +19,9 @@
 
 第一步: 按 slot 去重创建 create_resource 节点（创建板子）
 --------------------------------------------------------------------------------
+- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 create_resource 节点
 - 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
+- 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
 - 生成参数:
     res_id: plate_slot_{slot}
     device_id: /PRCXI
@@ -29,11 +31,13 @@
 - 输出端口: labware（用于连接 set_liquid_from_plate）
 - 控制流: create_resource 之间通过 ready 端口串联
 
-示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
+示例: slot=1, slot=4 -> 创建 1 个 Group + 2 个 create_resource 节点
 
 第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
 --------------------------------------------------------------------------------
+- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 set_liquid_from_plate 节点
 - 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
+- 所有 set_liquid_from_plate 节点的 parent_uuid 指向 Group 节点，minimized=true
 - 生成参数:
     plate: []（通过连接传递，来自 create_resource 的 labware）
     well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
@@ -76,6 +80,13 @@ transfer_liquid:
     输入: sources -> sources_identifier, targets -> targets_identifier
     输出: sources -> sources_out, targets -> targets_out
 
+==================== 设备名配置 (device_name) ====================
+
+每个节点都有 device_name 字段，指定在哪个设备上执行:
+- create_resource: device_name = "host_node"（固定）
+- set_liquid_from_plate: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
+- transfer_liquid 等动作: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
+
 ==================== 校验规则 ====================
 
 - 检查 sources/targets 是否在 reagent 中定义
@@ -97,6 +108,13 @@ Json = Dict[str, Any]
 
 # ==================== 默认配置 ====================
 
+# 设备名配置
+DEVICE_NAME_HOST = "host_node"  # create_resource 固定在 host_node 上执行
+DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动作的默认设备名
+
+# 节点类型
+NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
+
 # create_resource 节点默认参数
 CREATE_RESOURCE_DEFAULTS = {
     "device_id": "/PRCXI",
@@ -367,6 +385,21 @@ def build_protocol_graph(
                 "res_id": res_id,
             }
 
+    # 创建 Group 节点，包含所有 create_resource 节点
+    group_node_id = str(uuid.uuid4())
+    G.add_node(
+        group_node_id,
+        name="Resources Group",
+        type="Group",
+        parent_uuid="",
+        lab_node_type="Device",
+        template_name="",
+        resource_name="",
+        footer="",
+        minimized=True,
+        param=None,
+    )
+
     # 为每个唯一的 slot 创建 create_resource 节点
     res_index = 0
     last_create_resource_id = None
@@ -383,6 +416,10 @@ def build_protocol_graph(
             description=f"Create plate on slot {slot}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
+            device_name=DEVICE_NAME_HOST,
+            type=NODE_TYPE_DEFAULT,
+            parent_uuid=group_node_id,  # 指向 Group 节点
+            minimized=True,  # 折叠显示
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
@@ -400,6 +437,21 @@ def build_protocol_graph(
         last_create_resource_id = node_id
 
     # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
+    # 创建 Group 节点，包含所有 set_liquid_from_plate 节点
+    set_liquid_group_id = str(uuid.uuid4())
+    G.add_node(
+        set_liquid_group_id,
+        name="SetLiquid Group",
+        type="Group",
+        parent_uuid="",
+        lab_node_type="Device",
+        template_name="",
+        resource_name="",
+        footer="",
+        minimized=True,
+        param=None,
+    )
+
     set_liquid_index = 0
     last_set_liquid_id = last_create_resource_id  # set_liquid_from_plate 连接在 create_resource 之后
 
@@ -430,6 +482,10 @@ def build_protocol_graph(
             description=f"Set liquid: {labware_id}",
             lab_node_type="Reagent",
             footer="set_liquid_from_plate-liquid_handler.prcxi",
+            device_name=DEVICE_NAME_DEFAULT,
+            type=NODE_TYPE_DEFAULT,
+            parent_uuid=set_liquid_group_id,  # 指向 Group 节点
+            minimized=True,  # 折叠显示
             param={
                 "plate": [],  # 通过连接传递
                 "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
@@ -544,9 +600,11 @@ def build_protocol_graph(
             if param_key in params:
                 params[param_key] = []
 
-        # 更新 step 的 param 和 footer
+        # 更新 step 的 param、footer、device_name 和 type
         step_copy = step.copy()
         step_copy["param"] = params
+        step_copy["device_name"] = DEVICE_NAME_DEFAULT  # 动作节点使用默认设备名
+        step_copy["type"] = NODE_TYPE_DEFAULT  # 节点类型
 
         # 如果有警告，修改 footer 添加警告标记（警告放前面）
         if warnings: