update version to 0.10.12

print all logs to file
fix resource dict dump error

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.10
+  version: 0.10.12
 
 source:
   path: ../unilabos

docs/advanced_usage/configuration.md

@@ -67,14 +67,6 @@ class WSConfig:
     max_reconnect_attempts = 999  # 最大重连次数
     ping_interval = 30  # ping间隔（秒）
 
-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""  # API主机地址
-    authorization = ""  # 授权信息
-    init_endpoint = ""  # 初始化端点
-    complete_endpoint = ""  # 完成端点
-    max_retries = 3  # 最大重试次数
-
 # HTTP配置
 class HTTPConfig:
     remote_addr = "https://uni-lab.bohrium.com/api/v1"  # 远程服务器地址
@@ -294,19 +286,7 @@ HTTP 客户端配置用于与云端服务通信：
 - UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
 - 本地环境：`http://127.0.0.1:48197/api/v1`
 
-### 4. OSSUploadConfig - OSS 上传配置
-
-对象存储服务配置，用于文件上传功能：
-
-| 参数                | 类型 | 默认值 | 说明                 |
-| ------------------- | ---- | ------ | -------------------- |
-| `api_host`          | str  | `""`   | OSS API 主机地址     |
-| `authorization`     | str  | `""`   | 授权认证信息         |
-| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
-| `complete_endpoint` | str  | `""`   | 上传完成端点         |
-| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
-
-### 5. ROSConfig - ROS 配置
+### 4. ROSConfig - ROS 配置
 
 配置 ROS 消息转换器需要加载的模块：
 

docs/developer_guide/add_registry.md

@@ -4,7 +4,8 @@
 
 ## 概述
 
-注册表（Registry）是Uni-Lab的设备配置系统，采用YAML格式定义设备的：
+注册表（Registry）是 Uni-Lab 的设备配置系统，采用 YAML 格式定义设备的：
+
 - 可用动作（Actions）
 - 状态类型（Status Types）
 - 初始化参数（Init Parameters）
@@ -32,19 +33,19 @@
 
 ### 核心字段说明
 
-| 字段名            | 类型   | 需要手写 | 说明                                |
-| ----------------- | ------ | -------- | ----------------------------------- |
-| 设备标识符        | string | 是       | 设备的唯一名字，如 `mock_chiller`   |
-| class             | object | 部分     | 设备的核心信息，必须配置            |
-| description       | string | 否       | 设备描述，系统默认给空字符串        |
-| handles           | array  | 否       | 连接关系，默认为空                  |
-| icon              | string | 否       | 图标路径，默认为空                  |
-| init_param_schema | object | 否       | 初始化参数，系统自动分析生成        |
-| version           | string | 否       | 版本号，默认 "1.0.0"                |
-| category          | array  | 否       | 设备分类，默认使用文件名            |
-| config_info       | array  | 否       | 嵌套配置，默认为空                  |
-| file_path         | string | 否       | 文件路径，系统自动设置              |
-| registry_type     | string | 否       | 注册表类型，自动设为 "device"       |
+| 字段名            | 类型   | 需要手写 | 说明                              |
+| ----------------- | ------ | -------- | --------------------------------- |
+| 设备标识符        | string | 是       | 设备的唯一名字，如 `mock_chiller` |
+| class             | object | 部分     | 设备的核心信息，必须配置          |
+| description       | string | 否       | 设备描述，系统默认给空字符串      |
+| handles           | array  | 否       | 连接关系，默认为空                |
+| icon              | string | 否       | 图标路径，默认为空                |
+| init_param_schema | object | 否       | 初始化参数，系统自动分析生成      |
+| version           | string | 否       | 版本号，默认 "1.0.0"              |
+| category          | array  | 否       | 设备分类，默认使用文件名          |
+| config_info       | array  | 否       | 嵌套配置，默认为空                |
+| file_path         | string | 否       | 文件路径，系统自动设置            |
+| registry_type     | string | 否       | 注册表类型，自动设为 "device"     |
 
 ### class 字段详解
 
@@ -71,11 +72,11 @@ my_device:
       # 动作配置（详见后文）
       action_name:
         type: UniLabJsonCommand
-        goal: {...}
-        result: {...}
+        goal: { ... }
+        result: { ... }
 
-  description: "设备描述"
-  version: "1.0.0"
+  description: '设备描述'
+  version: '1.0.0'
   category:
     - device_category
   handles: []
@@ -101,21 +102,22 @@ my_device:
 
 ## 创建注册表的方式
 
-### 方式1: 使用注册表编辑器（推荐）
+### 方式 1: 使用注册表编辑器（推荐）
 
 适合大多数场景，快速高效。
 
 **步骤**：
-1. 启动Uni-Lab
-2. 访问Web界面的"注册表编辑器"
-3. 上传您的Python设备驱动文件
+
+1. 启动 Uni-Lab
+2. 访问 Web 界面的"注册表编辑器"
+3. 上传您的 Python 设备驱动文件
 4. 点击"分析文件"
 5. 填写描述和图标
 6. 点击"生成注册表"
-7. 复制生成的YAML内容
+7. 复制生成的 YAML 内容
 8. 保存到 `unilabos/registry/devices/your_device.yaml`
 
-### 方式2: 使用--complete_registry参数（开发调试）
+### 方式 2: 使用--complete_registry 参数（开发调试）
 
 适合开发阶段，自动补全配置。
 
@@ -125,7 +127,8 @@ unilab -g dev.json --complete_registry --registry_path ./my_registry
 ```
 
 系统会：
-1. 扫描Python类
+
+1. 扫描 Python 类
 2. 分析方法签名和类型
 3. 自动生成缺失的字段
 4. 保存到注册表文件
@@ -137,7 +140,7 @@ unilab -g dev.json --complete_registry --registry_path ./my_registry
 启动系统时用 complete_registry=True 参数，让系统自动补全
 ```
 
-### 方式3: 手动编写（高级）
+### 方式 3: 手动编写（高级）
 
 适合需要精细控制或特殊需求的场景。
 
@@ -186,6 +189,7 @@ my_device:
 | ROS 动作类型           | 标准 ROS 动作        | goal_default 和 schema |
 
 **常用的 ROS 动作类型**：
+
 - `SendCmd`：发送简单命令
 - `NavigateThroughPoses`：导航动作
 - `SingleJointPosition`：单关节位置控制
@@ -251,11 +255,11 @@ heat_chill_start:
 
 ## 特殊类型的自动识别
 
-### ResourceSlot和DeviceSlot识别
+### ResourceSlot 和 DeviceSlot 识别
 
 当您在驱动代码中使用这些特殊类型时，系统会自动识别并生成相应的前端选择器。
 
-**Python驱动代码示例**：
+**Python 驱动代码示例**：
 
 ```python
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -286,24 +290,24 @@ my_device:
           device: device
           devices: devices
         placeholder_keys:
-          resource: unilabos_resources      # 自动添加！
-          resources: unilabos_resources     # 自动添加！
-          device: unilabos_devices          # 自动添加！
-          devices: unilabos_devices         # 自动添加！
+          resource: unilabos_resources # 自动添加！
+          resources: unilabos_resources # 自动添加！
+          device: unilabos_devices # 自动添加！
+          devices: unilabos_devices # 自动添加！
         result:
           success: success
 ```
 
 ### 识别规则
 
-| Python类型 | placeholder_keys值 | 前端效果 |
-|-----------|-------------------|---------|
-| `ResourceSlot` | `unilabos_resources` | 单选资源下拉框 |
+| Python 类型          | placeholder_keys 值  | 前端效果       |
+| -------------------- | -------------------- | -------------- |
+| `ResourceSlot`       | `unilabos_resources` | 单选资源下拉框 |
 | `List[ResourceSlot]` | `unilabos_resources` | 多选资源下拉框 |
-| `DeviceSlot` | `unilabos_devices` | 单选设备下拉框 |
-| `List[DeviceSlot]` | `unilabos_devices` | 多选设备下拉框 |
+| `DeviceSlot`         | `unilabos_devices`   | 单选设备下拉框 |
+| `List[DeviceSlot]`   | `unilabos_devices`   | 多选设备下拉框 |
 
-### 前端UI效果
+### 前端 UI 效果
 
 #### 单选资源
 
@@ -313,6 +317,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Source: [下拉选择框 ▼]
         ├── plate_1 (96孔板)
@@ -329,6 +334,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Targets: [多选下拉框 ▼]
          ☑ plate_1 (96孔板)
@@ -345,6 +351,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Pump: [下拉选择框 ▼]
       ├── pump_1 (注射泵A)
@@ -360,6 +367,7 @@ placeholder_keys:
 ```
 
 **前端渲染**:
+
 ```
 Sync Devices: [多选下拉框 ▼]
               ☑ heater_1 (加热器A)
@@ -367,11 +375,11 @@ Sync Devices: [多选下拉框 ▼]
               ☐ pump_1 (注射泵)
 ```
 
-### 手动配置placeholder_keys
+### 手动配置 placeholder_keys
 
-如果需要手动添加或覆盖自动生成的placeholder_keys：
+如果需要手动添加或覆盖自动生成的 placeholder_keys：
 
-#### 场景1: 非标准参数名
+#### 场景 1: 非标准参数名
 
 ```yaml
 action_value_mappings:
@@ -384,7 +392,7 @@ action_value_mappings:
       my_device_param: unilabos_devices
 ```
 
-#### 场景2: 混合类型
+#### 场景 2: 混合类型
 
 ```python
 def mixed_params(
@@ -398,32 +406,33 @@ def mixed_params(
 
 ```yaml
 placeholder_keys:
-  resource: unilabos_resources    # 资源选择
-  device: unilabos_devices        # 设备选择
+  resource: unilabos_resources # 资源选择
+  device: unilabos_devices # 设备选择
   # normal_param不需要placeholder_keys
 ```
 
-#### 场景3: 自定义选择器
+#### 场景 3: 自定义选择器
 
 ```yaml
 placeholder_keys:
-  special_param: custom_selector   # 使用自定义选择器
+  special_param: custom_selector # 使用自定义选择器
 ```
 
 ## 系统自动生成的字段
 
 ### status_types
 
-系统会扫描你的 Python 类，从状态方法（property或get_方法）自动生成这部分：
+系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
 
 ```yaml
 status_types:
   current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
-  is_heating: bool           # 从 get_is_heating() 或 @property is_heating
-  status: str               # 从 get_status() 或 @property status
+  is_heating: bool # 从 get_is_heating() 或 @property is_heating
+  status: str # 从 get_status() 或 @property status
 ```
 
 **注意事项**：
+
 - 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
 - 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
 - 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
@@ -459,20 +468,21 @@ init_param_schema:
 ```
 
 **生成规则**：
+
 - `config` 部分：分析 `__init__` 方法的参数、类型和默认值
 - `data` 部分：根据 `status_types` 生成前端显示用的类型定义
 
 ### 其他自动填充的字段
 
 ```yaml
-version: '1.0.0'          # 默认版本
-category: ['文件名']       # 使用 yaml 文件名作为类别
-description: ''           # 默认为空
-icon: ''                  # 默认为空
-handles: []               # 默认空数组
-config_info: []           # 默认空数组
+version: '1.0.0' # 默认版本
+category: ['文件名'] # 使用 yaml 文件名作为类别
+description: '' # 默认为空
+icon: '' # 默认为空
+handles: [] # 默认空数组
+config_info: [] # 默认空数组
 file_path: '/path/to/file' # 系统自动填写
-registry_type: 'device'   # 自动设为设备类型
+registry_type: 'device' # 自动设为设备类型
 ```
 
 ### handles 字段
@@ -510,7 +520,7 @@ config_info: # 嵌套配置，用于包含子设备
 
 ## 完整示例
 
-### Python驱动代码
+### Python 驱动代码
 
 ```python
 # unilabos/devices/my_lab/liquid_handler.py
@@ -520,22 +530,22 @@ from typing import List, Dict, Any, Optional
 
 class AdvancedLiquidHandler:
     """高级液体处理工作站"""
-    
+
     def __init__(self, config: Dict[str, Any]):
         self.simulation = config.get('simulation', False)
         self._status = "idle"
         self._temperature = 25.0
-    
+
     @property
     def status(self) -> str:
         """设备状态"""
         return self._status
-    
+
     @property
     def temperature(self) -> float:
         """当前温度"""
         return self._temperature
-    
+
     def transfer(
         self,
         source: ResourceSlot,
@@ -545,7 +555,7 @@ class AdvancedLiquidHandler:
     ) -> Dict[str, Any]:
         """转移液体"""
         return {"success": True}
-    
+
     def multi_transfer(
         self,
         source: ResourceSlot,
@@ -554,7 +564,7 @@ class AdvancedLiquidHandler:
     ) -> Dict[str, Any]:
         """多目标转移"""
         return {"success": True}
-    
+
     def coordinate_with_heater(
         self,
         plate: ResourceSlot,
@@ -574,12 +584,12 @@ advanced_liquid_handler:
   class:
     module: unilabos.devices.my_lab.liquid_handler:AdvancedLiquidHandler
     type: python
-    
+
     # 自动提取的状态类型
     status_types:
       status: str
       temperature: float
-    
+
     # 自动生成的初始化参数
     init_param_schema:
       config:
@@ -597,7 +607,7 @@ advanced_liquid_handler:
         required:
           - status
         type: object
-    
+
     # 动作映射
     action_value_mappings:
       transfer:
@@ -613,28 +623,28 @@ advanced_liquid_handler:
           volume: 0.0
           tip: null
         placeholder_keys:
-          source: unilabos_resources      # 自动添加
-          target: unilabos_resources      # 自动添加
-          tip: unilabos_resources         # 自动添加
+          source: unilabos_resources # 自动添加
+          target: unilabos_resources # 自动添加
+          tip: unilabos_resources # 自动添加
         result:
           success: success
         schema:
-          description: "转移液体"
+          description: '转移液体'
           properties:
             goal:
               properties:
                 source:
                   type: object
-                  description: "源容器"
+                  description: '源容器'
                 target:
                   type: object
-                  description: "目标容器"
+                  description: '目标容器'
                 volume:
                   type: number
-                  description: "体积(μL)"
+                  description: '体积(μL)'
                 tip:
                   type: object
-                  description: "枪头(可选)"
+                  description: '枪头(可选)'
               required:
                 - source
                 - target
@@ -643,7 +653,7 @@ advanced_liquid_handler:
           required:
             - goal
           type: object
-      
+
       multi_transfer:
         type: UniLabJsonCommand
         goal:
@@ -651,11 +661,11 @@ advanced_liquid_handler:
           targets: targets
           volumes: volumes
         placeholder_keys:
-          source: unilabos_resources      # 单选
-          targets: unilabos_resources     # 多选
+          source: unilabos_resources # 单选
+          targets: unilabos_resources # 多选
         result:
           success: success
-      
+
       coordinate_with_heater:
         type: UniLabJsonCommand
         goal:
@@ -663,17 +673,17 @@ advanced_liquid_handler:
           heater: heater
           temperature: temperature
         placeholder_keys:
-          plate: unilabos_resources       # 资源选择
-          heater: unilabos_devices        # 设备选择
+          plate: unilabos_resources # 资源选择
+          heater: unilabos_devices # 设备选择
         result:
           success: success
-  
-  description: "高级液体处理工作站，支持多目标转移和设备协同"
-  version: "1.0.0"
+
+  description: '高级液体处理工作站，支持多目标转移和设备协同'
+  version: '1.0.0'
   category:
     - liquid_handling
   handles: []
-  icon: ""
+  icon: ''
 ```
 
 ### 另一个完整示例：温度控制器
@@ -892,17 +902,18 @@ unilab -g dev.json --complete_registry
 cat unilabos/registry/devices/my_device.yaml
 ```
 
-### 2. 验证placeholder_keys
+### 2. 验证 placeholder_keys
 
 确认：
-- ResourceSlot参数有 `unilabos_resources`
-- DeviceSlot参数有 `unilabos_devices`
-- List类型被正确识别
+
+- ResourceSlot 参数有 `unilabos_resources`
+- DeviceSlot 参数有 `unilabos_devices`
+- List 类型被正确识别
 
 ### 3. 测试前端效果
 
-1. 启动Uni-Lab
-2. 访问Web界面
+1. 启动 Uni-Lab
+2. 访问 Web 界面
 3. 选择设备
 4. 调用动作
 5. 检查是否显示正确的选择器
@@ -916,18 +927,21 @@ python -c "from unilabos.devices.my_module.my_device import MyDevice"
 
 ## 常见问题
 
-### Q1: placeholder_keys没有自动生成
+### Q1: placeholder_keys 没有自动生成
 
 **检查**:
+
 1. 是否使用了`--complete_registry`参数？
 2. 类型注解是否正确？
+
    ```python
    # ✓ 正确
    def method(self, resource: ResourceSlot):
-   
+
    # ✗ 错误（缺少类型注解）
    def method(self, resource):
    ```
+
 3. 是否正确导入？
    ```python
    from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -935,9 +949,10 @@ python -c "from unilabos.devices.my_module.my_device import MyDevice"
 
 ### Q2: 前端显示普通输入框而不是选择器
 
-**原因**: placeholder_keys未正确配置
+**原因**: placeholder_keys 未正确配置
 
 **解决**:
+
 ```yaml
 # 检查YAML中是否有
 placeholder_keys:
@@ -947,6 +962,7 @@ placeholder_keys:
 ### Q3: 多选不工作
 
 **检查类型注解**:
+
 ```python
 # ✓ 正确 - 会生成多选
 def method(self, resources: List[ResourceSlot]):
@@ -960,13 +976,15 @@ def method(self, resources: ResourceSlot):
 **说明**: 运行时会自动转换
 
 前端传递：
+
 ```json
 {
-  "resource": "plate_1"  // 字符串ID
+  "resource": "plate_1" // 字符串ID
 }
 ```
 
 运行时收到：
+
 ```python
 resource.id        # "plate_1"
 resource.name      # "96孔板"
@@ -977,6 +995,7 @@ resource.type      # "resource"
 ### Q5: 设备加载不了
 
 **检查**:
+
 1. 确认 `class.module` 路径是否正确
 2. 确认 Python 驱动类能否正常导入
 3. 使用 yaml 验证器检查文件格式
@@ -985,6 +1004,7 @@ resource.type      # "resource"
 ### Q6: 自动生成失败
 
 **检查**:
+
 1. 确认类继承了正确的基类
 2. 确保状态方法的返回类型注解清晰
 3. 检查类能否被动态导入
@@ -993,6 +1013,7 @@ resource.type      # "resource"
 ### Q7: 前端显示问题
 
 **解决步骤**:
+
 1. 删除旧的 yaml 文件，用编辑器重新生成
 2. 清除浏览器缓存，重新加载页面
 3. 确认必需字段（如 `schema`）都存在
@@ -1001,6 +1022,7 @@ resource.type      # "resource"
 ### Q8: 动作执行出错
 
 **检查**:
+
 1. 确认动作方法名符合规范（如 `execute_<action_name>`）
 2. 检查 `goal` 字段的参数映射是否正确
 3. 确认方法返回值格式符合 `result` 映射
@@ -1041,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
     pass
 ```
 
-3. **使用Optional表示可选参数**
+3. **使用 Optional 表示可选参数**
 
 ```python
 from typing import Optional
@@ -1063,11 +1085,11 @@ def method(
     targets: List[ResourceSlot]  # 目标容器列表
 ) -> Dict[str, Any]:
     """方法说明
-    
+
     Args:
         source: 源容器，必须包含足够的液体
         targets: 目标容器列表，每个容器应该为空
-    
+
     Returns:
         包含操作结果的字典
     """
@@ -1075,6 +1097,7 @@ def method(
 ```
 
 5. **方法命名规范**
+
    - 状态方法使用 `@property` 装饰器或 `get_` 前缀
    - 动作方法使用动词开头
    - 保持命名清晰、一致
@@ -1111,8 +1134,6 @@ def method(
 
 - {doc}`add_device` - 设备驱动编写指南
 - {doc}`04_add_device_testing` - 设备测试指南
-- Python [typing模块](https://docs.python.org/3/library/typing.html)
-- [YAML语法](https://yaml.org/)
+- Python [typing 模块](https://docs.python.org/3/library/typing.html)
+- [YAML 语法](https://yaml.org/)
 - [JSON Schema](https://json-schema.org/)
-
-

docs/developer_guide/examples/battery_plc_workstation.md

@@ -1,4 +1,4 @@
-# 实例：电池装配工站接入（PLC控制）
+# 实例：电池装配工站接入（PLC 控制）
 
 > **文档类型**：实际应用案例  
 > **适用场景**：使用 PLC 控制的电池装配工站接入  
@@ -50,8 +50,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         self.client = tcp.register_node_list(self.nodes)
 ```
 
-
-
 ## 2. 编写驱动与寄存器读写
 
 ### 2.1 寄存器示例
@@ -95,9 +93,9 @@ def start_and_read_metrics(self):
 
 完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
 
-
 ### 3.1 新增工站设备（或资源）首次生成注册表
-首先通过以下命令启动unilab。进入unilab系统状态检查页面
+
+首先通过以下命令启动 unilab。进入 unilab 系统状态检查页面
 
 ```bash
 python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
@@ -112,35 +110,32 @@ python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
 ![注册表生成流程](image_battery_plc/unilab_registry_process.png)
 
 步骤说明：
+
 1. 选择新增的工站`coin_cell_assembly.py`文件
 2. 点击分析按钮，分析`coin_cell_assembly.py`文件
 3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
-4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
+4. 填写新增的工站.py 文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
 5. 此处填写新定义工站的类的名字（名称可以自拟）
 6. 填写新的工站注册表备注信息
 7. 生成注册表
 
-以上操作步骤完成，则会生成的新的注册表YAML文件，如下图：
+以上操作步骤完成，则会生成的新的注册表 YAML 文件，如下图：
 
 ![生成的YAML文件](image_battery_plc/unilab_new_yaml.png)
 
-
-
-
-
-
 ### 3.2 添加新生成注册表
-在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。   
+
+在`unilabos\registry\devices`目录下新建一个 yaml 文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。
 
 在终端输入以下命令进行注册表补全操作。
+
 ```bash
 python unilabos\app\register.py --complete_registry
 ```
 
-
 ### 3.3 启动并上传注册表
 
-新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
+新增设备之后，启动 unilab 需要增加`--upload_registry`参数，来上传注册表信息。
 
 ```bash
 python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
@@ -159,6 +154,7 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 ### 4.2 首次接入流程
 
 首次新增设备（或资源）需要完整流程：
+
 1. ✅ 在网页端生成注册表信息
 2. ✅ 使用 `--complete_registry` 补全注册表
 3. ✅ 使用 `--upload_registry` 上传注册表信息
@@ -166,11 +162,12 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 ### 4.3 驱动更新流程
 
 如果不是新增设备，仅修改了工站驱动的 `.py` 文件：
+
 1. ✅ 运行 `--complete_registry` 补全注册表
 2. ✅ 运行 `--upload_registry` 上传注册表
 3. ❌ 不需要在网页端重新生成注册表
 
-### 4.4 PLC通信注意事项
+### 4.4 PLC 通信注意事项
 
 - **握手机制**：若需参数下发，建议在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争
 - **字节序**：FLOAT32 等多字节数据类型需要正确指定字节序（如 `WorderOrder.LITTLE`）
@@ -203,5 +200,3 @@ module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinC
 5. ✅ 新增设备与更新驱动的区别
 
 这个案例展示了完整的 PLC 设备接入流程，可以作为其他类似设备接入的参考模板。
-
-

docs/developer_guide/examples/workstation_architecture.md

@@ -16,8 +16,8 @@
 
 这类工站由开发者自研，组合所有子设备和实验耗材、希望让他们在工作站这一级协调配合；
 
-1. 工作站包含大量已经注册的子设备，可能各自通信组态很不相同；部分设备可能会拥有同一个通信设备作为出口，如2个泵共用1个串口、所有设备共同接入PLC等。
-2. 任务系统是统一实现的 protocols，protocols 中会将高层指令处理成各子设备配合的工作流 json并管理执行、同时更改物料信息
+1. 工作站包含大量已经注册的子设备，可能各自通信组态很不相同；部分设备可能会拥有同一个通信设备作为出口，如 2 个泵共用 1 个串口、所有设备共同接入 PLC 等。
+2. 任务系统是统一实现的 protocols，protocols 中会将高层指令处理成各子设备配合的工作流 json 并管理执行、同时更改物料信息
 3. 物料系统较为简单直接，如常量有机化学仅为工作站内固定的瓶子，初始化时就已固定；随后在任务执行过程中，记录试剂量更改信息
 
 ### 0.2 移液工作站：物料系统和工作流模板管理
@@ -35,7 +35,7 @@
 由厂家开发，具备完善的物料系统、任务系统甚至调度系统；由 PLC 或 OpenAPI TCP 协议统一通信
 
 1. 在监控状态时，希望展现子设备的状态；但子设备仅为逻辑概念，通信由工作站上位机接口提供；部分情况下，子设备状态是被记录在文件中的，需要读取
-2. 工作站有自己的工作流系统甚至调度系统；可以通过脚本/PLC连续读写来配置工作站可用的工作流；
+2. 工作站有自己的工作流系统甚至调度系统；可以通过脚本/PLC 连续读写来配置工作站可用的工作流；
 3. 部分拥有完善的物料入库、出库、过程记录，需要与 Uni-Lab-OS 物料系统对接
 
 ## 1. 整体架构图
@@ -49,7 +49,7 @@ graph TB
         RPN[ROS2WorkstationNode<br/>Protocol执行引擎]
         WB -.post_init关联.-> RPN
     end
-    
+
     subgraph "物料管理系统"
         DECK[Deck<br/>PLR本地物料系统]
         RS[ResourceSynchronizer<br/>外部物料同步器]
@@ -57,7 +57,7 @@ graph TB
         WB --> RS
         RS --> DECK
     end
-    
+
     subgraph "通信与子设备管理"
         HW[hardware_interface<br/>硬件通信接口]
         SUBDEV[子设备集合<br/>pumps/grippers/sensors]
@@ -65,7 +65,7 @@ graph TB
         RPN --> SUBDEV
         HW -.代理模式.-> RPN
     end
-    
+
     subgraph "工作流任务系统"
         PROTO[Protocol定义<br/>LiquidHandling/PlateHandling]
         WORKFLOW[Workflow执行器<br/>步骤管理与编排]
@@ -85,32 +85,32 @@ graph LR
         HW2[通信接口<br/>hardware_interface]
         HTTP[HTTP服务<br/>WorkstationHTTPService]
     end
-    
+
     subgraph "外部物料系统"
         BIOYOND[Bioyond物料管理]
         LIMS[LIMS系统]
         WAREHOUSE[第三方仓储]
     end
-    
+
     subgraph "外部硬件系统"
         PLC[PLC设备]
         SERIAL[串口设备]
         ROBOT[机械臂/机器人]
     end
-    
+
     subgraph "云端系统"
         CLOUD[UniLab云端<br/>资源管理]
         MONITOR[监控与调度]
     end
-    
+
     BIOYOND <-->|RPC双向同步| DECK2
     LIMS -->|HTTP报送| HTTP
     WAREHOUSE <-->|API对接| DECK2
-    
+
     PLC <-->|Modbus TCP| HW2
     SERIAL <-->|串口通信| HW2
     ROBOT <-->|SDK/API| HW2
-    
+
     WS -->|ROS消息| CLOUD
     CLOUD -->|任务下发| WS
     MONITOR -->|状态查询| WS
@@ -123,40 +123,40 @@ graph TB
     subgraph "工作站基类"
         BASE[WorkstationBase<br/>抽象基类]
     end
-    
+
     subgraph "Bioyond集成工作站"
         BW[BioyondWorkstation]
         BW_DECK[Deck + Warehouses]
         BW_SYNC[BioyondResourceSynchronizer]
         BW_HW[BioyondV1RPC]
         BW_HTTP[HTTP报送服务]
-        
+
         BW --> BW_DECK
         BW --> BW_SYNC
         BW --> BW_HW
         BW --> BW_HTTP
     end
-    
+
     subgraph "纯协议节点"
         PN[ProtocolNode]
         PN_SUB[子设备集合]
         PN_PROTO[Protocol工作流]
-        
+
         PN --> PN_SUB
         PN --> PN_PROTO
     end
-    
+
     subgraph "PLC控制工作站"
         PW[PLCWorkstation]
         PW_DECK[Deck物料系统]
         PW_PLC[Modbus PLC客户端]
         PW_WF[工作流定义]
-        
+
         PW --> PW_DECK
         PW --> PW_PLC
         PW --> PW_WF
     end
-    
+
     BASE -.继承.-> BW
     BASE -.继承.-> PN
     BASE -.继承.-> PW
@@ -175,25 +175,25 @@ classDiagram
         +hardware_interface: Union[Any, str]
         +current_workflow_status: WorkflowStatus
         +supported_workflows: Dict[str, WorkflowInfo]
-    
+
         +post_init(ros_node)*
         +set_hardware_interface(interface)
         +call_device_method(method, *args, **kwargs)
         +get_device_status()
         +is_device_available()
-    
+
         +get_deck()
         +get_all_resources()
         +find_resource_by_name(name)
         +find_resources_by_type(type)
         +sync_with_external_system()
-    
+
         +execute_workflow(name, params)
         +stop_workflow(emergency)
         +workflow_status
         +is_busy
     }
-  
+
     class ROS2WorkstationNode {
         +device_id: str
         +children: Dict[str, Any]
@@ -202,7 +202,7 @@ classDiagram
         +_action_clients: Dict
         +_action_servers: Dict
         +resource_tracker: DeviceNodeResourceTracker
-    
+
         +initialize_device(device_id, config)
         +create_ros_action_server(action_name, mapping)
         +execute_single_action(device_id, action, kwargs)
@@ -210,14 +210,14 @@ classDiagram
         +transfer_resource_to_another(resources, target, sites)
         +_setup_hardware_proxy(device, comm_device, read, write)
     }
-  
+
     %% 物料管理相关类
     class Deck {
         +name: str
         +children: List
         +assign_child_resource()
     }
-  
+
     class ResourceSynchronizer {
         <<abstract>>
         +workstation: WorkstationBase
@@ -225,23 +225,23 @@ classDiagram
         +sync_to_external(plr_resource)*
         +handle_external_change(change_info)*
     }
-  
+
     class BioyondResourceSynchronizer {
         +bioyond_api_client: BioyondV1RPC
         +sync_interval: int
         +last_sync_time: float
-    
+
         +initialize()
         +sync_from_external()
         +sync_to_external(resource)
         +handle_external_change(change_info)
     }
-  
+
     %% 硬件接口相关类
     class HardwareInterface {
         <<interface>>
     }
-  
+
     class BioyondV1RPC {
         +base_url: str
         +api_key: str
@@ -249,7 +249,7 @@ classDiagram
         +add_material()
         +material_inbound()
     }
-  
+
     %% 服务类
     class WorkstationHTTPService {
         +workstation: WorkstationBase
@@ -257,7 +257,7 @@ classDiagram
         +port: int
         +server: HTTPServer
         +running: bool
-    
+
         +start()
         +stop()
         +_handle_step_finish_report()
@@ -266,13 +266,13 @@ classDiagram
         +_handle_material_change_report()
         +_handle_error_handling_report()
     }
-  
+
     %% 具体实现类
     class BioyondWorkstation {
         +bioyond_config: Dict
         +workflow_mappings: Dict
         +workflow_sequence: List
-    
+
         +post_init(ros_node)
         +transfer_resource_to_another()
         +resource_tree_add(resources)
@@ -280,25 +280,25 @@ classDiagram
         +get_all_workflows()
         +get_bioyond_status()
     }
-  
+
     class ProtocolNode {
         +post_init(ros_node)
     }
-  
+
     %% 核心关系
     WorkstationBase o-- ROS2WorkstationNode : post_init关联
     WorkstationBase o-- WorkstationHTTPService : 可选服务
-  
+
     %% 物料管理侧
     WorkstationBase *-- Deck : deck
     WorkstationBase *-- ResourceSynchronizer : 可选组合
     ResourceSynchronizer <|-- BioyondResourceSynchronizer
-  
+
     %% 硬件接口侧
     WorkstationBase o-- HardwareInterface : hardware_interface
     HardwareInterface <|.. BioyondV1RPC : 实现
     BioyondResourceSynchronizer --> BioyondV1RPC : 使用
-  
+
     %% 继承关系
     BioyondWorkstation --|> WorkstationBase
     ProtocolNode --|> WorkstationBase
@@ -316,49 +316,49 @@ sequenceDiagram
     participant HW as HardwareInterface
     participant ROS as ROS2WorkstationNode
     participant HTTP as HTTPService
-  
+
     APP->>WS: 创建工作站实例(__init__)
     WS->>DECK: 初始化PLR Deck
     DECK->>DECK: 创建Warehouse等子资源
     DECK-->>WS: Deck创建完成
-  
+
     WS->>HW: 创建硬件接口(如BioyondV1RPC)
     HW->>HW: 建立连接(PLC/RPC/串口等)
     HW-->>WS: 硬件接口就绪
-  
+
     WS->>SYNC: 创建ResourceSynchronizer(可选)
     SYNC->>HW: 使用hardware_interface
     SYNC->>SYNC: 初始化同步配置
     SYNC-->>WS: 同步器创建完成
-  
+
     WS->>SYNC: sync_from_external()
     SYNC->>HW: 查询外部物料系统
     HW-->>SYNC: 返回物料数据
     SYNC->>DECK: 转换并添加到Deck
     SYNC-->>WS: 同步完成
-  
+
     Note over WS: __init__完成,等待ROS节点
-  
+
     APP->>ROS: 初始化ROS2WorkstationNode
     ROS->>ROS: 初始化子设备(children)
     ROS->>ROS: 创建Action客户端
     ROS->>ROS: 设置硬件接口代理
     ROS-->>APP: ROS节点就绪
-  
+
     APP->>WS: post_init(ros_node)
     WS->>WS: self._ros_node = ros_node
     WS->>ROS: update_resource([deck])
     ROS->>ROS: 上传物料到云端
     ROS-->>WS: 上传完成
-  
+
     WS->>HTTP: 创建WorkstationHTTPService(可选)
     HTTP->>HTTP: 启动HTTP服务器线程
     HTTP-->>WS: HTTP服务启动
-  
+
     WS-->>APP: 工作站完全就绪
 ```
 
-## 4. 工作流执行时序图（Protocol模式）
+## 4. 工作流执行时序图（Protocol 模式）
 
 ```{mermaid}
 sequenceDiagram
@@ -369,15 +369,15 @@ sequenceDiagram
     participant DECK as PLR Deck
     participant CLOUD as 云端资源管理
     participant DEV as 子设备
-  
+
     CLIENT->>ROS: 发送Protocol Action请求
     ROS->>ROS: execute_protocol回调
     ROS->>ROS: 从Goal提取参数
     ROS->>ROS: 调用protocol_steps_generator
     ROS->>ROS: 生成action步骤列表
-  
+
     ROS->>WS: 更新workflow_status = RUNNING
-  
+
     loop 执行每个步骤
         alt 调用子设备
             ROS->>ROS: execute_single_action(device_id, action, params)
@@ -398,19 +398,19 @@ sequenceDiagram
             end
             WS-->>ROS: 返回结果
         end
-    
+
         ROS->>DECK: 更新本地物料状态
         DECK->>DECK: 修改PLR资源属性
     end
-  
+
     ROS->>CLOUD: 同步物料到云端(可选)
     CLOUD-->>ROS: 同步完成
-  
+
     ROS->>WS: 更新workflow_status = COMPLETED
     ROS-->>CLIENT: 返回Protocol Result
 ```
 
-## 5. HTTP报送处理时序图
+## 5. HTTP 报送处理时序图
 
 ```{mermaid}
 sequenceDiagram
@@ -420,25 +420,25 @@ sequenceDiagram
     participant DECK as PLR Deck
     participant SYNC as ResourceSynchronizer
     participant CLOUD as 云端
-  
+
     EXT->>HTTP: POST /report/step_finish
     HTTP->>HTTP: 解析请求数据
     HTTP->>HTTP: 验证LIMS协议字段
     HTTP->>WS: process_step_finish_report(request)
-  
+
     WS->>WS: 增加接收计数(_reports_received_count++)
     WS->>WS: 记录步骤完成事件
     WS->>DECK: 更新相关物料状态(可选)
     DECK->>DECK: 修改PLR资源状态
-  
+
     WS->>WS: 保存报送记录到内存
-  
+
     WS-->>HTTP: 返回处理结果
     HTTP->>HTTP: 构造HTTP响应
     HTTP-->>EXT: 200 OK + acknowledgment_id
-  
+
     Note over EXT,CLOUD: 类似处理sample_finish, order_finish等报送
-  
+
     alt 物料变更报送
         EXT->>HTTP: POST /report/material_change
         HTTP->>WS: process_material_change_report(data)
@@ -463,7 +463,7 @@ sequenceDiagram
     participant HW as HardwareInterface
     participant HTTP as HTTPService
     participant LOG as 日志系统
-  
+
     alt 设备错误(ROS Action失败)
         DEV->>ROS: Action返回失败结果
         ROS->>ROS: 记录错误信息
@@ -475,7 +475,7 @@ sequenceDiagram
         WS->>WS: 记录错误历史
         WS->>LOG: 记录错误日志
     end
-  
+
     alt 关键错误需要停止
         WS->>ROS: stop_workflow(emergency=True)
         ROS->>ROS: 取消所有进行中的Action
@@ -487,44 +487,44 @@ sequenceDiagram
         WS->>ROS: 触发重试逻辑(可选)
         ROS->>DEV: 重新发送Action
     end
-  
+
     WS-->>HTTP: 返回错误处理结果
     HTTP-->>DEV: 200 OK + 处理状态
 ```
 
 ## 7. 典型工作站实现示例
 
-### 7.1 Bioyond集成工作站实现
+### 7.1 Bioyond 集成工作站实现
 
 ```python
 class BioyondWorkstation(WorkstationBase):
     def __init__(self, bioyond_config: Dict, deck: Deck, *args, **kwargs):
         # 初始化deck
         super().__init__(deck=deck, *args, **kwargs)
-      
+
         # 设置硬件接口为Bioyond RPC客户端
         self.hardware_interface = BioyondV1RPC(bioyond_config)
-      
+
         # 创建资源同步器
         self.resource_synchronizer = BioyondResourceSynchronizer(self)
-      
+
         # 从Bioyond同步物料到本地deck
         self.resource_synchronizer.sync_from_external()
-      
+
         # 配置工作流
         self.workflow_mappings = bioyond_config.get("workflow_mappings", {})
-  
+
     def post_init(self, ros_node: ROS2WorkstationNode):
         """ROS节点就绪后的初始化"""
         self._ros_node = ros_node
-      
+
         # 上传deck(包括所有物料)到云端
         ROS2DeviceNode.run_async_func(
-            self._ros_node.update_resource, 
-            True, 
+            self._ros_node.update_resource,
+            True,
             resources=[self.deck]
         )
-  
+
     def resource_tree_add(self, resources: List[ResourcePLR]):
         """添加物料并同步到Bioyond"""
         for resource in resources:
@@ -537,24 +537,24 @@ class BioyondWorkstation(WorkstationBase):
 ```python
 class ProtocolNode(WorkstationBase):
     """纯协议节点,不需要物料管理和外部通信"""
-  
+
     def __init__(self, deck: Optional[Deck] = None, *args, **kwargs):
         super().__init__(deck=deck, *args, **kwargs)
         # 不设置hardware_interface和resource_synchronizer
         # 所有功能通过子设备协同完成
-  
+
     def post_init(self, ros_node: ROS2WorkstationNode):
         self._ros_node = ros_node
         # 不需要上传物料或其他初始化
 ```
 
-### 7.3 PLC直接控制工作站
+### 7.3 PLC 直接控制工作站
 
 ```python
 class PLCWorkstation(WorkstationBase):
     def __init__(self, plc_config: Dict, deck: Deck, *args, **kwargs):
         super().__init__(deck=deck, *args, **kwargs)
-      
+
         # 设置硬件接口为Modbus客户端
         from pymodbus.client import ModbusTcpClient
         self.hardware_interface = ModbusTcpClient(
@@ -562,7 +562,7 @@ class PLCWorkstation(WorkstationBase):
             port=plc_config["port"]
         )
         self.hardware_interface.connect()
-      
+
         # 定义支持的工作流
         self.supported_workflows = {
             "battery_assembly": WorkflowInfo(
@@ -574,49 +574,49 @@ class PLCWorkstation(WorkstationBase):
                 parameters_schema={"quantity": int, "model": str}
             )
         }
-  
+
     def execute_workflow(self, workflow_name: str, parameters: Dict):
         """通过PLC执行工作流"""
         workflow_id = self._get_workflow_id(workflow_name)
-      
+
         # 写入PLC寄存器启动工作流
         self.hardware_interface.write_register(100, workflow_id)
         self.hardware_interface.write_register(101, parameters["quantity"])
-      
+
         self.current_workflow_status = WorkflowStatus.RUNNING
         return True
 ```
 
 ## 8. 核心接口说明
 
-### 8.1 WorkstationBase核心属性
+### 8.1 WorkstationBase 核心属性
 
-| 属性                        | 类型                    | 说明                          |
-| --------------------------- | ----------------------- | ----------------------------- |
-| `_ros_node`               | ROS2WorkstationNode     | ROS节点引用，由post_init设置  |
-| `deck`                    | Deck                    | PyLabRobot Deck，本地物料系统 |
-| `plr_resources`           | Dict[str, PLRResource]  | 物料资源映射                  |
-| `resource_synchronizer`   | ResourceSynchronizer    | 外部物料同步器(可选)          |
-| `hardware_interface`      | Union[Any, str]         | 硬件接口或代理字符串          |
-| `current_workflow_status` | WorkflowStatus          | 当前工作流状态                |
-| `supported_workflows`     | Dict[str, WorkflowInfo] | 支持的工作流定义              |
+| 属性                      | 类型                    | 说明                            |
+| ------------------------- | ----------------------- | ------------------------------- |
+| `_ros_node`               | ROS2WorkstationNode     | ROS 节点引用，由 post_init 设置 |
+| `deck`                    | Deck                    | PyLabRobot Deck，本地物料系统   |
+| `plr_resources`           | Dict[str, PLRResource]  | 物料资源映射                    |
+| `resource_synchronizer`   | ResourceSynchronizer    | 外部物料同步器(可选)            |
+| `hardware_interface`      | Union[Any, str]         | 硬件接口或代理字符串            |
+| `current_workflow_status` | WorkflowStatus          | 当前工作流状态                  |
+| `supported_workflows`     | Dict[str, WorkflowInfo] | 支持的工作流定义                |
 
 ### 8.2 必须实现的方法
 
-- `post_init(ros_node)`: ROS节点就绪后的初始化，必须实现
+- `post_init(ros_node)`: ROS 节点就绪后的初始化，必须实现
 
 ### 8.3 硬件接口相关方法
 
 - `set_hardware_interface(interface)`: 设置硬件接口
 - `call_device_method(method, *args, **kwargs)`: 统一设备方法调用
-  - 支持直接模式: 直接调用hardware_interface的方法
-  - 支持代理模式: hardware_interface="proxy:device_id"通过ROS转发
+  - 支持直接模式: 直接调用 hardware_interface 的方法
+  - 支持代理模式: hardware_interface="proxy:device_id"通过 ROS 转发
 - `get_device_status()`: 获取设备状态
 - `is_device_available()`: 检查设备可用性
 
 ### 8.4 物料管理方法
 
-- `get_deck()`: 获取PLR Deck
+- `get_deck()`: 获取 PLR Deck
 - `get_all_resources()`: 获取所有物料
 - `find_resource_by_name(name)`: 按名称查找物料
 - `find_resources_by_type(type)`: 按类型查找物料
@@ -630,7 +630,7 @@ class PLCWorkstation(WorkstationBase):
 - `is_busy`: 检查是否忙碌(属性)
 - `workflow_runtime`: 获取运行时间(属性)
 
-### 8.6 可选的HTTP报送处理方法
+### 8.6 可选的 HTTP 报送处理方法
 
 - `process_step_finish_report()`: 步骤完成处理
 - `process_sample_finish_report()`: 样本完成处理
@@ -638,10 +638,10 @@ class PLCWorkstation(WorkstationBase):
 - `process_material_change_report()`: 物料变更处理
 - `handle_external_error()`: 错误处理
 
-### 8.7 ROS2WorkstationNode核心方法
+### 8.7 ROS2WorkstationNode 核心方法
 
 - `initialize_device(device_id, config)`: 初始化子设备
-- `create_ros_action_server(action_name, mapping)`: 创建Action服务器
+- `create_ros_action_server(action_name, mapping)`: 创建 Action 服务器
 - `execute_single_action(device_id, action, kwargs)`: 执行单个动作
 - `update_resource(resources)`: 同步物料到云端
 - `transfer_resource_to_another(...)`: 跨设备物料转移
@@ -698,7 +698,7 @@ workstation = BioyondWorkstation(
                 "config": {...}
             },
             "gripper_1": {
-                "type": "device", 
+                "type": "device",
                 "driver": "RobotiqGripperDriver",
                 "communication": "io_modbus_1",
                 "config": {...}
@@ -720,7 +720,7 @@ workstation = BioyondWorkstation(
 }
 ```
 
-### 9.3 HTTP服务配置
+### 9.3 HTTP 服务配置
 
 ```python
 from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
@@ -741,31 +741,31 @@ http_service.start()
 ### 10.1 清晰的职责分离
 
 - **WorkstationBase**: 负责物料管理(deck)、硬件接口(hardware_interface)、工作流状态管理
-- **ROS2WorkstationNode**: 负责子设备管理、Protocol执行、云端物料同步
-- **ResourceSynchronizer**: 可选的外部物料系统同步(如Bioyond)
-- **WorkstationHTTPService**: 可选的HTTP报送接收服务
+- **ROS2WorkstationNode**: 负责子设备管理、Protocol 执行、云端物料同步
+- **ResourceSynchronizer**: 可选的外部物料系统同步(如 Bioyond)
+- **WorkstationHTTPService**: 可选的 HTTP 报送接收服务
 
 ### 10.2 灵活的硬件接口模式
 
-1. **直接模式**: hardware_interface是具体对象(如BioyondV1RPC、ModbusClient)
-2. **代理模式**: hardware_interface="proxy:device_id"，通过ROS节点转发到子设备
+1. **直接模式**: hardware_interface 是具体对象(如 BioyondV1RPC、ModbusClient)
+2. **代理模式**: hardware_interface="proxy:device_id"，通过 ROS 节点转发到子设备
 3. **混合模式**: 工作站有自己的接口，同时管理多个子设备
 
 ### 10.3 统一的物料系统
 
-- 基于PyLabRobot Deck的标准化物料表示
-- 通过ResourceSynchronizer实现与外部系统(如Bioyond、LIMS)的双向同步
-- 通过ROS2WorkstationNode实现与云端的物料状态同步
+- 基于 PyLabRobot Deck 的标准化物料表示
+- 通过 ResourceSynchronizer 实现与外部系统(如 Bioyond、LIMS)的双向同步
+- 通过 ROS2WorkstationNode 实现与云端的物料状态同步
 
-### 10.4 Protocol驱动的工作流
+### 10.4 Protocol 驱动的工作流
 
-- ROS2WorkstationNode负责Protocol的执行和步骤管理
-- 支持子设备协同(通过Action Client调用)
-- 支持工作站直接控制(通过hardware_interface)
+- ROS2WorkstationNode 负责 Protocol 的执行和步骤管理
+- 支持子设备协同(通过 Action Client 调用)
+- 支持工作站直接控制(通过 hardware_interface)
 
-### 10.5 可选的HTTP报送服务
+### 10.5 可选的 HTTP 报送服务
 
-- 基于LIMS协议规范的统一报送接口
+- 基于 LIMS 协议规范的统一报送接口
 - 支持步骤完成、样本完成、任务完成、物料变更等多种报送类型
 - 与工作站解耦，可独立启停
 

docs/developer_guide/http_api.md

@@ -0,0 +1,334 @@
+# HTTP API 指南
+
+本文档介绍如何通过 HTTP API 与 Uni-Lab-OS 进行交互，包括查询设备、提交任务和获取结果。
+
+## 概述
+
+Uni-Lab-OS 提供 RESTful HTTP API，允许外部系统通过标准 HTTP 请求控制实验室设备。API 基于 FastAPI 构建，默认运行在 `http://localhost:8002`。
+
+### 基础信息
+
+- **Base URL**: `http://localhost:8002/api/v1`
+- **Content-Type**: `application/json`
+- **响应格式**: JSON
+
+### 通用响应结构
+
+```json
+{
+    "code": 0,
+    "data": { ... },
+    "message": "success"
+}
+```
+
+| 字段      | 类型   | 说明               |
+| --------- | ------ | ------------------ |
+| `code`    | int    | 状态码，0 表示成功 |
+| `data`    | object | 响应数据           |
+| `message` | string | 响应消息           |
+
+## 快速开始
+
+以下是一个完整的工作流示例：查询设备 → 获取动作 → 提交任务 → 获取结果。
+
+### 步骤 1: 获取在线设备
+
+```bash
+curl -X GET "http://localhost:8002/api/v1/online-devices"
+```
+
+**响应示例**:
+
+```json
+{
+  "code": 0,
+  "data": {
+    "online_devices": {
+      "host_node": {
+        "device_key": "/host_node",
+        "namespace": "",
+        "machine_name": "本地",
+        "uuid": "xxx-xxx-xxx",
+        "node_name": "host_node"
+      }
+    },
+    "total_count": 1,
+    "timestamp": 1732612345.123
+  },
+  "message": "success"
+}
+```
+
+### 步骤 2: 获取设备可用动作
+
+```bash
+curl -X GET "http://localhost:8002/api/v1/devices/host_node/actions"
+```
+
+**响应示例**:
+
+```json
+{
+  "code": 0,
+  "data": {
+    "device_id": "host_node",
+    "actions": {
+      "test_latency": {
+        "type_name": "unilabos_msgs.action._empty_in.EmptyIn",
+        "type_name_convert": "unilabos_msgs/action/_empty_in/EmptyIn",
+        "action_path": "/devices/host_node/test_latency",
+        "goal_info": "{}",
+        "is_busy": false,
+        "current_job_id": null
+      },
+      "create_resource": {
+        "type_name": "unilabos_msgs.action._resource_create_from_outer_easy.ResourceCreateFromOuterEasy",
+        "action_path": "/devices/host_node/create_resource",
+        "goal_info": "{res_id: '', device_id: '', class_name: '', ...}",
+        "is_busy": false,
+        "current_job_id": null
+      }
+    },
+    "action_count": 5
+  },
+  "message": "success"
+}
+```
+
+**动作状态字段说明**:
+
+| 字段             | 说明                          |
+| ---------------- | ----------------------------- |
+| `type_name`      | 动作类型的完整名称            |
+| `action_path`    | ROS2 动作路径                 |
+| `goal_info`      | 动作参数模板                  |
+| `is_busy`        | 动作是否正在执行              |
+| `current_job_id` | 当前执行的任务 ID（如果繁忙） |
+
+### 步骤 3: 提交任务
+
+```bash
+curl -X POST "http://localhost:8002/api/v1/job/add" \
+  -H "Content-Type: application/json" \
+  -d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
+```
+
+**请求体**:
+
+```json
+{
+  "device_id": "host_node",
+  "action": "test_latency",
+  "action_args": {}
+}
+```
+
+**请求参数说明**:
+
+| 字段          | 类型   | 必填 | 说明                               |
+| ------------- | ------ | ---- | ---------------------------------- |
+| `device_id`   | string | ✓    | 目标设备 ID                        |
+| `action`      | string | ✓    | 动作名称                           |
+| `action_args` | object | ✓    | 动作参数（根据动作类型不同而变化） |
+
+**响应示例**:
+
+```json
+{
+  "code": 0,
+  "data": {
+    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
+    "status": 1,
+    "result": {}
+  },
+  "message": "success"
+}
+```
+
+**任务状态码**:
+
+| 状态码 | 含义      | 说明                           |
+| ------ | --------- | ------------------------------ |
+| 0      | UNKNOWN   | 未知状态                       |
+| 1      | ACCEPTED  | 任务已接受，等待执行           |
+| 2      | EXECUTING | 任务执行中                     |
+| 3      | CANCELING | 任务取消中                     |
+| 4      | SUCCEEDED | 任务成功完成                   |
+| 5      | CANCELED  | 任务已取消                     |
+| 6      | ABORTED   | 任务中止（设备繁忙或执行失败） |
+
+### 步骤 4: 查询任务状态和结果
+
+```bash
+curl -X GET "http://localhost:8002/api/v1/job/b6acb586-733a-42ab-9f73-55c9a52aa8bd/status"
+```
+
+**响应示例（执行中）**:
+
+```json
+{
+  "code": 0,
+  "data": {
+    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
+    "status": 2,
+    "result": {}
+  },
+  "message": "success"
+}
+```
+
+**响应示例（执行完成）**:
+
+```json
+{
+  "code": 0,
+  "data": {
+    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
+    "status": 4,
+    "result": {
+      "error": "",
+      "suc": true,
+      "return_value": {
+        "avg_rtt_ms": 103.99,
+        "avg_time_diff_ms": 7181.55,
+        "max_time_error_ms": 7210.57,
+        "task_delay_ms": -1,
+        "raw_delay_ms": 33.19,
+        "test_count": 5,
+        "status": "success"
+      }
+    }
+  },
+  "message": "success"
+}
+```
+
+> **注意**: 任务结果在首次查询后会被自动删除，请确保保存返回的结果数据。
+
+## API 端点列表
+
+### 设备相关
+
+| 端点                                                       | 方法 | 说明                   |
+| ---------------------------------------------------------- | ---- | ---------------------- |
+| `/api/v1/online-devices`                                   | GET  | 获取在线设备列表       |
+| `/api/v1/devices`                                          | GET  | 获取设备配置           |
+| `/api/v1/devices/{device_id}/actions`                      | GET  | 获取指定设备的可用动作 |
+| `/api/v1/devices/{device_id}/actions/{action_name}/schema` | GET  | 获取动作参数 Schema    |
+| `/api/v1/actions`                                          | GET  | 获取所有设备的可用动作 |
+
+### 任务相关
+
+| 端点                          | 方法 | 说明               |
+| ----------------------------- | ---- | ------------------ |
+| `/api/v1/job/add`             | POST | 提交新任务         |
+| `/api/v1/job/{job_id}/status` | GET  | 查询任务状态和结果 |
+
+### 资源相关
+
+| 端点                | 方法 | 说明         |
+| ------------------- | ---- | ------------ |
+| `/api/v1/resources` | GET  | 获取资源列表 |
+
+## 常见动作示例
+
+### test_latency - 延迟测试
+
+测试系统延迟，无需参数。
+
+```bash
+curl -X POST "http://localhost:8002/api/v1/job/add" \
+  -H "Content-Type: application/json" \
+  -d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
+```
+
+### create_resource - 创建资源
+
+在设备上创建新资源。
+
+```bash
+curl -X POST "http://localhost:8002/api/v1/job/add" \
+  -H "Content-Type: application/json" \
+  -d '{
+    "device_id": "host_node",
+    "action": "create_resource",
+    "action_args": {
+        "res_id": "my_plate",
+        "device_id": "host_node",
+        "class_name": "Plate",
+        "parent": "deck",
+        "bind_locations": {"x": 0, "y": 0, "z": 0}
+    }
+}'
+```
+
+## 错误处理
+
+### 设备繁忙
+
+当设备正在执行其他任务时，提交新任务会返回 `status: 6`（ABORTED）：
+
+```json
+{
+  "code": 0,
+  "data": {
+    "jobId": "xxx",
+    "status": 6,
+    "result": {}
+  },
+  "message": "success"
+}
+```
+
+此时应等待当前任务完成后重试，或使用 `/devices/{device_id}/actions` 检查动作的 `is_busy` 状态。
+
+### 参数错误
+
+```json
+{
+    "code": 2002,
+    "data": { ... },
+    "message": "device_id is required"
+}
+```
+
+## 轮询策略
+
+推荐的任务状态轮询策略：
+
+```python
+import requests
+import time
+
+def wait_for_job(job_id, timeout=60, interval=0.5):
+    """等待任务完成并返回结果"""
+    start_time = time.time()
+
+    while time.time() - start_time < timeout:
+        response = requests.get(f"http://localhost:8002/api/v1/job/{job_id}/status")
+        data = response.json()["data"]
+
+        status = data["status"]
+        if status in (4, 5, 6):  # SUCCEEDED, CANCELED, ABORTED
+            return data
+
+        time.sleep(interval)
+
+    raise TimeoutError(f"Job {job_id} did not complete within {timeout} seconds")
+
+# 使用示例
+response = requests.post(
+    "http://localhost:8002/api/v1/job/add",
+    json={"device_id": "host_node", "action": "test_latency", "action_args": {}}
+)
+job_id = response.json()["data"]["jobId"]
+result = wait_for_job(job_id)
+print(result)
+```
+
+## 相关文档
+
+- [设备注册指南](add_device.md)
+- [动作定义指南](add_action.md)
+- [网络架构概述](networking_overview.md)

docs/developer_guide/networking_overview.md

@@ -592,4 +592,3 @@ ros2 topic list
 - [ROS2 网络配置](https://docs.ros.org/en/humble/Tutorials/Advanced/Networking.html)
 - [DDS 配置](https://fast-dds.docs.eprosima.com/)
 - Uni-Lab 云平台文档
-

docs/index.md

@@ -7,3 +7,17 @@ Uni-Lab-OS 是一个开源的实验室自动化操作系统，提供统一的设
 
 intro.md
 ```
+
+## 开发者指南
+
+```{toctree}
+:maxdepth: 2
+
+developer_guide/http_api.md
+developer_guide/networking_overview.md
+developer_guide/add_device.md
+developer_guide/add_action.md
+developer_guide/add_registry.md
+developer_guide/add_yaml.md
+developer_guide/action_includes.md
+```

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.10
+  version: 0.10.12
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.10"
+  version: "0.10.12"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.10',
+    version='0.10.12',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.10"
+__version__ = "0.10.12"

unilabos/app/communication.py

@@ -141,7 +141,7 @@ class CommunicationClientFactory:
         """
         if cls._client_cache is None:
             cls._client_cache = cls.create_client(protocol)
-            logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
+            logger.trace(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
 
         return cls._client_cache
 

unilabos/app/main.py

@@ -105,7 +105,7 @@ def parse_args():
     parser.add_argument(
         "--port",
         type=int,
-        default=8002,
+        default=None,
         help="Port for web service information page",
     )
     parser.add_argument(
@@ -218,7 +218,7 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-        configure_logger(loglevel=BasicConfig.log_level)
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args_dict["addr"] == "test":
         print_status("使用测试环境地址", "info")
@@ -252,6 +252,8 @@ def main():
         else:
             print_status("远程资源不存在，本地将进行首次上报！", "info")
 
+    BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
+    BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
     BasicConfig.working_dir = working_dir
     BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
@@ -291,7 +293,9 @@ def main():
     resource_tree_set: ResourceTreeSet
     resource_links: List[Dict[str, Any]]
     request_startup_json = http_client.request_startup_json()
-    if args_dict["graph"] is None:
+
+    file_path = args_dict.get("graph", BasicConfig.startup_json_path)
+    if file_path is None:
         if not request_startup_json:
             print_status(
                 "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
@@ -301,7 +305,6 @@ def main():
             print_status("联网获取设备加载文件成功", "info")
         graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
     else:
-        file_path = args_dict["graph"]
         if not os.path.isfile(file_path):
             temp_file_path = os.path.abspath(str(os.path.join(__file__, "..", "..", file_path)))
             if os.path.isfile(temp_file_path):
@@ -418,8 +421,8 @@ def main():
             server_thread = threading.Thread(
                 target=start_server,
                 kwargs=dict(
-                    open_browser=not args_dict["disable_browser"],
-                    port=args_dict["port"],
+                    open_browser=not BasicConfig.disable_browser,
+                    port=BasicConfig.port,
                 ),
             )
             server_thread.start()
@@ -447,13 +450,13 @@ def main():
             start_backend(**args_dict)
             start_server(
                 open_browser=not args_dict["disable_browser"],
-                port=args_dict["port"],
+                port=BasicConfig.port,
             )
     else:
         start_backend(**args_dict)
         start_server(
             open_browser=not args_dict["disable_browser"],
-            port=args_dict["port"],
+            port=BasicConfig.port,
         )
 
 

unilabos/app/model.py

@@ -51,21 +51,25 @@ class Resp(BaseModel):
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
     action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
-    action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
-    action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
-    task_id: str = Field(examples=["task_id"], description="task uuid")
-    job_id: str = Field(examples=["job_id"], description="goal uuid")
-    node_id: str = Field(examples=["node_id"], description="node uuid")
-    server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
+    action_type: str = Field(
+        examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
+    )
+    action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
+    task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
+    job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
+    node_id: str = Field(examples=["node_id"], description="node uuid", default="")
+    server_info: dict = Field(
+        examples=[{"send_timestamp": 1717000000.0}],
+        description="server info (auto-generated if empty)",
+        default_factory=dict,
+    )
 
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
+    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default_factory=dict)
 
 
 class JobStepFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(
-        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
-    )
+    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
     data: dict = Field(
         examples=[
             {
@@ -83,9 +87,7 @@ class JobStepFinishReq(BaseModel):
 
 class JobPreintakeFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(
-        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
-    )
+    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
     data: dict = Field(
         examples=[
             {
@@ -102,9 +104,7 @@ class JobPreintakeFinishReq(BaseModel):
 
 class JobFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(
-        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
-    )
+    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
     data: dict = Field(
         examples=[
             {
@@ -133,6 +133,10 @@ class JobData(BaseModel):
         default=0,
         description="0:UNKNOWN, 1:ACCEPTED, 2:EXECUTING, 3:CANCELING, 4:SUCCEEDED, 5:CANCELED, 6:ABORTED",
     )
+    result: dict = Field(
+        default_factory=dict,
+        description="Job result data (available when status is SUCCEEDED/CANCELED/ABORTED)",
+    )
 
 
 class JobStatusResp(Resp):

unilabos/app/oss_upload.py

@@ -1,161 +1,158 @@
 import argparse
 import os
 import time
-from typing import Dict, Optional, Tuple
+from datetime import datetime
+from pathlib import Path
+from typing import Dict, Optional, Tuple, Union
 
 import requests
 
-from unilabos.config.config import OSSUploadConfig
+from unilabos.app.web.client import http_client, HTTPClient
+from unilabos.utils import logger
 
 
-def _init_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
-                process_key: str = "file-upload", device_id: str = "default",
-                expires_hours: int = 1) -> Tuple[bool, Dict]:
+def _get_oss_token(
+    filename: str,
+    driver_name: str = "default",
+    exp_type: str = "default",
+    client: Optional[HTTPClient] = None,
+) -> Tuple[bool, Dict]:
     """
-    初始化上传过程
+    获取OSS上传Token
 
     Args:
-        file_path: 本地文件路径
-        oss_path: OSS目标路径
-        filename: 文件名，如果为None则使用file_path的文件名
-        process_key: 处理键
-        device_id: 设备ID
-        expires_hours: 链接过期小时数
+        filename: 文件名
+        driver_name: 驱动名称
+        exp_type: 实验类型
+        client: HTTPClient实例，如果不提供则使用默认的http_client
 
     Returns:
-        (成功标志, 响应数据)
+        (成功标志, Token数据字典包含token/path/host/expires)
     """
-    if filename is None:
-        filename = os.path.basename(file_path)
+    # 使用提供的client或默认的http_client
+    if client is None:
+        client = http_client
 
-    # 构造初始化请求
-    url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.init_endpoint}"
-    headers = {
-        "Authorization": OSSUploadConfig.authorization,
-        "Content-Type": "application/json"
-    }
+    # 构造scene参数: driver_name-exp_type
+    sub_path = f"{driver_name}-{exp_type}"
 
-    payload = {
-        "device_id": device_id,
-        "process_key": process_key,
-        "filename": filename,
-        "path": oss_path,
-        "expires_hours": expires_hours
-    }
+    # 构造请求URL，使用client的remote_addr（已包含/api/v1/）
+    url = f"{client.remote_addr}/applications/token"
+    params = {"sub_path": sub_path, "filename": filename, "scene": "job"}
 
     try:
-        response = requests.post(url, headers=headers, json=payload)
-        if response.status_code == 201:
-            result = response.json()
-            if result.get("code") == "10000":
-                return True, result.get("data", {})
+        logger.info(f"[OSS] 请求预签名URL: sub_path={sub_path}, filename={filename}")
+        response = requests.get(url, params=params, headers={"Authorization": f"Lab {client.auth}"}, timeout=10)
 
-        print(f"初始化上传失败: {response.status_code}, {response.text}")
+        if response.status_code == 200:
+            result = response.json()
+            if result.get("code") == 0:
+                data = result.get("data", {})
+
+                # 转换expires时间戳为可读格式
+                expires_timestamp = data.get("expires", 0)
+                expires_datetime = datetime.fromtimestamp(expires_timestamp)
+                expires_str = expires_datetime.strftime("%Y-%m-%d %H:%M:%S")
+
+                logger.info(f"[OSS] 获取预签名URL成功")
+                logger.info(f"[OSS]   - URL: {data.get('url', 'N/A')}")
+                logger.info(f"[OSS]   - Expires: {expires_str} (timestamp: {expires_timestamp})")
+
+                return True, data
+
+        logger.error(f"[OSS] 获取预签名URL失败: {response.status_code}, {response.text}")
         return False, {}
     except Exception as e:
-        print(f"初始化上传异常: {str(e)}")
+        logger.error(f"[OSS] 获取预签名URL异常: {str(e)}")
         return False, {}
 
 
 def _put_upload(file_path: str, upload_url: str) -> bool:
     """
-    执行PUT上传
+    使用预签名URL上传文件到OSS
 
     Args:
         file_path: 本地文件路径
-        upload_url: 上传URL
+        upload_url: 完整的预签名上传URL
 
     Returns:
         是否成功
     """
     try:
+        logger.info(f"[OSS] 开始上传文件: {file_path}")
+
         with open(file_path, "rb") as f:
-            response = requests.put(upload_url, data=f)
+            # 使用预签名URL上传，不需要额外的认证header
+            response = requests.put(upload_url, data=f, timeout=300)
+
             if response.status_code == 200:
+                logger.info(f"[OSS] 文件上传成功")
                 return True
 
-        print(f"PUT上传失败: {response.status_code}, {response.text}")
+        logger.error(f"[OSS] 上传失败: {response.status_code}")
+        logger.error(f"[OSS] 响应内容: {response.text[:500] if response.text else '无响应内容'}")
         return False
     except Exception as e:
-        print(f"PUT上传异常: {str(e)}")
+        logger.error(f"[OSS] 上传异常: {str(e)}")
         return False
 
 
-def _complete_upload(uuid: str) -> bool:
-    """
-    完成上传过程
-
-    Args:
-        uuid: 上传的UUID
-
-    Returns:
-        是否成功
-    """
-    url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.complete_endpoint}"
-    headers = {
-        "Authorization": OSSUploadConfig.authorization,
-        "Content-Type": "application/json"
-    }
-
-    payload = {
-        "uuid": uuid
-    }
-
-    try:
-        response = requests.post(url, headers=headers, json=payload)
-        if response.status_code == 200:
-            result = response.json()
-            if result.get("code") == "10000":
-                return True
-
-        print(f"完成上传失败: {response.status_code}, {response.text}")
-        return False
-    except Exception as e:
-        print(f"完成上传异常: {str(e)}")
-        return False
-
-
-def oss_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
-              process_key: str = "file-upload", device_id: str = "default") -> bool:
+def oss_upload(
+    file_path: Union[str, Path],
+    filename: Optional[str] = None,
+    driver_name: str = "default",
+    exp_type: str = "default",
+    max_retries: int = 3,
+    client: Optional[HTTPClient] = None,
+) -> Dict:
     """
     文件上传主函数，包含重试机制
 
     Args:
         file_path: 本地文件路径
-        oss_path: OSS目标路径
         filename: 文件名，如果为None则使用file_path的文件名
-        process_key: 处理键
-        device_id: 设备ID
+        driver_name: 驱动名称，用于构造scene
+        exp_type: 实验类型，用于构造scene
+        max_retries: 最大重试次数
+        client: HTTPClient实例，如果不提供则使用默认的http_client
 
     Returns:
-        是否成功上传
+        Dict: {
+            "success": bool,  # 是否上传成功
+            "original_path": str,  # 原始文件路径
+            "oss_path": str  # OSS路径（成功时）或空字符串（失败时）
+        }
     """
-    max_retries = OSSUploadConfig.max_retries
+    file_path = Path(file_path)
+    if filename is None:
+        filename = os.path.basename(file_path)
+
+    if not os.path.exists(file_path):
+        logger.error(f"[OSS] 文件不存在: {file_path}")
+        return {"success": False, "original_path": file_path, "oss_path": ""}
+
     retry_count = 0
+    oss_path = ""
 
     while retry_count < max_retries:
         try:
-            # 步骤1：初始化上传
-            init_success, init_data = _init_upload(
-                file_path=file_path,
-                oss_path=oss_path,
-                filename=filename,
-                process_key=process_key,
-                device_id=device_id
+            # 步骤1：获取预签名URL
+            token_success, token_data = _get_oss_token(
+                filename=filename, driver_name=driver_name, exp_type=exp_type, client=client
             )
 
-            if not init_success:
-                print(f"初始化上传失败，重试 {retry_count + 1}/{max_retries}")
+            if not token_success:
+                logger.warning(f"[OSS] 获取预签名URL失败，重试 {retry_count + 1}/{max_retries}")
                 retry_count += 1
-                time.sleep(1)  # 等待1秒后重试
+                time.sleep(1)
                 continue
 
-            # 获取UUID和上传URL
-            uuid = init_data.get("uuid")
-            upload_url = init_data.get("upload_url")
+            # 获取预签名URL和OSS路径
+            upload_url = token_data.get("url")
+            oss_path = token_data.get("path", "")
 
-            if not uuid or not upload_url:
-                print(f"初始化上传返回数据不完整，重试 {retry_count + 1}/{max_retries}")
+            if not upload_url:
+                logger.warning(f"[OSS] 无法获取上传URL，API未返回url字段")
                 retry_count += 1
                 time.sleep(1)
                 continue
@@ -163,69 +160,82 @@ def oss_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
             # 步骤2：PUT上传文件
             put_success = _put_upload(file_path, upload_url)
             if not put_success:
-                print(f"PUT上传失败，重试 {retry_count + 1}/{max_retries}")
-                retry_count += 1
-                time.sleep(1)
-                continue
-
-            # 步骤3：完成上传
-            complete_success = _complete_upload(uuid)
-            if not complete_success:
-                print(f"完成上传失败，重试 {retry_count + 1}/{max_retries}")
+                logger.warning(f"[OSS] PUT上传失败，重试 {retry_count + 1}/{max_retries}")
                 retry_count += 1
                 time.sleep(1)
                 continue
 
             # 所有步骤都成功
-            print(f"文件 {file_path} 上传成功")
-            return True
+            logger.info(f"[OSS] 文件 {file_path} 上传成功")
+            return {"success": True, "original_path": file_path, "oss_path": oss_path}
 
         except Exception as e:
-            print(f"上传过程异常: {str(e)}，重试 {retry_count + 1}/{max_retries}")
+            logger.error(f"[OSS] 上传过程异常: {str(e)}，重试 {retry_count + 1}/{max_retries}")
             retry_count += 1
             time.sleep(1)
 
-    print(f"文件 {file_path} 上传失败，已达到最大重试次数 {max_retries}")
-    return False
+    logger.error(f"[OSS] 文件 {file_path} 上传失败，已达到最大重试次数 {max_retries}")
+    return {"success": False, "original_path": file_path, "oss_path": oss_path}
 
 
 if __name__ == "__main__":
-    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt
+    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt --driver HPLC --type test
+    # python -m unilabos.app.oss_upload -f /path/to/your/file.txt --driver HPLC --type test \
+    #        --ak xxx --sk yyy --remote-addr http://xxx/api/v1
     # 命令行参数解析
-    parser = argparse.ArgumentParser(description='文件上传测试工具')
-    parser.add_argument('--file', '-f', type=str, required=True, help='要上传的本地文件路径')
-    parser.add_argument('--path', '-p', type=str, default='/HPLC1/Any', help='OSS目标路径')
-    parser.add_argument('--device', '-d', type=str, default='test-device', help='设备ID')
-    parser.add_argument('--process', '-k', type=str, default='HPLC-txt-result', help='处理键')
+    parser = argparse.ArgumentParser(description="文件上传测试工具")
+    parser.add_argument("--file", "-f", type=str, required=True, help="要上传的本地文件路径")
+    parser.add_argument("--driver", "-d", type=str, default="default", help="驱动名称")
+    parser.add_argument("--type", "-t", type=str, default="default", help="实验类型")
+    parser.add_argument("--ak", type=str, help="Access Key，如果提供则覆盖配置")
+    parser.add_argument("--sk", type=str, help="Secret Key，如果提供则覆盖配置")
+    parser.add_argument("--remote-addr", type=str, help="远程服务器地址（包含/api/v1），如果提供则覆盖配置")
 
     args = parser.parse_args()
 
     # 检查文件是否存在
     if not os.path.exists(args.file):
-        print(f"错误：文件 {args.file} 不存在")
+        logger.error(f"错误：文件 {args.file} 不存在")
         exit(1)
 
-    print("=" * 50)
-    print(f"开始上传文件: {args.file}")
-    print(f"目标路径: {args.path}")
-    print(f"设备ID: {args.device}")
-    print(f"处理键: {args.process}")
-    print("=" * 50)
+    # 如果提供了ak/sk/remote_addr，创建临时HTTPClient
+    temp_client = None
+    if args.ak and args.sk:
+        import base64
+
+        auth = base64.b64encode(f"{args.ak}:{args.sk}".encode("utf-8")).decode("utf-8")
+        remote_addr = args.remote_addr if args.remote_addr else http_client.remote_addr
+        temp_client = HTTPClient(remote_addr=remote_addr, auth=auth)
+        logger.info(f"[配置] 使用自定义配置: remote_addr={remote_addr}")
+    elif args.remote_addr:
+        temp_client = HTTPClient(remote_addr=args.remote_addr, auth=http_client.auth)
+        logger.info(f"[配置] 使用自定义remote_addr: {args.remote_addr}")
+    else:
+        logger.info(f"[配置] 使用默认配置: remote_addr={http_client.remote_addr}")
+
+    logger.info("=" * 50)
+    logger.info(f"开始上传文件: {args.file}")
+    logger.info(f"驱动名称: {args.driver}")
+    logger.info(f"实验类型: {args.type}")
+    logger.info(f"Scene: {args.driver}-{args.type}")
+    logger.info("=" * 50)
 
     # 执行上传
-    success = oss_upload(
+    result = oss_upload(
         file_path=args.file,
-        oss_path=args.path,
         filename=None,  # 使用默认文件名
-        process_key=args.process,
-        device_id=args.device
+        driver_name=args.driver,
+        exp_type=args.type,
+        client=temp_client,
     )
 
     # 输出结果
-    if success:
-        print("\n√ 文件上传成功！")
+    if result["success"]:
+        logger.info(f"\n√ 文件上传成功！")
+        logger.info(f"原始路径: {result['original_path']}")
+        logger.info(f"OSS路径: {result['oss_path']}")
         exit(0)
     else:
-        print("\n× 文件上传失败！")
+        logger.error(f"\n× 文件上传失败！")
+        logger.error(f"原始路径: {result['original_path']}")
         exit(1)
-

unilabos/app/web/api.py

@@ -9,13 +9,22 @@ import asyncio
 
 import yaml
 
-from unilabos.app.web.controler import devices, job_add, job_info
+from unilabos.app.web.controller import (
+    devices,
+    job_add,
+    job_info,
+    get_online_devices,
+    get_device_actions,
+    get_action_schema,
+    get_all_available_actions,
+)
 from unilabos.app.model import (
     Resp,
     RespCode,
     JobStatusResp,
     JobAddResp,
     JobAddReq,
+    JobData,
 )
 from unilabos.app.web.utils.host_utils import get_host_node_info
 from unilabos.registry.registry import lab_registry
@@ -1234,6 +1243,65 @@ def get_devices():
     return Resp(data=dict(data))
 
 
+@api.get("/online-devices", summary="Online devices list", response_model=Resp)
+def api_get_online_devices():
+    """获取在线设备列表
+
+    返回当前在线的设备列表，包含设备ID、命名空间、机器名等信息
+    """
+    isok, data = get_online_devices()
+    if not isok:
+        return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
+
+    return Resp(data=data)
+
+
+@api.get("/devices/{device_id}/actions", summary="Device actions list", response_model=Resp)
+def api_get_device_actions(device_id: str):
+    """获取设备可用的动作列表
+
+    Args:
+        device_id: 设备ID
+
+    返回指定设备的所有可用动作，包含动作名称、类型、是否繁忙等信息
+    """
+    isok, data = get_device_actions(device_id)
+    if not isok:
+        return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
+
+    return Resp(data=data)
+
+
+@api.get("/devices/{device_id}/actions/{action_name}/schema", summary="Action schema", response_model=Resp)
+def api_get_action_schema(device_id: str, action_name: str):
+    """获取动作的Schema详情
+
+    Args:
+        device_id: 设备ID
+        action_name: 动作名称
+
+    返回动作的参数Schema、默认值、类型等详细信息
+    """
+    isok, data = get_action_schema(device_id, action_name)
+    if not isok:
+        return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
+
+    return Resp(data=data)
+
+
+@api.get("/actions", summary="All available actions", response_model=Resp)
+def api_get_all_actions():
+    """获取所有设备的可用动作
+
+    返回所有已注册设备的动作列表，包含设备信息和各动作的状态
+    """
+    isok, data = get_all_available_actions()
+    if not isok:
+        return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
+
+    return Resp(data=data)
+
+
 @api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
 def job_status(id: str):
     """获取任务状态"""
@@ -1244,11 +1312,22 @@ def job_status(id: str):
 @api.post("/job/add", summary="Create job", response_model=JobAddResp)
 def post_job_add(req: JobAddReq):
     """创建任务"""
-    device_id = req.device_id
-    if not req.data:
-        return Resp(code=RespCode.ErrorInvalidReq, message="Invalid request data")
+    # 检查必要参数：device_id 和 action
+    if not req.device_id:
+        return JobAddResp(
+            data=JobData(jobId="", status=6),
+            code=RespCode.ErrorInvalidReq,
+            message="device_id is required",
+        )
+
+    action_name = req.data.get("action", req.action) if req.data else req.action
+    if not action_name:
+        return JobAddResp(
+            data=JobData(jobId="", status=6),
+            code=RespCode.ErrorInvalidReq,
+            message="action is required",
+        )
 
-    req.device_id = device_id
     data = job_add(req)
     return JobAddResp(data=data)
 

unilabos/app/web/controler.py

@@ -1,45 +0,0 @@
-
-import json
-import traceback
-import uuid
-from unilabos.app.model import JobAddReq, JobData
-from unilabos.ros.nodes.presets.host_node import HostNode
-from unilabos.utils.type_check import serialize_result_info
-
-
-def get_resources() -> tuple:
-    if HostNode.get_instance() is None:
-        return False, "Host node not initialized"
-
-    return True, HostNode.get_instance().resources_config
-
-def devices() -> tuple:
-    if HostNode.get_instance() is None:
-        return False, "Host node not initialized"
-    
-    return True, HostNode.get_instance().devices_config
-
-def job_info(id: str):
-    get_goal_status = HostNode.get_instance().get_goal_status(id)
-    return JobData(jobId=id, status=get_goal_status)
-
-def job_add(req: JobAddReq) -> JobData:
-    if req.job_id is None:
-        req.job_id = str(uuid.uuid4())
-    action_name = req.data["action"]
-    action_type = req.data.get("action_type", "LocalUnknown")
-    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
-    if action_args is None:
-        action_args = req.data.get("action_args")
-    else:
-        if "command" in action_args:
-            action_args = action_args["command"]
-    # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    try:
-        HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
-    except Exception as e:
-        for bridge in HostNode.get_instance().bridges:
-            traceback.print_exc()
-            if hasattr(bridge, "publish_job_status"):
-                bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
-    return JobData(jobId=req.job_id)

unilabos/app/web/controller.py

@@ -0,0 +1,587 @@
+"""
+Web API Controller
+
+提供Web API的控制器函数，处理设备、任务和动作相关的业务逻辑
+"""
+
+import threading
+import time
+import traceback
+import uuid
+from dataclasses import dataclass, field
+from typing import Optional, Dict, Any, Tuple
+
+from unilabos.app.model import JobAddReq, JobData
+from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.utils import logger
+
+
+@dataclass
+class JobResult:
+    """任务结果数据"""
+
+    job_id: str
+    status: int  # 4:SUCCEEDED, 5:CANCELED, 6:ABORTED
+    result: Dict[str, Any] = field(default_factory=dict)
+    feedback: Dict[str, Any] = field(default_factory=dict)
+    timestamp: float = field(default_factory=time.time)
+
+
+class JobResultStore:
+    """任务结果存储（单例）"""
+
+    _instance: Optional["JobResultStore"] = None
+    _lock = threading.Lock()
+
+    def __init__(self):
+        if not hasattr(self, "_initialized"):
+            self._results: Dict[str, JobResult] = {}
+            self._results_lock = threading.RLock()
+            self._initialized = True
+
+    def __new__(cls):
+        if cls._instance is None:
+            with cls._lock:
+                if cls._instance is None:
+                    cls._instance = super().__new__(cls)
+        return cls._instance
+
+    def store_result(
+        self, job_id: str, status: int, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
+    ):
+        """存储任务结果"""
+        with self._results_lock:
+            self._results[job_id] = JobResult(
+                job_id=job_id,
+                status=status,
+                result=result or {},
+                feedback=feedback or {},
+                timestamp=time.time(),
+            )
+            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
+
+    def get_and_remove(self, job_id: str) -> Optional[JobResult]:
+        """获取并删除任务结果"""
+        with self._results_lock:
+            result = self._results.pop(job_id, None)
+            if result:
+                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
+            return result
+
+    def get_result(self, job_id: str) -> Optional[JobResult]:
+        """仅获取任务结果（不删除）"""
+        with self._results_lock:
+            return self._results.get(job_id)
+
+    def cleanup_old_results(self, max_age_seconds: float = 3600):
+        """清理过期的结果"""
+        current_time = time.time()
+        with self._results_lock:
+            expired_jobs = [
+                job_id for job_id, result in self._results.items() if current_time - result.timestamp > max_age_seconds
+            ]
+            for job_id in expired_jobs:
+                del self._results[job_id]
+                logger.debug(f"[JobResultStore] Cleaned up expired result for job {job_id[:8]}")
+
+
+# 全局结果存储实例
+job_result_store = JobResultStore()
+
+
+def store_job_result(
+    job_id: str, status: str, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
+):
+    """存储任务结果（供外部调用）
+
+    Args:
+        job_id: 任务ID
+        status: 状态字符串 ("success", "failed", "cancelled")
+        result: 结果数据
+        feedback: 反馈数据
+    """
+    # 转换状态字符串为整数
+    status_map = {
+        "success": 4,  # SUCCEEDED
+        "failed": 6,  # ABORTED
+        "cancelled": 5,  # CANCELED
+        "running": 2,  # EXECUTING
+    }
+    status_int = status_map.get(status, 0)
+
+    # 只存储最终状态
+    if status_int in (4, 5, 6):
+        job_result_store.store_result(job_id, status_int, result, feedback)
+
+
+def get_resources() -> Tuple[bool, Any]:
+    """获取资源配置
+
+    Returns:
+        Tuple[bool, Any]: (是否成功, 资源配置或错误信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, "Host node not initialized"
+
+    return True, host_node.resources_config
+
+
+def devices() -> Tuple[bool, Any]:
+    """获取设备配置
+
+    Returns:
+        Tuple[bool, Any]: (是否成功, 设备配置或错误信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, "Host node not initialized"
+
+    return True, host_node.devices_config
+
+
+def job_info(job_id: str, remove_after_read: bool = True) -> JobData:
+    """获取任务信息
+
+    Args:
+        job_id: 任务ID
+        remove_after_read: 是否在读取后删除结果（默认True）
+
+    Returns:
+        JobData: 任务数据
+    """
+    # 首先检查结果存储中是否有已完成的结果
+    if remove_after_read:
+        stored_result = job_result_store.get_and_remove(job_id)
+    else:
+        stored_result = job_result_store.get_result(job_id)
+
+    if stored_result:
+        # 有存储的结果，直接返回
+        return JobData(
+            jobId=job_id,
+            status=stored_result.status,
+            result=stored_result.result,
+        )
+
+    # 没有存储的结果，从 HostNode 获取当前状态
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return JobData(jobId=job_id, status=0)
+
+    get_goal_status = host_node.get_goal_status(job_id)
+    return JobData(jobId=job_id, status=get_goal_status)
+
+
+def check_device_action_busy(device_id: str, action_name: str) -> Tuple[bool, Optional[str]]:
+    """检查设备动作是否正在执行（被占用）
+
+    Args:
+        device_id: 设备ID
+        action_name: 动作名称
+
+    Returns:
+        Tuple[bool, Optional[str]]: (是否繁忙, 当前执行的job_id或None)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, None
+
+    device_action_key = f"/devices/{device_id}/{action_name}"
+
+    # 检查 _device_action_status 中是否有正在执行的任务
+    if device_action_key in host_node._device_action_status:
+        status = host_node._device_action_status[device_action_key]
+        if status.job_ids:
+            # 返回第一个正在执行的job_id
+            current_job_id = next(iter(status.job_ids.keys()), None)
+            return True, current_job_id
+
+    return False, None
+
+
+def _get_action_type(device_id: str, action_name: str) -> Optional[str]:
+    """从注册表自动获取动作类型
+
+    Args:
+        device_id: 设备ID
+        action_name: 动作名称
+
+    Returns:
+        动作类型字符串，未找到返回None
+    """
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+
+        # 方法1: 从运行时注册设备获取
+        if device_id in registered_devices:
+            device_info = registered_devices[device_id]
+            base_node = device_info.get("base_node_instance")
+            if base_node and hasattr(base_node, "_action_value_mappings"):
+                action_mappings = base_node._action_value_mappings
+                # 尝试直接匹配或 auto- 前缀匹配
+                for key in [action_name, f"auto-{action_name}"]:
+                    if key in action_mappings:
+                        action_type = action_mappings[key].get("type")
+                        if action_type:
+                            # 转换为字符串格式
+                            if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
+                                return f"{action_type.__module__}.{action_type.__name__}"
+                            return str(action_type)
+
+        # 方法2: 从lab_registry获取
+        from unilabos.registry.registry import lab_registry
+
+        host_node = HostNode.get_instance(0)
+        if host_node and lab_registry:
+            devices_config = host_node.devices_config
+            device_class = None
+
+            for tree in devices_config.trees:
+                node = tree.root_node
+                if node.res_content.id == device_id:
+                    device_class = node.res_content.klass
+                    break
+
+            if device_class and device_class in lab_registry.device_type_registry:
+                device_type_info = lab_registry.device_type_registry[device_class]
+                class_info = device_type_info.get("class", {})
+                action_mappings = class_info.get("action_value_mappings", {})
+
+                for key in [action_name, f"auto-{action_name}"]:
+                    if key in action_mappings:
+                        action_type = action_mappings[key].get("type")
+                        if action_type:
+                            if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
+                                return f"{action_type.__module__}.{action_type.__name__}"
+                            return str(action_type)
+
+    except Exception as e:
+        logger.warning(f"[Controller] Failed to get action type for {device_id}/{action_name}: {str(e)}")
+
+    return None
+
+
+def job_add(req: JobAddReq) -> JobData:
+    """添加任务（检查设备是否繁忙，繁忙则返回失败）
+
+    Args:
+        req: 任务添加请求
+
+    Returns:
+        JobData: 任务数据（包含状态）
+    """
+    # 服务端自动生成 job_id 和 task_id
+    job_id = str(uuid.uuid4())
+    task_id = str(uuid.uuid4())
+
+    # 服务端自动生成 server_info
+    server_info = {"send_timestamp": time.time()}
+
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        logger.error(f"[Controller] Host node not initialized for job: {job_id[:8]}")
+        return JobData(jobId=job_id, status=6)  # 6 = ABORTED
+
+    # 解析动作信息
+    action_name = req.data.get("action", req.action) if req.data else req.action
+    action_args = req.data.get("action_kwargs") or req.data.get("action_args") if req.data else req.action_args
+
+    if action_args is None:
+        action_args = req.action_args or {}
+    elif isinstance(action_args, dict) and "command" in action_args:
+        action_args = action_args["command"]
+
+    # 自动获取 action_type
+    action_type = _get_action_type(req.device_id, action_name)
+    if action_type is None:
+        logger.error(f"[Controller] Action type not found for {req.device_id}/{action_name}")
+        return JobData(jobId=job_id, status=6)  # ABORTED
+
+    # 检查设备动作是否繁忙
+    is_busy, current_job_id = check_device_action_busy(req.device_id, action_name)
+
+    if is_busy:
+        logger.warning(
+            f"[Controller] Device action busy: {req.device_id}/{action_name}, "
+            f"current job: {current_job_id[:8] if current_job_id else 'unknown'}"
+        )
+        # 返回失败状态，status=6 表示 ABORTED
+        return JobData(jobId=job_id, status=6)
+
+    # 设备空闲，提交任务执行
+    try:
+        from unilabos.app.ws_client import QueueItem
+
+        device_action_key = f"/devices/{req.device_id}/{action_name}"
+        queue_item = QueueItem(
+            task_type="job_call_back_status",
+            device_id=req.device_id,
+            action_name=action_name,
+            task_id=task_id,
+            job_id=job_id,
+            device_action_key=device_action_key,
+        )
+
+        host_node.send_goal(
+            queue_item,
+            action_type=action_type,
+            action_kwargs=action_args,
+            server_info=server_info,
+        )
+
+        logger.info(f"[Controller] Job submitted: {job_id[:8]} -> {req.device_id}/{action_name}")
+        # 返回已接受状态，status=1 表示 ACCEPTED
+        return JobData(jobId=job_id, status=1)
+
+    except ValueError as e:
+        # ActionClient not found 等错误
+        logger.error(f"[Controller] Action not available: {str(e)}")
+        return JobData(jobId=job_id, status=6)  # ABORTED
+
+    except Exception as e:
+        logger.error(f"[Controller] Error submitting job: {str(e)}")
+        traceback.print_exc()
+        return JobData(jobId=job_id, status=6)  # ABORTED
+
+
+def get_online_devices() -> Tuple[bool, Dict[str, Any]]:
+    """获取在线设备列表
+
+    Returns:
+        Tuple[bool, Dict]: (是否成功, 在线设备信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, {"error": "Host node not initialized"}
+
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+
+        online_devices = {}
+        for device_key in host_node._online_devices:
+            # device_key 格式: "namespace/device_id"
+            parts = device_key.split("/")
+            if len(parts) >= 2:
+                device_id = parts[-1]
+            else:
+                device_id = device_key
+
+            # 获取设备详细信息
+            device_info = registered_devices.get(device_id, {})
+            machine_name = host_node.device_machine_names.get(device_id, "未知")
+
+            online_devices[device_id] = {
+                "device_key": device_key,
+                "namespace": host_node.devices_names.get(device_id, ""),
+                "machine_name": machine_name,
+                "uuid": device_info.get("uuid", "") if device_info else "",
+                "node_name": device_info.get("node_name", "") if device_info else "",
+            }
+
+        return True, {
+            "online_devices": online_devices,
+            "total_count": len(online_devices),
+            "timestamp": time.time(),
+        }
+
+    except Exception as e:
+        logger.error(f"[Controller] Error getting online devices: {str(e)}")
+        traceback.print_exc()
+        return False, {"error": str(e)}
+
+
+def get_device_actions(device_id: str) -> Tuple[bool, Dict[str, Any]]:
+    """获取设备可用的动作列表
+
+    Args:
+        device_id: 设备ID
+
+    Returns:
+        Tuple[bool, Dict]: (是否成功, 动作列表信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, {"error": "Host node not initialized"}
+
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+        from unilabos.app.web.utils.action_utils import get_action_info
+
+        # 检查设备是否已注册
+        if device_id not in registered_devices:
+            return False, {"error": f"Device not found: {device_id}"}
+
+        device_info = registered_devices[device_id]
+        actions = device_info.get("actions", {})
+
+        actions_list = {}
+        for action_name, action_server in actions.items():
+            try:
+                action_info = get_action_info(action_server, action_name)
+                # 检查动作是否繁忙
+                is_busy, current_job = check_device_action_busy(device_id, action_name)
+                actions_list[action_name] = {
+                    **action_info,
+                    "is_busy": is_busy,
+                    "current_job_id": current_job[:8] if current_job else None,
+                }
+            except Exception as e:
+                logger.warning(f"[Controller] Error getting action info for {action_name}: {str(e)}")
+                actions_list[action_name] = {
+                    "type_name": "unknown",
+                    "action_path": f"/devices/{device_id}/{action_name}",
+                    "is_busy": False,
+                    "error": str(e),
+                }
+
+        return True, {
+            "device_id": device_id,
+            "actions": actions_list,
+            "action_count": len(actions_list),
+        }
+
+    except Exception as e:
+        logger.error(f"[Controller] Error getting device actions: {str(e)}")
+        traceback.print_exc()
+        return False, {"error": str(e)}
+
+
+def get_action_schema(device_id: str, action_name: str) -> Tuple[bool, Dict[str, Any]]:
+    """获取动作的Schema详情
+
+    Args:
+        device_id: 设备ID
+        action_name: 动作名称
+
+    Returns:
+        Tuple[bool, Dict]: (是否成功, Schema信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, {"error": "Host node not initialized"}
+
+    try:
+        from unilabos.registry.registry import lab_registry
+        from unilabos.ros.nodes.base_device_node import registered_devices
+
+        result = {
+            "device_id": device_id,
+            "action_name": action_name,
+            "schema": None,
+            "goal_default": None,
+            "action_type": None,
+            "is_busy": False,
+        }
+
+        # 检查动作是否繁忙
+        is_busy, current_job = check_device_action_busy(device_id, action_name)
+        result["is_busy"] = is_busy
+        result["current_job_id"] = current_job[:8] if current_job else None
+
+        # 方法1: 从 registered_devices 获取运行时信息
+        if device_id in registered_devices:
+            device_info = registered_devices[device_id]
+            base_node = device_info.get("base_node_instance")
+
+            if base_node and hasattr(base_node, "_action_value_mappings"):
+                action_mappings = base_node._action_value_mappings
+                if action_name in action_mappings:
+                    mapping = action_mappings[action_name]
+                    result["schema"] = mapping.get("schema")
+                    result["goal_default"] = mapping.get("goal_default")
+                    result["action_type"] = str(mapping.get("type", ""))
+
+        # 方法2: 从 lab_registry 获取注册表信息（如果运行时没有）
+        if result["schema"] is None and lab_registry:
+            # 尝试查找设备类型
+            devices_config = host_node.devices_config
+            device_class = None
+
+            # 从配置中获取设备类型
+            for tree in devices_config.trees:
+                node = tree.root_node
+                if node.res_content.id == device_id:
+                    device_class = node.res_content.klass
+                    break
+
+            if device_class and device_class in lab_registry.device_type_registry:
+                device_type_info = lab_registry.device_type_registry[device_class]
+                class_info = device_type_info.get("class", {})
+                action_mappings = class_info.get("action_value_mappings", {})
+
+                # 尝试直接匹配或 auto- 前缀匹配
+                for key in [action_name, f"auto-{action_name}"]:
+                    if key in action_mappings:
+                        mapping = action_mappings[key]
+                        result["schema"] = mapping.get("schema")
+                        result["goal_default"] = mapping.get("goal_default")
+                        result["action_type"] = str(mapping.get("type", ""))
+                        result["handles"] = mapping.get("handles", {})
+                        result["placeholder_keys"] = mapping.get("placeholder_keys", {})
+                        break
+
+        if result["schema"] is None:
+            return False, {"error": f"Action schema not found: {device_id}/{action_name}"}
+
+        return True, result
+
+    except Exception as e:
+        logger.error(f"[Controller] Error getting action schema: {str(e)}")
+        traceback.print_exc()
+        return False, {"error": str(e)}
+
+
+def get_all_available_actions() -> Tuple[bool, Dict[str, Any]]:
+    """获取所有设备的可用动作
+
+    Returns:
+        Tuple[bool, Dict]: (是否成功, 所有设备的动作信息)
+    """
+    host_node = HostNode.get_instance(0)
+    if host_node is None:
+        return False, {"error": "Host node not initialized"}
+
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+        from unilabos.app.web.utils.action_utils import get_action_info
+
+        all_actions = {}
+        total_action_count = 0
+
+        for device_id, device_info in registered_devices.items():
+            actions = device_info.get("actions", {})
+            device_actions = {}
+
+            for action_name, action_server in actions.items():
+                try:
+                    action_info = get_action_info(action_server, action_name)
+                    is_busy, current_job = check_device_action_busy(device_id, action_name)
+                    device_actions[action_name] = {
+                        "type_name": action_info.get("type_name", ""),
+                        "action_path": action_info.get("action_path", ""),
+                        "is_busy": is_busy,
+                        "current_job_id": current_job[:8] if current_job else None,
+                    }
+                    total_action_count += 1
+                except Exception as e:
+                    logger.warning(f"[Controller] Error processing action {device_id}/{action_name}: {str(e)}")
+
+            if device_actions:
+                all_actions[device_id] = {
+                    "actions": device_actions,
+                    "action_count": len(device_actions),
+                    "machine_name": host_node.device_machine_names.get(device_id, "未知"),
+                }
+
+        return True, {
+            "devices": all_actions,
+            "device_count": len(all_actions),
+            "total_action_count": total_action_count,
+            "timestamp": time.time(),
+        }
+
+    except Exception as e:
+        logger.error(f"[Controller] Error getting all available actions: {str(e)}")
+        traceback.print_exc()
+        return False, {"error": str(e)}

unilabos/app/ws_client.py

@@ -359,6 +359,7 @@ class MessageProcessor:
         self.device_manager = device_manager
         self.queue_processor = None  # 延迟设置
         self.websocket_client = None  # 延迟设置
+        self.session_id = ""
 
         # WebSocket连接
         self.websocket = None
@@ -388,7 +389,7 @@ class MessageProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
         self.thread.start()
-        logger.info("[MessageProcessor] Started")
+        logger.trace("[MessageProcessor] Started")
 
     def stop(self) -> None:
         """停止消息处理线程"""
@@ -427,7 +428,10 @@ class MessageProcessor:
                     ssl=ssl_context,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
-                    additional_headers={"Authorization": f"Lab {BasicConfig.auth_secret()}"},
+                    additional_headers={
+                        "Authorization": f"Lab {BasicConfig.auth_secret()}",
+                        "EdgeSession": f"{self.session_id}",
+                    },
                     logger=ws_logger,
                 ) as websocket:
                     self.websocket = websocket
@@ -572,6 +576,9 @@ class MessageProcessor:
                 await self._handle_resource_tree_update(message_data, "update")
             elif message_type == "remove_material":
                 await self._handle_resource_tree_update(message_data, "remove")
+            elif message_type == "session_id":
+                self.session_id = message_data.get("session_id")
+                logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
             else:
                 logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
 
@@ -932,7 +939,7 @@ class QueueProcessor:
         # 事件通知机制
         self.queue_update_event = threading.Event()
 
-        logger.info("[QueueProcessor] Initialized")
+        logger.trace("[QueueProcessor] Initialized")
 
     def set_websocket_client(self, websocket_client: "WebSocketClient"):
         """设置WebSocket客户端引用"""
@@ -947,7 +954,7 @@ class QueueProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
         self.thread.start()
-        logger.info("[QueueProcessor] Started")
+        logger.trace("[QueueProcessor] Started")
 
     def stop(self) -> None:
         """停止队列处理线程"""
@@ -1196,6 +1203,18 @@ class WebSocketClient(BaseCommunicationClient):
 
         logger.info("[WebSocketClient] Stopping connection")
 
+        # 发送 normal_exit 消息
+        if self.is_connected():
+            try:
+                session_id = self.message_processor.session_id
+                message = {"action": "normal_exit", "data": {"session_id": session_id}}
+                self.message_processor.send_message(message)
+                logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
+                # 给一点时间让消息发送出去
+                time.sleep(1)
+            except Exception as e:
+                logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
+
         # 停止两个核心线程
         self.message_processor.stop()
         self.queue_processor.stop()
@@ -1295,3 +1314,19 @@ class WebSocketClient(BaseCommunicationClient):
             logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully")
         else:
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
+
+    def publish_host_ready(self) -> None:
+        """发布host_node ready信号"""
+        if self.is_disabled or not self.is_connected():
+            logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
+            return
+
+        message = {
+            "action": "host_node_ready",
+            "data": {
+                "status": "ready",
+                "timestamp": time.time(),
+            },
+        }
+        self.message_processor.send_message(message)
+        logger.info("[WebSocketClient] Host node ready signal published")

unilabos/config/config.py

@@ -18,6 +18,9 @@ class BasicConfig:
     vis_2d_enable = False
     enable_resource_load = True
     communication_protocol = "websocket"
+    startup_json_path = None  # 填写绝对路径
+    disable_browser = False  # 禁止浏览器自动打开
+    port = 8002  # 本地HTTP服务
     log_level: Literal['TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'] = "DEBUG"  # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
 
     @classmethod
@@ -36,15 +39,6 @@ class WSConfig:
     ping_interval = 30  # ping间隔（秒）
 
 
-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""
-    authorization = ""
-    init_endpoint = ""
-    complete_endpoint = ""
-    max_retries = 3
-
-
 # HTTP配置
 class HTTPConfig:
     remote_addr = "http://127.0.0.1:48197/api/v1"

unilabos/devices/hplc/AgilentHPLC.py

@@ -405,9 +405,19 @@ class RunningResultChecker(DriverChecker):
                 for i in range(self.driver._finished, temp):
                     sample_id = self.driver._get_resource_sample_id(self.driver._wf_name, i)  # 从0开始计数
                     pdf, txt = self.driver.get_data_file(i + 1)
-                    device_id = self.driver.device_id if hasattr(self.driver, "device_id") else "default"
-                    oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example", device_id=device_id)
-                    oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result", device_id=device_id)
+                    # 使用新的OSS上传接口，传入driver_name和exp_type
+                    pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
+                    txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
+                    
+                    if pdf_result["success"]:
+                        print(f"PDF上传成功: {pdf_result['oss_path']}")
+                    else:
+                        print(f"PDF上传失败: {pdf_result['original_path']}")
+                    
+                    if txt_result["success"]:
+                        print(f"TXT上传成功: {txt_result['oss_path']}")
+                    else:
+                        print(f"TXT上传失败: {txt_result['original_path']}")
                     # self.driver.extract_data_from_txt()
         except Exception as ex:
             self.driver._finished = 0
@@ -456,8 +466,12 @@ if __name__ == "__main__":
     }
     sample_id = obj._get_resource_sample_id("test", 0)
     pdf, txt = obj.get_data_file("1", after_time=datetime(2024, 11, 6, 19, 3, 6))
-    oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example")
-    oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result")
+    # 使用新的OSS上传接口，传入driver_name和exp_type
+    pdf_result = oss_upload(pdf, filename=os.path.basename(pdf), driver_name="HPLC", exp_type="analysis")
+    txt_result = oss_upload(txt, filename=os.path.basename(txt), driver_name="HPLC", exp_type="result")
+    
+    print(f"PDF上传结果: {pdf_result}")
+    print(f"TXT上传结果: {txt_result}")
     # driver = HPLCDriver()
     # for i in range(10000):
     #     print({k: v for k, v in driver._device_status.items() if isinstance(v, str)})

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -147,6 +147,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
+        # 如果 use_channels 为 None，使用默认值（所有通道）
+        if use_channels is None:
+            use_channels = list(range(self.channel_num))
         if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
             offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
@@ -759,7 +762,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()        
@@ -833,17 +836,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             spread=spread,
                         )
 
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
-                        await self.mix(
-                            targets=[targets[_]],
-                            mix_time=mix_time,
-                            mix_vol=mix_vol,
-                            offsets=offsets if offsets else None,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                            mix_rate=mix_rate if mix_rate else None,
-                        )
-                        if delays is not None:
+                        # 只有在 mix_time 有效时才调用 mix
+                        if mix_time is not None and mix_time > 0:
+                            await self.mix(
+                                targets=[targets[_]],
+                                mix_time=mix_time,
+                                mix_vol=mix_vol,
+                                offsets=offsets if offsets else None,
+                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                                mix_rate=mix_rate if mix_rate else None,
+                            )
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(targets[_])
                         await self.discard_tips()
@@ -893,18 +898,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
 
-                        await self.mix(
-                            targets=current_targets,
-                            mix_time=mix_time,
-                            mix_vol=mix_vol,
-                            offsets=offsets if offsets else None,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                            mix_rate=mix_rate if mix_rate else None,
-                        )
-                        if delays is not None:
+                        # 只有在 mix_time 有效时才调用 mix
+                        if mix_time is not None and mix_time > 0:
+                            await self.mix(
+                                targets=current_targets,
+                                mix_time=mix_time,
+                                mix_vol=mix_vol,
+                                offsets=offsets if offsets else None,
+                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                                mix_rate=mix_rate if mix_rate else None,
+                            )
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()
@@ -942,60 +949,146 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        """Transfer liquid from each *source* well/plate to the corresponding *target*.
+        """Transfer liquid with automatic mode detection.
+
+        Supports three transfer modes:
+        1. One-to-many (1 source -> N targets): Distribute from one source to multiple targets
+        2. One-to-one (N sources -> N targets): Standard transfer, each source to corresponding target
+        3. Many-to-one (N sources -> 1 target): Combine multiple sources into one target
 
         Parameters
         ----------
         asp_vols, dis_vols
-            Single volume (µL) or list matching the number of transfers.
+            Single volume (µL) or list. Automatically expanded based on transfer mode.
         sources, targets
-            Same‑length sequences of containers (wells or plates). In 96‑well mode
-            each must contain exactly one plate.
+            Containers (wells or plates). Length determines transfer mode:
+            - len(sources) == 1, len(targets) > 1: One-to-many mode
+            - len(sources) == len(targets): One-to-one mode
+            - len(sources) > 1, len(targets) == 1: Many-to-one mode
         tip_racks
             One or more TipRacks providing fresh tips.
         is_96_well
             Set *True* to use the 96‑channel head.
         """
-
-
+        
+        # 确保 use_channels 有默认值
+        if use_channels is None:
+            use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
+        
         if is_96_well:
             pass  # This mode is not verified.
         else:
-            if len(asp_vols) != len(targets):
-                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+            # 转换体积参数为列表
+            if isinstance(asp_vols, (int, float)):
+                asp_vols = [float(asp_vols)]
+            else:
+                asp_vols = [float(v) for v in asp_vols]
+            
+            if isinstance(dis_vols, (int, float)):
+                dis_vols = [float(dis_vols)]
+            else:
+                dis_vols = [float(v) for v in dis_vols]
+            
+            # 识别传输模式
+            num_sources = len(sources)
+            num_targets = len(targets)
+            
+            if num_sources == 1 and num_targets > 1:
+                # 模式1: 一对多 (1 source -> N targets)
+                await self._transfer_one_to_many(
+                    sources[0], targets, tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            elif num_sources > 1 and num_targets == 1:
+                # 模式2: 多对一 (N sources -> 1 target)
+                await self._transfer_many_to_one(
+                    sources, targets[0], tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            elif num_sources == num_targets:
+                # 模式3: 一对一 (N sources -> N targets) - 原有逻辑
+                await self._transfer_one_to_one(
+                    sources, targets, tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            else:
+                raise ValueError(
+                    f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
+                    "Supported modes: 1->N, N->1, or N->N."
+                )
 
-            # 首先应该对任务分组，然后每次1个/8个进行操作处理
-            if len(use_channels) == 1:
-                for _ in range(len(targets)):
-                    tip = []
-                    for ___ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
+    async def _transfer_one_to_one(
+        self,
+        sources: Sequence[Container],
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        asp_flow_rates: Optional[List[Optional[float]]],
+        dis_flow_rates: Optional[List[Optional[float]]],
+        offsets: Optional[List[Coordinate]],
+        touch_tip: bool,
+        liquid_height: Optional[List[Optional[float]]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
+        spread: Literal["wide", "tight", "custom"],
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
+        mix_times: Optional[int],
+        mix_vol: Optional[int],
+        mix_rate: Optional[int],
+        mix_liquid_height: Optional[float],
+        delays: Optional[List[int]],
+    ):
+        """一对一传输模式：N sources -> N targets"""
+        # 验证参数长度
+        if len(asp_vols) != len(targets):
+            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+        if len(dis_vols) != len(targets):
+            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+        if len(sources) != len(targets):
+            raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
 
-                    await self.aspirate(
-                        resources=[sources[_]],
-                        vols=[asp_vols[_]],
-                        use_channels=use_channels,
-                        flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
-                        offsets=[offsets[0]] if offsets else None,
-                        liquid_height=[liquid_height[0]] if liquid_height else None,
-                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
-                        spread=spread,
-                    )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[0])
-                    await self.dispense(
-                        resources=[targets[_]],
-                        vols=[dis_vols[_]],
-                        use_channels=use_channels,
-                        flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
-                        offsets=[offsets[1]] if offsets else None,
-                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
-                        liquid_height=[liquid_height[1]] if liquid_height else None,
-                        spread=spread,
-                    )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[1])
+        if len(use_channels) == 1:
+            for _ in range(len(targets)):
+                tip = []
+                for ___ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.aspirate(
+                    resources=[sources[_]],
+                    vols=[asp_vols[_]],
+                    use_channels=use_channels,
+                    flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
+                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
+                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
+                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
+                    spread=spread,
+                )
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                await self.dispense(
+                    resources=[targets[_]],
+                    vols=[dis_vols[_]],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
+                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
+                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
+                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
+                    spread=spread,
+                )
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                     await self.mix(
                         targets=[targets[_]],
                         mix_time=mix_times,
@@ -1004,63 +1097,60 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
                     )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[1])
-                    await self.touch_tip(targets[_])
-                    await self.discard_tips()
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                await self.touch_tip(targets[_])
+                await self.discard_tips(use_channels=use_channels)
 
-            elif len(use_channels) == 8:
-                # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
-                if len(targets) % 8 != 0:
-                    raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
+        elif len(use_channels) == 8:
+            if len(targets) % 8 != 0:
+                raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
 
-                # 8个8个来取任务序列
+            for i in range(0, len(targets), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                current_targets = targets[i:i + 8]
+                current_reagent_sources = sources[i:i + 8]
+                current_asp_vols = asp_vols[i:i + 8]
+                current_dis_vols = dis_vols[i:i + 8]
+                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
+                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
 
-                for i in range(0, len(targets), 8):
-                    # 取出8个任务
-                    tip = []
-                    for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
-                    current_targets = targets[i:i + 8]
-                    current_reagent_sources = sources[i:i + 8]
-                    current_asp_vols = asp_vols[i:i + 8]
-                    current_dis_vols = dis_vols[i:i + 8]
-                    current_asp_flow_rates = asp_flow_rates[i:i + 8]
-                    current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                    current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
-                    current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                    current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
-                    current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                    current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
+                await self.aspirate(
+                    resources=current_reagent_sources,
+                    vols=current_asp_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_asp_flow_rates,
+                    offsets=current_asp_offset,
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    liquid_height=current_asp_liquid_height,
+                    spread=spread,
+                )
 
-                    await self.aspirate(
-                        resources=current_reagent_sources,
-                        vols=current_asp_vols,
-                        use_channels=use_channels,
-                        flow_rates=current_asp_flow_rates,
-                        offsets=current_asp_offset,
-                        blow_out_air_volume=current_asp_blow_out_air_volume,
-                        liquid_height=current_asp_liquid_height,
-                        spread=spread,
-                    )
-
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[0])
-                    await self.dispense(
-                        resources=current_targets,
-                        vols=current_dis_vols,
-                        use_channels=use_channels,
-                        flow_rates=current_dis_flow_rates,
-                        offsets=current_dis_offset,
-                        blow_out_air_volume=current_dis_blow_out_air_volume,
-                        liquid_height=current_dis_liquid_height,
-                        spread=spread,
-                    )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[1])
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                await self.dispense(
+                    resources=current_targets,
+                    vols=current_dis_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_dis_flow_rates,
+                    offsets=current_dis_offset,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    liquid_height=current_dis_liquid_height,
+                    spread=spread,
+                )
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
 
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                     await self.mix(
                         targets=current_targets,
                         mix_time=mix_times,
@@ -1069,10 +1159,363 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
                     )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[1])
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                await self.touch_tip(current_targets)
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
+    async def _transfer_one_to_many(
+        self,
+        source: Container,
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        asp_flow_rates: Optional[List[Optional[float]]],
+        dis_flow_rates: Optional[List[Optional[float]]],
+        offsets: Optional[List[Coordinate]],
+        touch_tip: bool,
+        liquid_height: Optional[List[Optional[float]]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
+        spread: Literal["wide", "tight", "custom"],
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
+        mix_times: Optional[int],
+        mix_vol: Optional[int],
+        mix_rate: Optional[int],
+        mix_liquid_height: Optional[float],
+        delays: Optional[List[int]],
+    ):
+        """一对多传输模式：1 source -> N targets"""
+        # 验证和扩展体积参数
+        if len(asp_vols) == 1:
+            # 如果只提供一个吸液体积，计算总吸液体积（所有分液体积之和）
+            total_asp_vol = sum(dis_vols)
+            asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol
+        else:
+            raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.")
+        
+        if len(dis_vols) != len(targets):
+            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+
+        if len(use_channels) == 1:
+            # 单通道模式：一次吸液，多次分液
+            tip = []
+            for _ in range(len(use_channels)):
+                tip.extend(next(self.current_tip))
+            await self.pick_up_tips(tip)
+
+            # 从源容器吸液（总体积）
+            await self.aspirate(
+                resources=[source],
+                vols=[asp_vol],
+                use_channels=use_channels,
+                flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
+                offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
+                liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
+                blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
+                spread=spread,
+            )
+            
+            if delays is not None:
+                await self.custom_delay(seconds=delays[0])
+            
+            # 分多次分液到不同的目标容器
+            for idx, target in enumerate(targets):
+                await self.dispense(
+                    resources=[target],
+                    vols=[dis_vols[idx]],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
+                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
+                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
+                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
+                    spread=spread,
+                )
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=[target],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[idx:idx+1] if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                if touch_tip:
+                    await self.touch_tip([target])
+            
+            await self.discard_tips(use_channels=use_channels)
+        
+        elif len(use_channels) == 8:
+            # 8通道模式：需要确保目标数量是8的倍数
+            if len(targets) % 8 != 0:
+                raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.")
+            
+            # 每次处理8个目标
+            for i in range(0, len(targets), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                
+                current_targets = targets[i:i + 8]
+                current_dis_vols = dis_vols[i:i + 8]
+                
+                # 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
+                current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
+                current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
+                current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
+                
+                # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
+                await self.aspirate(
+                    resources=[source] * 8,  # 8个通道都从同一个源
+                    vols=current_dis_vols,  # 每个通道的吸液体积等于对应的分液体积
+                    use_channels=use_channels,
+                    flow_rates=current_asp_flow_rates,
+                    offsets=current_asp_offset,
+                    liquid_height=current_asp_liquid_height,
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到8个目标
+                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
+                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                
+                await self.dispense(
+                    resources=current_targets,
+                    vols=current_dis_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_dis_flow_rates,
+                    offsets=current_dis_offset,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    liquid_height=current_dis_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                
+                if touch_tip:
                     await self.touch_tip(current_targets)
-                    await self.discard_tips([0,1,2,3,4,5,6,7])
+                
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
+    async def _transfer_many_to_one(
+        self,
+        sources: Sequence[Container],
+        target: Container,
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        asp_flow_rates: Optional[List[Optional[float]]],
+        dis_flow_rates: Optional[List[Optional[float]]],
+        offsets: Optional[List[Coordinate]],
+        touch_tip: bool,
+        liquid_height: Optional[List[Optional[float]]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
+        spread: Literal["wide", "tight", "custom"],
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
+        mix_times: Optional[int],
+        mix_vol: Optional[int],
+        mix_rate: Optional[int],
+        mix_liquid_height: Optional[float],
+        delays: Optional[List[int]],
+    ):
+        """多对一传输模式：N sources -> 1 target（汇总/混合）"""
+        # 验证和扩展体积参数
+        if len(asp_vols) != len(sources):
+            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
+        
+        # 支持两种模式：
+        # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
+        # 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
+        if len(dis_vols) == 1:
+            # 模式1：使用单个分液体积
+            total_dis_vol = sum(asp_vols)
+            dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol
+            use_proportional_mixing = False
+        elif len(dis_vols) == len(asp_vols):
+            # 模式2：按不同比例混合
+            use_proportional_mixing = True
+        else:
+            raise ValueError(
+                f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} "
+                f"(matching `asp_vols`). Got length {len(dis_vols)}."
+            )
+
+        if len(use_channels) == 1:
+            # 单通道模式：多次吸液，一次分液
+            # 先混合前（如果需要）
+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                # 注意：在吸液前混合源容器通常不常见，这里跳过
+                pass
+            
+            # 从每个源容器吸液并分液到目标容器
+            for idx, source in enumerate(sources):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.aspirate(
+                    resources=[source],
+                    vols=[asp_vols[idx]],
+                    use_channels=use_channels,
+                    flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
+                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
+                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
+                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到目标容器
+                if use_proportional_mixing:
+                    # 按不同比例混合：使用对应的 dis_vols
+                    dis_vol = dis_vols[idx]
+                    dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
+                    dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
+                    dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
+                    dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
+                else:
+                    # 标准模式：分液体积等于吸液体积
+                    dis_vol = asp_vols[idx]
+                    dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
+                    dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
+                    dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
+                    dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
+                
+                await self.dispense(
+                    resources=[target],
+                    vols=[dis_vol],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None,
+                    offsets=[dis_offset] if dis_offset is not None else None,
+                    blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None,
+                    liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                await self.discard_tips(use_channels=use_channels)
+            
+            # 最后在目标容器中混合（如果需要）
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
+            
+            if touch_tip:
+                await self.touch_tip([target])
+        
+        elif len(use_channels) == 8:
+            # 8通道模式：需要确保源数量是8的倍数
+            if len(sources) % 8 != 0:
+                raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
+            
+            # 每次处理8个源
+            for i in range(0, len(sources), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                
+                current_sources = sources[i:i + 8]
+                current_asp_vols = asp_vols[i:i + 8]
+                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
+                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                
+                # 从8个源容器吸液
+                await self.aspirate(
+                    resources=current_sources,
+                    vols=current_asp_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_asp_flow_rates,
+                    offsets=current_asp_offset,
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    liquid_height=current_asp_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到目标容器（每个通道分液到同一个目标）
+                if use_proportional_mixing:
+                    # 按比例混合：使用对应的 dis_vols
+                    current_dis_vols = dis_vols[i:i + 8]
+                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
+                    current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                    current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                    current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                else:
+                    # 标准模式：每个通道分液体积等于其吸液体积
+                    current_dis_vols = current_asp_vols
+                    current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
+                    current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
+                    current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
+                    current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
+                
+                await self.dispense(
+                    resources=[target] * 8,  # 8个通道都分到同一个目标
+                    vols=current_dis_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_dis_flow_rates,
+                    offsets=current_dis_offset,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    liquid_height=current_dis_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+            
+            # 最后在目标容器中混合（如果需要）
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
+            
+            if touch_tip:
+                await self.touch_tip([target])
 
     # except Exception as e:
     #     traceback.print_exc()

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -7,7 +7,7 @@ class VirtualMultiwayValve:
     """
     虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备 🔄
     """
-    def __init__(self, port: str = "VIRTUAL", positions: int = 8):
+    def __init__(self, port: str = "VIRTUAL", positions: int = 8, **kwargs):
         self.port = port
         self.max_positions = positions  # 1-8号位
         self.total_positions = positions + 1  # 0-8号位，共9个位置

unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py

@@ -192,6 +192,23 @@ class BioyondV1RPC(BaseRequest):
             return []
         return str(response.get("data", {}))
 
+    def material_type_list(self) -> list:
+        """查询物料类型列表
+
+        返回值:
+            list: 物料类型数组，失败返回空列表
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/material-type-list',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": {},
+            })
+        if not response or response['code'] != 1:
+            return []
+        return response.get("data", [])
+
     def material_inbound(self, material_id: str, location_id: str) -> dict:
         """
             描述：指定库位入库一个物料
@@ -221,6 +238,26 @@ class BioyondV1RPC(BaseRequest):
         # 入库成功时，即使没有 data 字段，也返回成功标识
         return response.get("data") or {"success": True}
 
+    def batch_inbound(self, inbound_items: List[Dict[str, Any]]) -> int:
+        """批量入库物料
+
+        参数:
+            inbound_items: 入库条目列表，每项包含 materialId/locationId/quantity 等
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/batch-inbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": inbound_items,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
     def delete_material(self, material_id: str) -> dict:
         """
             描述：删除尚未入库的物料
@@ -289,6 +326,66 @@ class BioyondV1RPC(BaseRequest):
             return None
         return response
 
+    def batch_outbound(self, outbound_items: List[Dict[str, Any]]) -> int:
+        """批量出库物料
+
+        参数:
+            outbound_items: 出库条目列表，每项包含 materialId/locationId/quantity 等
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/batch-outbound',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": outbound_items,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    def material_info(self, material_id: str) -> dict:
+        """查询物料详情
+
+        参数:
+            material_id: 物料ID
+
+        返回值:
+            dict: 物料信息字典，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/material-info',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": material_id,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def reset_location(self, location_id: str) -> int:
+        """复位库位
+
+        参数:
+            location_id: 库位ID
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/storage/reset-location',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": location_id,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
     # ==================== 工作流查询相关接口 ====================
 
     def query_workflow(self, json_str: str) -> dict:
@@ -332,6 +429,66 @@ class BioyondV1RPC(BaseRequest):
             return {}
         return response.get("data", {})
 
+    def split_workflow_list(self, params: Dict[str, Any]) -> dict:
+        """查询可拆分工作流列表
+
+        参数:
+            params: 查询条件参数
+
+        返回值:
+            dict: 返回数据字典，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/split-workflow-list',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": params,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def merge_workflow(self, data: Dict[str, Any]) -> dict:
+        """合并工作流（无参数版）
+
+        参数:
+            data: 合并请求体，包含待合并的子工作流信息
+
+        返回值:
+            dict: 合并结果，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/merge-workflow',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def merge_workflow_with_parameters(self, data: Dict[str, Any]) -> dict:
+        """合并工作流（携带参数）
+
+        参数:
+            data: 合并请求体，包含 name、workflows 以及 stepParameters 等
+
+        返回值:
+            dict: 合并结果，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/workflow/merge-workflow-with-parameters',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
     def validate_workflow_parameters(self, workflows: List[Dict[str, Any]]) -> Dict[str, Any]:
         """验证工作流参数格式"""
         try:
@@ -494,35 +651,34 @@ class BioyondV1RPC(BaseRequest):
             return {}
         return response.get("data", {})
 
-    def order_report(self, json_str: str) -> dict:
-        """
-            描述：查询某个任务明细
-            json_str 格式为JSON字符串:
-            '{"order_id": "order123"}'
-        """
-        try:
-            data = json.loads(json_str)
-            order_id = data.get("order_id", "")
-        except json.JSONDecodeError:
-            return {}
+    def order_report(self, order_id: str) -> dict:
+        """查询订单报告
 
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            dict: 报告数据，失败返回空字典
+        """
         response = self.post(
-            url=f'{self.host}/api/lims/order/project-order-report',
+            url=f'{self.host}/api/lims/order/order-report',
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
                 "data": order_id,
             })
-
         if not response or response['code'] != 1:
             return {}
         return response.get("data", {})
 
     def order_takeout(self, json_str: str) -> int:
-        """
-            描述：取出任务产物
-            json_str 格式为JSON字符串:
-            '{"order_id": "order123", "preintake_id": "preintake123"}'
+        """取出任务产物
+
+        参数:
+            json_str: JSON字符串，包含 order_id 与 preintake_id
+
+        返回值:
+            int: 成功返回1，失败返回0
         """
         try:
             data = json.loads(json_str)
@@ -545,14 +701,15 @@ class BioyondV1RPC(BaseRequest):
             return 0
         return response.get("code", 0)
 
+
     def sample_waste_removal(self, order_id: str) -> dict:
-        """
-        样品/废料取出接口
+        """样品/废料取出
 
         参数:
-        - order_id: 订单ID
+            order_id: 订单ID
 
-        返回: 取出结果
+        返回值:
+            dict: 取出结果，失败返回空字典
         """
         params = {"orderId": order_id}
 
@@ -574,10 +731,13 @@ class BioyondV1RPC(BaseRequest):
         return response.get("data", {})
 
     def cancel_order(self, json_str: str) -> bool:
-        """
-            描述：取消指定任务
-            json_str 格式为JSON字符串:
-            '{"order_id": "order123"}'
+        """取消指定任务
+
+        参数:
+            json_str: JSON字符串，包含 order_id
+
+        返回值:
+            bool: 成功返回 True，失败返回 False
         """
         try:
             data = json.loads(json_str)
@@ -597,6 +757,126 @@ class BioyondV1RPC(BaseRequest):
             return False
         return True
 
+    def cancel_experiment(self, order_id: str) -> int:
+        """取消指定实验
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/cancel-experiment',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    def batch_cancel_experiment(self, order_ids: List[str]) -> int:
+        """批量取消实验
+
+        参数:
+            order_ids: 订单ID列表
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/batch-cancel-experiment',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_ids,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    def gantts_by_order_id(self, order_id: str) -> dict:
+        """查询订单甘特图数据
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            dict: 甘特数据，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/gantts-by-order-id',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def simulation_gantt_by_order_id(self, order_id: str) -> dict:
+        """查询订单模拟甘特图数据
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            dict: 模拟甘特数据，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/simulation-gantt-by-order-id',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
+    def reset_order_status(self, order_id: str) -> int:
+        """复位订单状态
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/reset-order-status',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
+    def gantt_with_simulation_by_order_id(self, order_id: str) -> dict:
+        """查询订单甘特与模拟联合数据
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            dict: 联合数据，失败返回空字典
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/order/gantt-with-simulation-by-order-id',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": order_id,
+            })
+        if not response or response['code'] != 1:
+            return {}
+        return response.get("data", {})
+
     # ==================== 设备管理相关接口 ====================
 
     def device_list(self, json_str: str = "") -> list:
@@ -628,9 +908,13 @@ class BioyondV1RPC(BaseRequest):
         return response.get("data", [])
 
     def device_operation(self, json_str: str) -> int:
-        """
-            描述：操作设备
-            json_str 格式为JSON字符串
+        """设备操作
+
+        参数:
+            json_str: JSON字符串，包含 device_no/operationType/operationParams
+
+        返回值:
+            int: 成功返回1，失败返回0
         """
         try:
             data = json.loads(json_str)
@@ -643,7 +927,7 @@ class BioyondV1RPC(BaseRequest):
             return 0
 
         response = self.post(
-            url=f'{self.host}/api/lims/device/device-operation',
+            url=f'{self.host}/api/lims/device/execute-operation',
             params={
                 "apiKey": self.api_key,
                 "requestTime": self.get_current_time_iso8601(),
@@ -654,9 +938,30 @@ class BioyondV1RPC(BaseRequest):
             return 0
         return response.get("code", 0)
 
+    def reset_devices(self) -> int:
+        """复位设备集合
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/device/reset-devices',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
     # ==================== 调度器相关接口 ====================
 
     def scheduler_status(self) -> dict:
+        """查询调度器状态
+
+        返回值:
+            dict: 包含 schedulerStatus/hasTask/creationTime 等
+        """
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/scheduler-status',
             params={
@@ -669,7 +974,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("data", {})
 
     def scheduler_start(self) -> int:
-        """描述：启动调度器"""
+        """启动调度器"""
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/start',
             params={
@@ -682,7 +987,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("code", 0)
 
     def scheduler_pause(self) -> int:
-        """描述：暂停调度器"""
+        """暂停调度器"""
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/pause',
             params={
@@ -694,8 +999,21 @@ class BioyondV1RPC(BaseRequest):
             return 0
         return response.get("code", 0)
 
+    def scheduler_smart_pause(self) -> int:
+        """智能暂停调度器"""
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/smart-pause',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+            })
+
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
     def scheduler_continue(self) -> int:
-        """描述：继续调度器"""
+        """继续调度器"""
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/continue',
             params={
@@ -708,7 +1026,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("code", 0)
 
     def scheduler_stop(self) -> int:
-        """描述：停止调度器"""
+        """停止调度器"""
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/stop',
             params={
@@ -721,7 +1039,7 @@ class BioyondV1RPC(BaseRequest):
         return response.get("code", 0)
 
     def scheduler_reset(self) -> int:
-        """描述：复位调度器"""
+        """复位调度器"""
         response = self.post(
             url=f'{self.host}/api/lims/scheduler/reset',
             params={
@@ -733,6 +1051,26 @@ class BioyondV1RPC(BaseRequest):
             return 0
         return response.get("code", 0)
 
+    def scheduler_reply_error_handling(self, data: Dict[str, Any]) -> int:
+        """调度错误处理回复
+
+        参数:
+            data: 错误处理参数
+
+        返回值:
+            int: 成功返回1，失败返回0
+        """
+        response = self.post(
+            url=f'{self.host}/api/lims/scheduler/reply-error-handling',
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data,
+            })
+        if not response or response['code'] != 1:
+            return 0
+        return response.get("code", 0)
+
     # ==================== 辅助方法 ====================
 
     def _load_material_cache(self):
@@ -796,3 +1134,23 @@ class BioyondV1RPC(BaseRequest):
     def get_available_materials(self):
         """获取所有可用的材料名称列表"""
         return list(self.material_cache.keys())
+
+    def get_scheduler_state(self) -> Optional[MachineState]:
+        """将调度状态字符串映射为枚举值
+
+        返回值:
+            Optional[MachineState]: 映射后的枚举，失败返回 None
+        """
+        data = self.scheduler_status()
+        if not isinstance(data, dict):
+            return None
+        status = data.get("schedulerStatus")
+        mapping = {
+            "Init": MachineState.INITIAL,
+            "Stop": MachineState.STOPPED,
+            "Running": MachineState.RUNNING,
+            "Pause": MachineState.PAUSED,
+            "ErrorPause": MachineState.ERROR_PAUSED,
+            "ErrorStop": MachineState.ERROR_STOPPED,
+        }
+        return mapping.get(status)

unilabos/devices/workstation/bioyond_studio/dispensing_station.py

@@ -1,10 +1,25 @@
 from datetime import datetime
 import json
 import time
-from typing import Optional, Dict, Any
+from typing import Optional, Dict, Any, List
+from typing_extensions import TypedDict
+import requests
+from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
 
 from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
+import json
+import sys
+from pathlib import Path
+import importlib
+
+class ComputeExperimentDesignReturn(TypedDict):
+    solutions: list
+    titration: dict
+    solvents: dict
+    feeding_order: list
+    return_info: str
 
 
 class BioyondDispensingStation(BioyondWorkstation):
@@ -28,6 +43,108 @@ class BioyondDispensingStation(BioyondWorkstation):
         # 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
         self.order_completion_status = {}
 
+    def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
+        """项目接口通用POST调用
+
+        参数:
+            endpoint: 接口路径（例如 /api/lims/order/brief-step-paramerers）
+            data: 请求体中的 data 字段内容
+
+        返回:
+            dict: 服务端响应，失败时返回 {code:0,message,...}
+        """
+        request_data = {
+            "apiKey": API_CONFIG["api_key"],
+            "requestTime": self.hardware_interface.get_current_time_iso8601(),
+            "data": data
+        }
+        try:
+            response = requests.post(
+                f"{self.hardware_interface.host}{endpoint}",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+            result = response.json()
+            return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
+        except json.JSONDecodeError:
+            return {"code": 0, "message": "非JSON响应"}
+        except requests.exceptions.Timeout:
+            return {"code": 0, "message": "请求超时"}
+        except requests.exceptions.RequestException as e:
+            return {"code": 0, "message": str(e)}
+
+    def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
+        """项目接口通用DELETE调用
+
+        参数:
+            endpoint: 接口路径（例如 /api/lims/order/workflows）
+            data: 请求体中的 data 字段内容
+
+        返回:
+            dict: 服务端响应，失败时返回 {code:0,message,...}
+        """
+        request_data = {
+            "apiKey": API_CONFIG["api_key"],
+            "requestTime": self.hardware_interface.get_current_time_iso8601(),
+            "data": data
+        }
+        try:
+            response = requests.delete(
+                f"{self.hardware_interface.host}{endpoint}",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+            result = response.json()
+            return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
+        except json.JSONDecodeError:
+            return {"code": 0, "message": "非JSON响应"}
+        except requests.exceptions.Timeout:
+            return {"code": 0, "message": "请求超时"}
+        except requests.exceptions.RequestException as e:
+            return {"code": 0, "message": str(e)}
+
+    def compute_experiment_design(
+        self,
+        ratio: dict,
+        wt_percent: str = "0.25",
+        m_tot: str = "70",
+        titration_percent: str = "0.03",
+    ) -> ComputeExperimentDesignReturn:
+        try:
+            if isinstance(ratio, str):
+                try:
+                    ratio = json.loads(ratio)
+                except Exception:
+                    ratio = {}
+            root = str(Path(__file__).resolve().parents[3])
+            if root not in sys.path:
+                sys.path.append(root)
+            try:
+                mod = importlib.import_module("tem.compute")
+            except Exception as e:
+                raise BioyondException(f"无法导入计算模块: {e}")
+            try:
+                wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
+                mt = float(m_tot) if isinstance(m_tot, str) else m_tot
+                tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
+            except Exception as e:
+                raise BioyondException(f"参数解析失败: {e}")
+            res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
+            out = {
+                "solutions": res.get("solutions", []),
+                "titration": res.get("titration", {}),
+                "solvents": res.get("solvents", {}),
+                "feeding_order": res.get("feeding_order", []),
+                "return_info": json.dumps(res, ensure_ascii=False)
+            }
+            return out
+        except BioyondException:
+            raise
+        except Exception as e:
+            raise BioyondException(str(e))
+
     # 90%10%小瓶投料任务创建方法
     def create_90_10_vial_feeding_task(self,
                                        order_name: str = None,
@@ -649,6 +766,40 @@ class BioyondDispensingStation(BioyondWorkstation):
             self.hardware_interface._logger.error(error_msg)
             raise BioyondException(error_msg)
 
+    def brief_step_parameters(self, data: Dict[str, Any]) -> Dict[str, Any]:
+        """获取简要步骤参数（站点项目接口）
+
+        参数:
+            data: 查询参数字典
+
+        返回值:
+            dict: 接口返回数据
+        """
+        return self._post_project_api("/api/lims/order/brief-step-paramerers", data)
+
+    def project_order_report(self, order_id: str) -> Dict[str, Any]:
+        """查询项目端订单报告（兼容旧路径）
+
+        参数:
+            order_id: 订单ID
+
+        返回值:
+            dict: 报告数据
+        """
+        return self._post_project_api("/api/lims/order/project-order-report", order_id)
+
+    def workflow_sample_locations(self, workflow_id: str) -> Dict[str, Any]:
+        """查询工作流样品库位（站点项目接口）
+
+        参数:
+            workflow_id: 工作流ID
+
+        返回值:
+            dict: 位置信息数据
+        """
+        return self._post_project_api("/api/lims/storage/workflow-sample-locations", workflow_id)
+
+
     # 批量创建90%10%小瓶投料任务
     def batch_create_90_10_vial_feeding_tasks(self,
                                               titration,
@@ -779,8 +930,38 @@ class BioyondDispensingStation(BioyondWorkstation):
             self.hardware_interface._logger.error(error_msg)
             raise BioyondException(error_msg)
 
+    def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
+        data = report.get('data') if isinstance(report, dict) else None
+        actual_target_weigh = None
+        actual_volume = None
+        if data:
+            extra = data.get('extraProperties') or {}
+            if isinstance(extra, dict):
+                for v in extra.values():
+                    obj = None
+                    try:
+                        obj = json.loads(v) if isinstance(v, str) else v
+                    except Exception:
+                        obj = None
+                    if isinstance(obj, dict):
+                        tw = obj.get('targetWeigh')
+                        vol = obj.get('volume')
+                        if tw is not None:
+                            try:
+                                actual_target_weigh = float(tw)
+                            except Exception:
+                                pass
+                        if vol is not None:
+                            try:
+                                actual_volume = float(vol)
+                            except Exception:
+                                pass
+        return {
+            'actualTargetWeigh': actual_target_weigh,
+            'actualVolume': actual_volume
+        }
 
-
+    # 等待多个任务完成并获取实验报告
     def wait_for_multiple_orders_and_get_reports(self,
                                                   batch_create_result: str = None,
                                                   timeout: int = 7200,
@@ -902,6 +1083,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                             "status": "timeout",
                             "completion_status": None,
                             "report": None,
+                            "extracted": None,
                             "elapsed_time": elapsed_time
                         })
 
@@ -921,8 +1103,7 @@ class BioyondDispensingStation(BioyondWorkstation):
 
                         # 获取实验报告
                         try:
-                            report_query = json.dumps({"order_id": order_id})
-                            report = self.hardware_interface.order_report(report_query)
+                            report = self.project_order_report(order_id)
 
                             if not report:
                                 self.hardware_interface._logger.warning(
@@ -940,6 +1121,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 "status": "completed",
                                 "completion_status": completion_info.get('status'),
                                 "report": report,
+                                "extracted": self._extract_actuals_from_report(report),
                                 "elapsed_time": elapsed_time
                             })
 
@@ -959,6 +1141,7 @@ class BioyondDispensingStation(BioyondWorkstation):
                                 "status": "error",
                                 "completion_status": completion_info.get('status'),
                                 "report": None,
+                                "extracted": None,
                                 "error": str(e),
                                 "elapsed_time": elapsed_time
                             })
@@ -1052,6 +1235,266 @@ class BioyondDispensingStation(BioyondWorkstation):
             self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
             return {"processed": False, "error": str(e)}
 
+    def transfer_materials_to_reaction_station(
+        self,
+        target_device_id: str,
+        transfer_groups: list
+    ) -> dict:
+        """
+        将配液站完成的物料转移到指定反应站的堆栈库位
+        支持多组转移任务,每组包含物料名称、目标堆栈和目标库位
+
+        Args:
+            target_device_id: 目标反应站设备ID(所有转移组使用同一个设备)
+            transfer_groups: 转移任务组列表,每组包含:
+                - materials: 物料名称(字符串,将通过RPC查询)
+                - target_stack: 目标堆栈名称(如"堆栈1左")
+                - target_sites: 目标库位(如"A01")
+
+        Returns:
+            dict: 转移结果
+                {
+                    "success": bool,
+                    "total_groups": int,
+                    "successful_groups": int,
+                    "failed_groups": int,
+                    "target_device_id": str,
+                    "details": [...]
+                }
+        """
+        try:
+            # 验证参数
+            if not target_device_id:
+                raise ValueError("目标设备ID不能为空")
+
+            if not transfer_groups:
+                raise ValueError("转移任务组列表不能为空")
+
+            if not isinstance(transfer_groups, list):
+                raise ValueError("transfer_groups必须是列表类型")
+
+            # 标准化设备ID格式: 确保以 /devices/ 开头
+            if not target_device_id.startswith("/devices/"):
+                if target_device_id.startswith("/"):
+                    target_device_id = f"/devices{target_device_id}"
+                else:
+                    target_device_id = f"/devices/{target_device_id}"
+
+            self.hardware_interface._logger.info(
+                f"目标设备ID标准化为: {target_device_id}"
+            )
+
+            self.hardware_interface._logger.info(
+                f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
+            )
+
+            from .config import WAREHOUSE_MAPPING
+            results = []
+            successful_count = 0
+            failed_count = 0
+
+            for idx, group in enumerate(transfer_groups, 1):
+                try:
+                    # 提取参数
+                    material_name = group.get("materials", "")
+                    target_stack = group.get("target_stack", "")
+                    target_sites = group.get("target_sites", "")
+
+                    # 验证必填参数
+                    if not material_name:
+                        raise ValueError(f"第{idx}组: 物料名称不能为空")
+                    if not target_stack:
+                        raise ValueError(f"第{idx}组: 目标堆栈不能为空")
+                    if not target_sites:
+                        raise ValueError(f"第{idx}组: 目标库位不能为空")
+
+                    self.hardware_interface._logger.info(
+                        f"处理第{idx}组转移: {material_name} -> "
+                        f"{target_device_id}/{target_stack}/{target_sites}"
+                    )
+
+                    # 通过物料名称从deck获取ResourcePLR对象
+                    try:
+                        material_resource = self.deck.get_resource(material_name)
+                        if not material_resource:
+                            raise ValueError(f"在deck中未找到物料: {material_name}")
+
+                        self.hardware_interface._logger.info(
+                            f"从deck获取到物料 {material_name}: {material_resource}"
+                        )
+                    except Exception as e:
+                        raise ValueError(
+                            f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中"
+                        )
+
+                    # 验证目标堆栈是否存在
+                    if target_stack not in WAREHOUSE_MAPPING:
+                        raise ValueError(
+                            f"未知的堆栈名称: {target_stack}，"
+                            f"可选值: {list(WAREHOUSE_MAPPING.keys())}"
+                        )
+
+                    # 验证库位是否有效
+                    stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {})
+                    if target_sites not in stack_sites:
+                        raise ValueError(
+                            f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，"
+                            f"可选库位: {list(stack_sites.keys())}"
+                        )
+
+                    # 获取目标库位的UUID
+                    target_site_uuid = stack_sites[target_sites]
+                    if not target_site_uuid:
+                        raise ValueError(
+                            f"库位 {target_sites} 的 UUID 未配置，请在 WAREHOUSE_MAPPING 中完善"
+                        )
+
+                    # 目标位点（包含UUID）
+                    future = ROS2DeviceNode.run_async_func(
+                        self._ros_node.get_resource_with_dir,
+                        True,
+                        **{
+                            "resource_id": f"/reaction_station_bioyond/Bioyond_Deck/{target_stack}",
+                            "with_children": True,
+                        },
+                    )
+                    # 等待异步完成后再获取结果
+                    if not future:
+                        raise ValueError(f"获取目标堆栈资源future无效: {target_stack}")
+                    while not future.done():
+                        time.sleep(0.1)
+                    target_site_resource = future.result()
+
+                    # 调用父类的 transfer_resource_to_another 方法
+                    # 传入ResourcePLR对象和目标位点资源
+                    future = self.transfer_resource_to_another(
+                        resource=[material_resource],
+                        mount_resource=[target_site_resource],
+                        sites=[target_sites],
+                        mount_device_id=target_device_id
+                    )
+
+                    # 等待异步任务完成（轮询直到完成，再取结果）
+                    if future:
+                        try:
+                            while not future.done():
+                                time.sleep(0.1)
+                            future.result()
+                            self.hardware_interface._logger.info(
+                                f"异步转移任务已完成: {material_name}"
+                            )
+                        except Exception as e:
+                            raise ValueError(f"转移任务执行失败: {str(e)}")
+
+                    self.hardware_interface._logger.info(
+                        f"第{idx}组转移成功: {material_name} -> "
+                        f"{target_device_id}/{target_stack}/{target_sites}"
+                    )
+
+                    successful_count += 1
+                    results.append({
+                        "group_index": idx,
+                        "success": True,
+                        "material_name": material_name,
+                        "target_stack": target_stack,
+                        "target_site": target_sites,
+                        "message": "转移成功"
+                    })
+
+                except Exception as e:
+                    error_msg = f"第{idx}组转移失败: {str(e)}"
+                    self.hardware_interface._logger.error(error_msg)
+                    failed_count += 1
+                    results.append({
+                        "group_index": idx,
+                        "success": False,
+                        "material_name": group.get("materials", ""),
+                        "error": str(e)
+                    })
+
+            # 返回汇总结果
+            return {
+                "success": failed_count == 0,
+                "total_groups": len(transfer_groups),
+                "successful_groups": successful_count,
+                "failed_groups": failed_count,
+                "target_device_id": target_device_id,
+                "details": results,
+                "message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: "
+                          f"{successful_count} 成功, {failed_count} 失败"
+            }
+
+        except Exception as e:
+            error_msg = f"批量转移物料失败: {str(e)}"
+            self.hardware_interface._logger.error(error_msg)
+            return {
+                "success": False,
+                "total_groups": len(transfer_groups) if transfer_groups else 0,
+                "successful_groups": 0,
+                "failed_groups": len(transfer_groups) if transfer_groups else 0,
+                "target_device_id": target_device_id if target_device_id else "",
+                "error": error_msg
+            }
+
+    def query_resource_by_name(self, material_name: str):
+        """
+        通过物料名称查询资源对象(适用于Bioyond系统)
+
+        Args:
+            material_name: 物料名称
+
+        Returns:
+            物料ID或None
+        """
+        try:
+            # Bioyond系统使用material_cache存储物料信息
+            if not hasattr(self.hardware_interface, 'material_cache'):
+                self.hardware_interface._logger.error(
+                    "hardware_interface没有material_cache属性"
+                )
+                return None
+
+            material_cache = self.hardware_interface.material_cache
+
+            self.hardware_interface._logger.info(
+                f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料"
+            )
+
+            # 调试: 打印前几个物料信息
+            if material_cache:
+                cache_items = list(material_cache.items())[:5]
+                for name, material_id in cache_items:
+                    self.hardware_interface._logger.debug(
+                        f"缓存物料: name={name}, id={material_id}"
+                    )
+
+            # 直接从缓存中查找
+            if material_name in material_cache:
+                material_id = material_cache[material_name]
+                self.hardware_interface._logger.info(
+                    f"找到物料: {material_name} -> ID: {material_id}"
+                )
+                return material_id
+
+            self.hardware_interface._logger.warning(
+                f"未找到物料: {material_name} (缓存中无此物料)"
+            )
+
+            # 打印所有可用物料名称供参考
+            available_materials = list(material_cache.keys())
+            if available_materials:
+                self.hardware_interface._logger.info(
+                    f"可用物料列表(前10个): {available_materials[:10]}"
+                )
+
+            return None
+
+        except Exception as e:
+            self.hardware_interface._logger.error(
+                f"查询物料失败 {material_name}: {str(e)}"
+            )
+            return None
+
 
 if __name__ == "__main__":
     bioyond = BioyondDispensingStation(config={

unilabos/devices/workstation/bioyond_studio/reaction_station.py

@@ -5,6 +5,7 @@ from typing import List, Dict, Any
 from pathlib import Path
 from datetime import datetime
 from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
+from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import MachineState
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
 from unilabos.devices.workstation.bioyond_studio.config import (
     WORKFLOW_STEP_IDS,
@@ -717,8 +718,7 @@ class BioyondReactionStation(BioyondWorkstation):
                     if oc in self.order_completion_status:
                         info = self.order_completion_status[oc]
                         try:
-                            rq = json.dumps({"order_id": oid})
-                            rep = self.hardware_interface.order_report(rq)
+                            rep = self.hardware_interface.order_report(oid)
                             if not rep:
                                 rep = {"error": "无法获取报告"}
                             reports.append({
@@ -912,6 +912,106 @@ class BioyondReactionStation(BioyondWorkstation):
         """
         return self.hardware_interface.create_order(json_str)
 
+    def hard_delete_merged_workflows(self, workflow_ids: List[str]) -> Dict[str, Any]:
+        """
+        调用新接口：硬删除合并后的工作流
+
+        Args:
+            workflow_ids: 要删除的工作流ID数组
+
+        Returns:
+            删除结果
+        """
+        try:
+            if not isinstance(workflow_ids, list):
+                raise ValueError("workflow_ids必须是字符串数组")
+            return self._delete_project_api("/api/lims/order/workflows", workflow_ids)
+        except Exception as e:
+            print(f"❌ 硬删除异常: {str(e)}")
+            return {"code": 0, "message": str(e), "timestamp": int(time.time())}
+
+    # ==================== 项目接口通用方法 ====================
+
+    def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
+        """项目接口通用POST调用
+
+        参数:
+            endpoint: 接口路径（例如 /api/lims/order/skip-titration-steps）
+            data: 请求体中的 data 字段内容
+
+        返回:
+            dict: 服务端响应，失败时返回 {code:0,message,...}
+        """
+        request_data = {
+            "apiKey": API_CONFIG["api_key"],
+            "requestTime": self.hardware_interface.get_current_time_iso8601(),
+            "data": data
+        }
+        print(f"\n📤 项目POST请求: {self.hardware_interface.host}{endpoint}")
+        print(json.dumps(request_data, indent=4, ensure_ascii=False))
+        try:
+            response = requests.post(
+                f"{self.hardware_interface.host}{endpoint}",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+            result = response.json()
+            if result.get("code") == 1:
+                print("✅ 请求成功")
+            else:
+                print(f"❌ 请求失败: {result.get('message','未知错误')}")
+            return result
+        except json.JSONDecodeError:
+            print("❌ 非JSON响应")
+            return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
+        except requests.exceptions.Timeout:
+            print("❌ 请求超时")
+            return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
+        except requests.exceptions.RequestException as e:
+            print(f"❌ 网络异常: {str(e)}")
+            return {"code": 0, "message": str(e), "timestamp": int(time.time())}
+
+    def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
+        """项目接口通用DELETE调用
+
+        参数:
+            endpoint: 接口路径（例如 /api/lims/order/workflows）
+            data: 请求体中的 data 字段内容
+
+        返回:
+            dict: 服务端响应，失败时返回 {code:0,message,...}
+        """
+        request_data = {
+            "apiKey": API_CONFIG["api_key"],
+            "requestTime": self.hardware_interface.get_current_time_iso8601(),
+            "data": data
+        }
+        print(f"\n📤 项目DELETE请求: {self.hardware_interface.host}{endpoint}")
+        print(json.dumps(request_data, indent=4, ensure_ascii=False))
+        try:
+            response = requests.delete(
+                f"{self.hardware_interface.host}{endpoint}",
+                json=request_data,
+                headers={"Content-Type": "application/json"},
+                timeout=30
+            )
+            result = response.json()
+            if result.get("code") == 1:
+                print("✅ 请求成功")
+            else:
+                print(f"❌ 请求失败: {result.get('message','未知错误')}")
+            return result
+        except json.JSONDecodeError:
+            print("❌ 非JSON响应")
+            return {"code": 0, "message": "非JSON响应", "timestamp": int(time.time())}
+        except requests.exceptions.Timeout:
+            print("❌ 请求超时")
+            return {"code": 0, "message": "请求超时", "timestamp": int(time.time())}
+        except requests.exceptions.RequestException as e:
+            print(f"❌ 网络异常: {str(e)}")
+            return {"code": 0, "message": str(e), "timestamp": int(time.time())}
+
     # ==================== 工作流执行核心方法 ====================
 
     def process_web_workflows(self, web_workflow_json: str) -> List[Dict[str, str]]:
@@ -942,76 +1042,6 @@ class BioyondReactionStation(BioyondWorkstation):
             print(f"错误：处理工作流失败: {e}")
             return []
 
-    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
-        """
-        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
-
-        Args:
-            workflow_name: 合并后的工作流名称
-            task_name: 任务名称
-
-        Returns:
-            任务创建结果
-        """
-        web_workflow_list = self.get_workflow_sequence()
-        print(f"\n{'='*60}")
-        print(f"📋 处理网页工作流列表: {web_workflow_list}")
-        print(f"{'='*60}")
-
-        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
-        workflows_result = self.process_web_workflows(web_workflow_json)
-
-        if not workflows_result:
-            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
-
-        print(f"workflows_result 类型: {type(workflows_result)}")
-        print(f"workflows_result 内容: {workflows_result}")
-
-        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
-
-        merge_data = {
-            "name": workflow_name,
-            "workflows": workflows_with_params
-        }
-
-        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
-        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
-
-        if not merged_workflow:
-            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
-
-        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
-        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
-
-        order_params = [{
-            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
-            "orderName": task_name,
-            "workFlowId": workflow_id,
-            "borderNumber": 1,
-            "paramValues": {}
-        }]
-
-        result = self.create_order(json.dumps(order_params))
-
-        if not result:
-            return self._create_error_result("创建任务失败", "create_order")
-
-        # 清空工作流序列和参数，防止下次执行时累积重复
-        self.pending_task_params = []
-        self.clear_workflows()  # 清空工作流序列，避免重复累积
-
-        # print(f"\n✅ 任务创建成功: {result}")
-        # print(f"\n✅ 任务创建成功")
-        print(f"{'='*60}\n")
-
-        # 返回结果，包含合并后的工作流数据和订单参数
-        return json.dumps({
-            "success": True,
-            "result": result,
-            "merged_workflow": merged_workflow,
-            "order_params": order_params
-        })
-
     def _build_workflows_with_parameters(self, workflows_result: list) -> list:
         """
         构建带参数的工作流列表
@@ -1211,3 +1241,90 @@ class BioyondReactionStation(BioyondWorkstation):
             print(f"   ❌ 工作流ID验证失败: {e}")
             print(f"   💡 将重新合并工作流")
             return False
+
+    def process_and_execute_workflow(self, workflow_name: str, task_name: str) -> dict:
+        """
+        一站式处理工作流程：解析网页工作流列表，合并工作流(带参数)，然后发布任务
+
+        Args:
+            workflow_name: 合并后的工作流名称
+            task_name: 任务名称
+
+        Returns:
+            任务创建结果
+        """
+        web_workflow_list = self.get_workflow_sequence()
+        print(f"\n{'='*60}")
+        print(f"📋 处理网页工作流列表: {web_workflow_list}")
+        print(f"{'='*60}")
+
+        web_workflow_json = json.dumps({"web_workflow_list": web_workflow_list})
+        workflows_result = self.process_web_workflows(web_workflow_json)
+
+        if not workflows_result:
+            return self._create_error_result("处理网页工作流列表失败", "process_web_workflows")
+
+        print(f"workflows_result 类型: {type(workflows_result)}")
+        print(f"workflows_result 内容: {workflows_result}")
+
+        workflows_with_params = self._build_workflows_with_parameters(workflows_result)
+
+        merge_data = {
+            "name": workflow_name,
+            "workflows": workflows_with_params
+        }
+
+        # print(f"\n🔄 合并工作流（带参数），名称: {workflow_name}")
+        merged_workflow = self.merge_workflow_with_parameters(json.dumps(merge_data))
+
+        if not merged_workflow:
+            return self._create_error_result("合并工作流失败", "merge_workflow_with_parameters")
+
+        workflow_id = merged_workflow.get("subWorkflows", [{}])[0].get("id", "")
+        # print(f"\n📤 使用工作流创建任务: {workflow_name} (ID: {workflow_id})")
+
+        order_params = [{
+            "orderCode": f"task_{self.hardware_interface.get_current_time_iso8601()}",
+            "orderName": task_name,
+            "workFlowId": workflow_id,
+            "borderNumber": 1,
+            "paramValues": {}
+        }]
+
+        result = self.create_order(json.dumps(order_params))
+
+        if not result:
+            return self._create_error_result("创建任务失败", "create_order")
+
+        # 清空工作流序列和参数，防止下次执行时累积重复
+        self.pending_task_params = []
+        self.clear_workflows()  # 清空工作流序列，避免重复累积
+
+        # print(f"\n✅ 任务创建成功: {result}")
+        # print(f"\n✅ 任务创建成功")
+        print(f"{'='*60}\n")
+
+        # 返回结果，包含合并后的工作流数据和订单参数
+        return json.dumps({
+            "success": True,
+            "result": result,
+            "merged_workflow": merged_workflow,
+            "order_params": order_params
+        })
+
+    # ==================== 反应器操作接口 ====================
+
+    def skip_titration_steps(self, preintake_id: str) -> Dict[str, Any]:
+        """跳过当前正在进行的滴定步骤
+
+        Args:
+            preintake_id: 通量ID
+
+        Returns:
+            Dict[str, Any]: 服务器响应，包含状态码、消息和时间戳
+        """
+        try:
+            return self._post_project_api("/api/lims/order/skip-titration-steps", preintake_id)
+        except Exception as e:
+            print(f"❌ 跳过滴定异常: {str(e)}")
+            return {"code": 0, "message": str(e), "timestamp": int(time.time())}

unilabos/devices/workstation/workstation_base.py

@@ -147,7 +147,7 @@ class WorkstationBase(ABC):
 
     def __init__(
         self,
-        deck: Deck,
+        deck: Optional[Deck],
         *args,
         **kwargs,  # 必须有kwargs
     ):
@@ -349,5 +349,5 @@ class WorkstationBase(ABC):
 
 
 class ProtocolNode(WorkstationBase):
-    def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
+    def __init__(self, protocol_type: List[str], deck: Optional[PLRResource], *args, **kwargs):
         super().__init__(deck, *args, **kwargs)

unilabos/registry/devices/bioyond.yaml

@@ -83,6 +83,96 @@ workstation.bioyond_dispensing_station:
           title: batch_create_diamine_solution_tasks参数
           type: object
         type: UniLabJsonCommand
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
       auto-process_order_finish_report:
         feedback: {}
         goal: {}
@@ -112,6 +202,85 @@ workstation.bioyond_dispensing_station:
           title: process_order_finish_report参数
           type: object
         type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
       auto-wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal: {}
@@ -144,6 +313,31 @@ workstation.bioyond_dispensing_station:
           title: wait_for_multiple_orders_and_get_reports参数
           type: object
         type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
       create_90_10_vial_feeding_task:
         feedback: {}
         goal:

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -5,6 +5,96 @@ bioyond_dispensing_station:
   - bioyond_dispensing_station
   class:
     action_value_mappings:
+      auto-brief_step_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          data: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                data:
+                  type: object
+              required:
+              - data
+              type: object
+            result: {}
+          required:
+          - goal
+          title: brief_step_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-compute_experiment_design:
+        feedback: {}
+        goal: {}
+        goal_default:
+          m_tot: '70'
+          ratio: null
+          titration_percent: '0.03'
+          wt_percent: '0.25'
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                m_tot:
+                  default: '70'
+                  type: string
+                ratio:
+                  type: object
+                titration_percent:
+                  default: '0.03'
+                  type: string
+                wt_percent:
+                  default: '0.25'
+                  type: string
+              required:
+              - ratio
+              type: object
+            result:
+              properties:
+                feeding_order:
+                  items: {}
+                  title: Feeding Order
+                  type: array
+                return_info:
+                  title: Return Info
+                  type: string
+                solutions:
+                  items: {}
+                  title: Solutions
+                  type: array
+                solvents:
+                  additionalProperties: true
+                  title: Solvents
+                  type: object
+                titration:
+                  additionalProperties: true
+                  title: Titration
+                  type: object
+              required:
+              - solutions
+              - titration
+              - solvents
+              - feeding_order
+              - return_info
+              title: ComputeExperimentDesignReturn
+              type: object
+          required:
+          - goal
+          title: compute_experiment_design参数
+          type: object
+        type: UniLabJsonCommand
       auto-process_order_finish_report:
         feedback: {}
         goal: {}
@@ -34,6 +124,110 @@ bioyond_dispensing_station:
           title: process_order_finish_report参数
           type: object
         type: UniLabJsonCommand
+      auto-project_order_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          order_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                order_id:
+                  type: string
+              required:
+              - order_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: project_order_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_resource_by_name:
+        feedback: {}
+        goal: {}
+        goal_default:
+          material_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                material_name:
+                  type: string
+              required:
+              - material_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_resource_by_name参数
+          type: object
+        type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_sample_locations:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_sample_locations参数
+          type: object
+        type: UniLabJsonCommand
       batch_create_90_10_vial_feeding_tasks:
         feedback: {}
         goal:

unilabos/registry/devices/camera.yaml

@@ -61,6 +61,9 @@ camera:
         device_id:
           default: video_publisher
           type: string
+        device_uuid:
+          default: ''
+          type: string
         period:
           default: 0.1
           type: number

unilabos/registry/devices/liquid_handler.yaml

@@ -4497,9 +4497,6 @@ liquid_handler:
         simulator:
           default: false
           type: boolean
-        total_height:
-          default: 310
-          type: number
       required:
       - backend
       - deck

unilabos/registry/devices/reaction_station_bioyond.yaml

@@ -4,6 +4,215 @@ reaction_station.bioyond:
   - reaction_station_bioyond
   class:
     action_value_mappings:
+      auto-create_order:
+        feedback: {}
+        goal: {}
+        goal_default:
+          json_str: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                json_str:
+                  type: string
+              required:
+              - json_str
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_order参数
+          type: object
+        type: UniLabJsonCommand
+      auto-hard_delete_merged_workflows:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_ids: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_ids:
+                  items:
+                    type: string
+                  type: array
+              required:
+              - workflow_ids
+              type: object
+            result: {}
+          required:
+          - goal
+          title: hard_delete_merged_workflows参数
+          type: object
+        type: UniLabJsonCommand
+      auto-merge_workflow_with_parameters:
+        feedback: {}
+        goal: {}
+        goal_default:
+          json_str: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                json_str:
+                  type: string
+              required:
+              - json_str
+              type: object
+            result: {}
+          required:
+          - goal
+          title: merge_workflow_with_parameters参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_temperature_cutoff_report:
+        feedback: {}
+        goal: {}
+        goal_default:
+          report_request: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                report_request:
+                  type: string
+              required:
+              - report_request
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_temperature_cutoff_report参数
+          type: object
+        type: UniLabJsonCommand
+      auto-process_web_workflows:
+        feedback: {}
+        goal: {}
+        goal_default:
+          web_workflow_json: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                web_workflow_json:
+                  type: string
+              required:
+              - web_workflow_json
+              type: object
+            result: {}
+          required:
+          - goal
+          title: process_web_workflows参数
+          type: object
+        type: UniLabJsonCommand
+      auto-skip_titration_steps:
+        feedback: {}
+        goal: {}
+        goal_default:
+          preintake_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                preintake_id:
+                  type: string
+              required:
+              - preintake_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: skip_titration_steps参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_multiple_orders_and_get_reports:
+        feedback: {}
+        goal: {}
+        goal_default:
+          batch_create_result: null
+          check_interval: 10
+          timeout: 7200
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                batch_create_result:
+                  type: string
+                check_interval:
+                  default: 10
+                  type: integer
+                timeout:
+                  default: 7200
+                  type: integer
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_multiple_orders_and_get_reports参数
+          type: object
+        type: UniLabJsonCommand
+      auto-workflow_step_query:
+        feedback: {}
+        goal: {}
+        goal_default:
+          workflow_id: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                workflow_id:
+                  type: string
+              required:
+              - workflow_id
+              type: object
+            result: {}
+          required:
+          - goal
+          title: workflow_step_query参数
+          type: object
+        type: UniLabJsonCommand
       drip_back:
         feedback: {}
         goal:
@@ -524,19 +733,7 @@ reaction_station.bioyond:
     module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation
     protocol_type: []
     status_types:
-      all_workflows: dict
-      average_viscosity: float
-      bioyond_status: dict
-      force: float
-      in_temperature: float
-      out_temperature: float
-      pt100_temperature: float
-      sensor_average_temperature: float
-      setting_temperature: float
-      speed: float
-      target_temperature: float
-      viscosity: float
-      workstation_status: dict
+      workflow_sequence: String
     type: python
   config_info: []
   description: Bioyond反应站
@@ -548,21 +745,19 @@ reaction_station.bioyond:
         config:
           type: object
         deck:
-          type: object
+          type: string
+        protocol_type:
+          type: string
       required: []
       type: object
     data:
       properties:
-        all_workflows:
-          type: object
-        bioyond_status:
-          type: object
-        workstation_status:
-          type: object
+        workflow_sequence:
+          items:
+            type: string
+          type: array
       required:
-      - bioyond_status
-      - all_workflows
-      - workstation_status
+      - workflow_sequence
       type: object
   version: 1.0.0
 reaction_station.reactor:
@@ -570,19 +765,34 @@ reaction_station.reactor:
   - reactor
   - reaction_station_bioyond
   class:
-    action_value_mappings: {}
+    action_value_mappings:
+      auto-update_metrics:
+        feedback: {}
+        goal: {}
+        goal_default:
+          payload: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                payload:
+                  type: object
+              required:
+              - payload
+              type: object
+            result: {}
+          required:
+          - goal
+          title: update_metrics参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactor
-    status_types:
-      average_viscosity: float
-      force: float
-      in_temperature: float
-      out_temperature: float
-      pt100_temperature: float
-      sensor_average_temperature: float
-      setting_temperature: float
-      speed: float
-      target_temperature: float
-      viscosity: float
+    status_types: {}
     type: python
   config_info: []
   description: 反应站子设备-反应器
@@ -593,30 +803,14 @@ reaction_station.reactor:
       properties:
         config:
           type: object
+        deck:
+          type: string
+        protocol_type:
+          type: string
       required: []
       type: object
     data:
-      properties:
-        average_viscosity:
-          type: number
-        force:
-          type: number
-        in_temperature:
-          type: number
-        out_temperature:
-          type: number
-        pt100_temperature:
-          type: number
-        sensor_average_temperature:
-          type: number
-        setting_temperature:
-          type: number
-        speed:
-          type: number
-        target_temperature:
-          type: number
-        viscosity:
-          type: number
+      properties: {}
       required: []
       type: object
   version: 1.0.0

unilabos/registry/devices/work_station.yaml

@@ -6036,7 +6036,12 @@ workstation:
       properties:
         deck:
           type: string
+        protocol_type:
+          items:
+            type: string
+          type: array
       required:
+      - protocol_type
       - deck
       type: object
     data:

unilabos/registry/registry.py

@@ -453,7 +453,7 @@ class Registry:
         return status_schema
 
     def _generate_unilab_json_command_schema(
-        self, method_args: List[Dict[str, Any]], method_name: str
+        self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
     ) -> Dict[str, Any]:
         """
         根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
@@ -461,6 +461,7 @@ class Registry:
         Args:
             method_args: 方法信息字典，包含args等
             method_name: 方法名称
+            return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
 
         Returns:
             JSON Schema格式的参数schema
@@ -489,14 +490,68 @@ class Registry:
             if param_required:
                 schema["required"].append(param_name)
 
+        # 生成result schema（仅当return_annotation是TypedDict时）
+        result_schema = {}
+        if return_annotation is not None and self._is_typed_dict(return_annotation):
+            result_schema = self._generate_typed_dict_result_schema(return_annotation)
+
         return {
             "title": f"{method_name}参数",
             "description": f"",
             "type": "object",
-            "properties": {"goal": schema, "feedback": {}, "result": {}},
+            "properties": {"goal": schema, "feedback": {}, "result": result_schema},
             "required": ["goal"],
         }
 
+    def _is_typed_dict(self, annotation: Any) -> bool:
+        """
+        检查类型注解是否是TypedDict
+
+        Args:
+            annotation: 类型注解对象
+
+        Returns:
+            是否为TypedDict
+        """
+        if annotation is None or annotation == inspect.Parameter.empty:
+            return False
+
+        # 使用 typing_extensions.is_typeddict 进行检查（Python < 3.12 兼容）
+        try:
+            from typing_extensions import is_typeddict
+
+            return is_typeddict(annotation)
+        except ImportError:
+            # 回退方案：检查 TypedDict 特有的属性
+            if isinstance(annotation, type):
+                return hasattr(annotation, "__required_keys__") and hasattr(annotation, "__optional_keys__")
+            return False
+
+    def _generate_typed_dict_result_schema(self, return_annotation: Any) -> Dict[str, Any]:
+        """
+        根据TypedDict类型生成result的JSON Schema
+
+        Args:
+            return_annotation: TypedDict类型注解
+
+        Returns:
+            JSON Schema格式的result schema
+        """
+        if not self._is_typed_dict(return_annotation):
+            return {}
+
+        try:
+            from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
+
+            result_schema = TypedDictMessageInstance.get_json_schema_from_typed_dict(return_annotation)
+            return result_schema
+        except ImportError:
+            logger.warning("[UniLab Registry] msgcenterpy未安装，无法生成TypedDict的result schema")
+            return {}
+        except Exception as e:
+            logger.warning(f"[UniLab Registry] 生成TypedDict result schema失败: {e}")
+            return {}
+
     def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str):
         """
         为设备配置添加内置的执行驱动命令动作
@@ -577,9 +632,15 @@ class Registry:
                     if "init_param_schema" not in device_config:
                         device_config["init_param_schema"] = {}
                     if "class" in device_config:
-                        if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
+                        if (
+                            "status_types" not in device_config["class"]
+                            or device_config["class"]["status_types"] is None
+                        ):
                             device_config["class"]["status_types"] = {}
-                        if "action_value_mappings" not in device_config["class"] or device_config["class"]["action_value_mappings"] is None:
+                        if (
+                            "action_value_mappings" not in device_config["class"]
+                            or device_config["class"]["action_value_mappings"] is None
+                        ):
                             device_config["class"]["action_value_mappings"] = {}
                         enhanced_info = {}
                         if complete_registry:
@@ -631,7 +692,9 @@ class Registry:
                                         "goal": {},
                                         "feedback": {},
                                         "result": {},
-                                        "schema": self._generate_unilab_json_command_schema(v["args"], k),
+                                        "schema": self._generate_unilab_json_command_schema(
+                                            v["args"], k, v.get("return_annotation")
+                                        ),
                                         "goal_default": {i["name"]: i["default"] for i in v["args"]},
                                         "handles": [],
                                         "placeholder_keys": {

unilabos/registry/resources/organic/container.yaml

@@ -2,7 +2,7 @@ container:
   category:
   - container
   class:
-    module: unilabos.resources.container:RegularContainer
+    module: unilabos.resources.container:get_regular_container
     type: pylabrobot
   description: regular organic container
   handles:

unilabos/resources/bioyond/decks.py

@@ -15,8 +15,9 @@ from unilabos.resources.bioyond.warehouses import (
     bioyond_warehouse_5x1x1,
     bioyond_warehouse_1x8x4,
     bioyond_warehouse_reagent_storage,
-    bioyond_warehouse_liquid_preparation,
+    # bioyond_warehouse_liquid_preparation,
     bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
+    bioyond_warehouse_density_vial,
 )
 
 
@@ -43,17 +44,20 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
             "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
             "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
             "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
-            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
-            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
+            # "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
+            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒.
+            "测量小瓶仓库(测密度)": bioyond_warehouse_density_vial("测量小瓶仓库(测密度)"),  # A01～B03
         }
         self.warehouse_locations = {
             "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
             "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
             "站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
-            "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
+            # "移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
             "站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
+            "测量小瓶仓库(测密度)": Coordinate(922.0, 552.0, 0.0),
         }
         self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
+        self.warehouses["测量小瓶仓库(测密度)"].rotation = Rotation(z=270)
 
         for warehouse_name, warehouse in self.warehouses.items():
             self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name])

unilabos/resources/bioyond/warehouses.py

@@ -1,5 +1,6 @@
 from unilabos.resources.warehouse import WareHouse, warehouse_factory
 
+# ================ 反应站相关堆栈 ================
 
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
     """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
@@ -26,7 +27,6 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
         layout="row-major",  # ⭐ 改为行优先排序
     )
 
-
 def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
     """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
     return warehouse_factory(
@@ -45,15 +45,35 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
         layout="row-major",  # ⭐ 改为行优先排序
     )
 
-
-
-def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x2仓库"""
+def bioyond_warehouse_density_vial(name: str) -> WareHouse:
+    """创建测量小瓶仓库(测密度) A01～B03"""
     return warehouse_factory(
         name=name,
-        num_items_x=1,
-        num_items_y=4,
-        num_items_z=2,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=40.0,
+        item_dy=40.0,
+        item_dz=50.0,
+        # 用更小的 resource_size 来表现 "小点的孔位"
+        resource_size_x=30.0,
+        resource_size_y=30.0,
+        resource_size_z=12.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=2,  # 2列（01-02）
+        num_items_y=1,  # 1行（A）
+        num_items_z=1,  # 1层
         dx=10.0,
         dy=10.0,
         dz=10.0,
@@ -61,9 +81,46 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
         item_dy=96.0,
         item_dz=120.0,
         category="warehouse",
-        removed_positions=None
     )
 
+def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
+    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=3,  # 3列（01-03）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
+    """已弃用,创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=4,  # 4列（01-04）
+        num_items_y=2,  # 2行（A-B）
+        num_items_z=1,  # 1层
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        col_offset=0,
+        layout="row-major",
+    )
+
+# ================ 配液站相关堆栈 ================
+
 def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
     """创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
 
@@ -88,8 +145,28 @@ def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
     )
 
  # 定义bioyond的堆栈
+
+# =================== Other ===================
+
+def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
+    """创建BioYond 4x2x1仓库"""
+    return warehouse_factory(
+        name=name,
+        num_items_x=1,
+        num_items_y=4,
+        num_items_z=2,
+        dx=10.0,
+        dy=10.0,
+        dz=10.0,
+        item_dx=137.0,
+        item_dy=96.0,
+        item_dz=120.0,
+        category="warehouse",
+        removed_positions=None
+    )
+
 def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 1x2x2仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=1,
@@ -103,8 +180,9 @@ def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 10x1x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=10,
@@ -118,8 +196,9 @@ def bioyond_warehouse_10x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 1x3x3仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=1,
@@ -133,8 +212,9 @@ def bioyond_warehouse_1x3x3(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 2x1x3仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=2,
@@ -150,7 +230,7 @@ def bioyond_warehouse_2x1x3(name: str) -> WareHouse:
     )
 
 def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 3x3x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=3,
@@ -164,8 +244,9 @@ def bioyond_warehouse_3x3x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 5x1x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=5,
@@ -179,8 +260,9 @@ def bioyond_warehouse_5x1x1(name: str) -> WareHouse:
         item_dz=120.0,
         category="warehouse",
     )
+
 def bioyond_warehouse_3x3x1_2(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """已弃用：创建BioYond 3x3x1仓库"""
     return warehouse_factory(
         name=name,
         num_items_x=3,
@@ -212,7 +294,6 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
         removed_positions=None
     )
 
-
 def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
     """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
     return warehouse_factory(
@@ -228,58 +309,3 @@ def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
         item_dz=130.0,
         category="warehouse",
     )
-
-
-def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
-    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=2,  # 2列（01-02）
-        num_items_y=1,  # 1行（A）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-    )
-
-
-def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
-    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=4,  # 4列（01-04）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )
-
-
-def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
-    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
-    return warehouse_factory(
-        name=name,
-        num_items_x=3,  # 3列（01-03）
-        num_items_y=2,  # 2行（A-B）
-        num_items_z=1,  # 1层
-        dx=10.0,
-        dy=10.0,
-        dz=10.0,
-        item_dx=137.0,
-        item_dy=96.0,
-        item_dz=120.0,
-        category="warehouse",
-        col_offset=0,
-        layout="row-major",
-    )

unilabos/resources/container.py

@@ -22,6 +22,13 @@ class RegularContainer(Container):
 
     def load_state(self, state: Dict[str, Any]):
         self.state = state
+
+
+def get_regular_container(name="container"):
+    r = RegularContainer(name=name)
+    r.category = "container"
+    return RegularContainer(name=name)
+
 #
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入

unilabos/resources/graphio.py

@@ -45,10 +45,13 @@ def canonicalize_nodes_data(
     print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
-    for node in nodes:
+    outer_host_node_id = None
+    for idx, node in enumerate(nodes):
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
+        if node["id"] == "host_node":
+            outer_host_node_id = idx
         if not isinstance(node.get("config"), dict):
             node["config"] = {}
         if not node.get("type"):
@@ -58,25 +61,26 @@ def canonicalize_nodes_data(
             node["name"] = node.get("id")
             print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
         if not isinstance(node.get("position"), dict):
-            node["position"] = {"position": {}}
+            node["pose"] = {"position": {}}
             x = node.pop("x", None)
             if x is not None:
-                node["position"]["position"]["x"] = x
+                node["pose"]["position"]["x"] = x
             y = node.pop("y", None)
             if y is not None:
-                node["position"]["position"]["y"] = y
+                node["pose"]["position"]["y"] = y
             z = node.pop("z", None)
             if z is not None:
-                node["position"]["position"]["z"] = z
+                node["pose"]["position"]["z"] = z
         if "sample_id" in node:
             sample_id = node.pop("sample_id")
             if sample_id:
                 logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
         for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]:
                 v = node.pop(k)
                 node["config"][k] = v
-
+    if outer_host_node_id is not None:
+        nodes.pop(outer_host_node_id)
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
@@ -93,7 +97,7 @@ def canonicalize_nodes_data(
 
     for node in nodes:
         try:
-            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
             # 使用标准化方法
             resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
             known_nodes[node["id"]] = resource_instance
@@ -582,11 +586,15 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tip_rack": "tip_rack",
             "warehouse": "warehouse",
             "container": "container",
+            "tube": "tube",
+            "bottle_carrier": "bottle_carrier",
+            "plate_adapter": "plate_adapter",
         }
         if source in replace_info:
             return replace_info[source]
         else:
-            logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
+            if source is not None:
+                logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
             return source
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:

unilabos/resources/warehouse.py

@@ -19,6 +19,9 @@ def warehouse_factory(
     item_dx: float = 10.0,
     item_dy: float = 10.0,
     item_dz: float = 10.0,
+    resource_size_x: float = 127.0,
+    resource_size_y: float = 86.0,
+    resource_size_z: float = 25.0,
     removed_positions: Optional[List[int]] = None,
     empty: bool = False,
     category: str = "warehouse",
@@ -50,8 +53,9 @@ def warehouse_factory(
     _sites = create_homogeneous_resources(
         klass=ResourceHolder,
         locations=locations,
-        resource_size_x=127.0,
-        resource_size_y=86.0,
+        resource_size_x=resource_size_x,
+        resource_size_y=resource_size_y,
+        resource_size_z=resource_size_z,
         name_prefix=name,
     )
     len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
@@ -142,4 +146,4 @@ class WareHouse(ItemizedCarrier):
 
     def get_rack_at_position(self, row: int, col: int, layer: int):
         site = self.get_site_by_layer_position(row, col, layer)
-        return site.resource
+        return site.resource

unilabos/ros/device_node_wrapper.py

@@ -5,6 +5,7 @@ from unilabos.ros.msgs.message_converter import (
     get_action_type,
 )
 from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 
 # 定义泛型类型变量
 T = TypeVar("T")
@@ -18,12 +19,11 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
-    device_config: Optional[Dict[str, Any]] = None,
+    device_config: Optional[ResourceDictInstance] = None,
     status_types: Optional[Dict[str, Any]] = None,
     action_value_mappings: Optional[Dict[str, Any]] = None,
     hardware_interface: Optional[Dict[str, Any]] = None,
     print_publish: bool = False,
-    children: Optional[Dict[str, Any]] = None,
 ) -> Type[ROS2DeviceNodeWrapper]:
     """Create a ROS2 Node class for a device class with properties and actions.
 
@@ -45,7 +45,7 @@ def ros2_device_node(
     if status_types is None:
         status_types = {}
     if device_config is None:
-        device_config = {}
+        raise ValueError("device_config cannot be None")
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -82,7 +82,6 @@ def ros2_device_node(
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
                 print_publish=print_publish,
-                children=children,
                 *args,
                 **kwargs,
             ),

unilabos/ros/initialize_device.py

@@ -4,13 +4,14 @@ from typing import Optional
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager
 
 
 
-def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
+def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
     """Initializes a device based on its configuration.
 
     This function dynamically imports the appropriate device class and creates an instance of it using the provided device configuration.
@@ -24,15 +25,14 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         None
     """
     d = None
-    original_device_config = copy.deepcopy(device_config)
-    device_class_config = device_config["class"]
-    uid = device_config["uuid"]
+    device_class_config = device_config.res_content.klass
+    uid = device_config.res_content.uuid
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if len(device_class_config) == 0:
             raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
         if device_class_config not in lab_registry.device_type_registry:
             raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
-        device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
+        device_class_config = lab_registry.device_type_registry[device_class_config]["class"]
     elif isinstance(device_class_config, dict):
         raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
     if isinstance(device_class_config, dict):
@@ -41,17 +41,16 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
-            device_config=original_device_config,
+            device_config=device_config,
             action_value_mappings=device_class_config.get("action_value_mappings", {}),
             hardware_interface=device_class_config.get(
                 "hardware_interface",
                 {"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
-            ),
-            children=device_config.get("children", {})
+            )
         )
         try:
             d = DEVICE(
-                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.res_content.config
             )
         except DeviceInitError as ex:
             return d

unilabos/ros/main_slave_run.py

@@ -192,7 +192,7 @@ def slave(
     for device_config in devices_config.root_nodes:
         device_id = device_config.res_content.id
         if device_config.res_content.type == "device":
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            d = initialize_device_from_dict(device_id, device_config)
             if d is not None:
                 devices_instances[device_id] = d
                 logger.info(f"Device {device_id} initialized.")

unilabos/ros/nodes/base_device_node.py

@@ -48,7 +48,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos.ros.nodes.resource_tracker import (
     DeviceNodeResourceTracker,
     ResourceTreeSet,
-    ResourceTreeInstance,
+    ResourceTreeInstance, ResourceDictInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -133,12 +133,11 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: Dict[str, Any],
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
     print_publish: bool,
-    children: Optional[list] = None,
     driver_params: Optional[Dict[str, Any]] = None,
     driver_is_ros: bool = False,
     *args,
@@ -147,8 +146,6 @@ def init_wrapper(
     """初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
     if driver_params is None:
         driver_params = kwargs.copy()
-    if children is None:
-        children = []
     kwargs["device_id"] = device_id
     kwargs["device_uuid"] = device_uuid
     kwargs["driver_class"] = driver_class
@@ -157,7 +154,6 @@ def init_wrapper(
     kwargs["status_types"] = status_types
     kwargs["action_value_mappings"] = action_value_mappings
     kwargs["hardware_interface"] = hardware_interface
-    kwargs["children"] = children
     kwargs["print_publish"] = print_publish
     kwargs["driver_is_ros"] = driver_is_ros
     super(type(self), self).__init__(*args, **kwargs)
@@ -586,7 +582,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         except Exception as e:
             self.lab_logger().error(f"更新资源uuid失败: {e}")
             self.lab_logger().error(traceback.format_exc())
-        self.lab_logger().debug(f"资源更新结果: {response}")
+        self.lab_logger().trace(f"资源更新结果: {response}")
 
     async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet:
         """
@@ -1144,7 +1140,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             queried_resources = []
                             for resource_data in resource_inputs:
                                 plr_resource = await self.get_resource_with_dir(
-                                    resource_ids=resource_data["id"], with_children=True
+                                    resource_id=resource_data["id"], with_children=True
                                 )
                                 queried_resources.append(plr_resource)
 
@@ -1168,7 +1164,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             execution_error = traceback.format_exc()
                             break
 
-            ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
             time_overall = 100
             future = None
@@ -1176,35 +1171,36 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 # 将阻塞操作放入线程池执行
                 if asyncio.iscoroutinefunction(ACTION):
                     try:
-                        ##### self.lab_logger().info(f"异步执行动作 {ACTION}")
-                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
-
-                        def _handle_future_exception(fut):
+                        self.lab_logger().trace(f"异步执行动作 {ACTION}")
+                        def _handle_future_exception(fut: Future):
                             nonlocal execution_error, execution_success, action_return_value
                             try:
                                 action_return_value = fut.result()
+                                if isinstance(action_return_value, BaseException):
+                                    raise action_return_value
                                 execution_success = True
-                            except Exception as e:
+                            except Exception as _:
                                 execution_error = traceback.format_exc()
                                 error(
                                     f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
                                 )
 
+                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                         future.add_done_callback(_handle_future_exception)
                     except Exception as e:
                         execution_error = traceback.format_exc()
                         execution_success = False
                         self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                 else:
-                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
+                    self.lab_logger().trace(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **action_kwargs)
 
-                    def _handle_future_exception(fut):
+                    def _handle_future_exception(fut: Future):
                         nonlocal execution_error, execution_success, action_return_value
                         try:
                             action_return_value = fut.result()
                             execution_success = True
-                        except Exception as e:
+                        except Exception as _:
                             execution_error = traceback.format_exc()
                             error(
                                 f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
@@ -1309,7 +1305,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         get_result_info_str(execution_error, execution_success, action_return_value),
                     )
 
-            ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
+            self.lab_logger().trace(f"动作 {action_name} 完成并返回结果")
             return result_msg
 
         return execute_callback
@@ -1544,17 +1540,29 @@ class ROS2DeviceNode:
     这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
+    @staticmethod
+    async def safe_task_wrapper(trace_callback, func, **kwargs):
+        try:
+            if callable(trace_callback):
+                trace_callback(await func(**kwargs))
+            return await func(**kwargs)
+        except Exception as e:
+            if callable(trace_callback):
+                trace_callback(e)
+            return e
 
     @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-        def _handle_future_exception(fut):
+    def run_async_func(cls, func, trace_error=True, inner_trace_callback=None, **kwargs) -> Task:
+        def _handle_future_exception(fut: Future):
             try:
-                fut.result()
+                ret = fut.result()
+                if isinstance(ret, BaseException):
+                    raise ret
             except Exception as e:
-                error(f"异步任务 {func.__name__} 报错了")
+                error(f"异步任务 {func.__name__} 获取结果失败")
                 error(traceback.format_exc())
 
-        future = rclpy.get_global_executor().create_task(func(**kwargs))
+        future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
         if trace_error:
             future.add_done_callback(_handle_future_exception)
         return future
@@ -1582,12 +1590,11 @@ class ROS2DeviceNode:
         device_id: str,
         device_uuid: str,
         driver_class: Type[T],
-        device_config: Dict[str, Any],
+        device_config: ResourceDictInstance,
         driver_params: Dict[str, Any],
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
-        children: Dict[str, Any],
         print_publish: bool = True,
         driver_is_ros: bool = False,
     ):
@@ -1598,7 +1605,7 @@ class ROS2DeviceNode:
             device_id: 设备标识符
             device_uuid: 设备uuid
             driver_class: 设备类
-            device_config: 原始初始化的json
+            device_config: 原始初始化的ResourceDictInstance
             driver_params: driver初始化的参数
             status_types: 状态类型映射
             action_value_mappings: 动作值映射
@@ -1612,6 +1619,7 @@ class ROS2DeviceNode:
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
         self._driver_class = driver_class
         self.device_config = device_config
+        children: List[ResourceDictInstance] = device_config.children
         self.driver_is_ros = driver_is_ros
         self.driver_is_workstation = False
         self.resource_tracker = DeviceNodeResourceTracker()

unilabos/ros/nodes/presets/host_node.py

@@ -5,7 +5,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
+from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
 
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
@@ -38,6 +38,7 @@ from unilabos.ros.msgs.message_converter import (
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
 from unilabos.ros.nodes.resource_tracker import (
+    ResourceDict,
     ResourceDictInstance,
     ResourceTreeSet,
     ResourceTreeInstance,
@@ -48,7 +49,7 @@ from unilabos.utils.type_check import serialize_result_info
 from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 
 if TYPE_CHECKING:
-    from unilabos.app.ws_client import QueueItem, WSResourceChatData
+    from unilabos.app.ws_client import QueueItem
 
 
 @dataclass
@@ -56,6 +57,11 @@ class DeviceActionStatus:
     job_ids: Dict[str, float] = field(default_factory=dict)
 
 
+class TestResourceReturn(TypedDict):
+    resources: List[List[ResourceDict]]
+    devices: List[DeviceSlot]
+
+
 class HostNode(BaseROS2DeviceNode):
     """
     主机节点类，负责管理设备、资源和控制器
@@ -283,6 +289,12 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+        # 发送host_node ready信号到所有桥接器
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_host_ready"):
+                bridge.publish_host_ready()
+                self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
+
     def _send_re_register(self, sclient):
         sclient.wait_for_service()
         request = SerialCommand.Request()
@@ -526,7 +538,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         try:
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            d = initialize_device_from_dict(device_id, device_config)
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -706,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
             feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
+        future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -717,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
         self._goals[item.job_id] = goal_handle
-        goal_handle.get_result_async().add_done_callback(
-            lambda future: self.get_result_callback(item, action_id, future)
+        goal_future = goal_handle.get_result_async()
+        goal_future.add_done_callback(
+            lambda f: self.get_result_callback(item, action_id, f)
         )
+        goal_future.result()
 
     def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
         """反馈回调"""
@@ -752,6 +766,12 @@ class HostNode(BaseROS2DeviceNode):
                 if return_info_str is not None:
                     try:
                         return_info = json.loads(return_info_str)
+                        # 适配后端的一些额外处理
+                        return_value = return_info.get("return_value")
+                        if isinstance(return_value, dict):
+                            unilabos_samples = return_info.get("unilabos_samples")
+                            if isinstance(unilabos_samples, list):
+                                return_info["unilabos_samples"] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"
@@ -779,6 +799,17 @@ class HostNode(BaseROS2DeviceNode):
                 del self._goals[job_id]
                 self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
 
+            # 存储结果供 HTTP API 查询
+            try:
+                from unilabos.app.web.controller import store_job_result
+
+                if goal_status == GoalStatus.STATUS_CANCELED:
+                    store_job_result(job_id, status, return_info, {})
+                else:
+                    store_job_result(job_id, status, return_info, result_data)
+            except ImportError:
+                pass  # controller 模块可能未加载
+
             # 发布状态到桥接器
             if job_id:
                 for bridge in self.bridges:
@@ -1340,7 +1371,7 @@ class HostNode(BaseROS2DeviceNode):
 
     def test_resource(
         self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
-    ):
+    ) -> TestResourceReturn:
         return {
             "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
             "devices": [device, *devices],

unilabos/ros/nodes/presets/workstation.py

@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
 from unilabos.utils.type_check import get_result_info_str
 
 if TYPE_CHECKING:
@@ -47,7 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
     def __init__(
         self,
         protocol_type: List[str],
-        children: Dict[str, Any],
+        children: List[ResourceDictInstance],
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
@@ -81,10 +81,11 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         # 初始化子设备
         self.communication_node_id_to_instance = {}
 
-        for device_id, device_config in self.children.items():
-            if device_config.get("type", "device") != "device":
+        for device_config in self.children:
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 self.lab_logger().debug(
-                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                    f"[Protocol Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
                 )
                 continue
             try:
@@ -101,8 +102,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 self.communication_node_id_to_instance[device_id] = d
                 continue
 
-        for device_id, device_config in self.children.items():
-            if device_config.get("type", "device") != "device":
+        for device_config in self.children:
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 continue
             # 设置硬件接口代理
             if device_id not in self.sub_devices:

unilabos/ros/nodes/resource_tracker.py

@@ -1,9 +1,11 @@
+import inspect
 import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
+from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
 if TYPE_CHECKING:
@@ -62,7 +64,6 @@ class ResourceDict(BaseModel):
     parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
     type: Union[Literal["device"], str] = Field(description="Resource type")
     klass: str = Field(alias="class", description="Resource class name")
-    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
     data: Dict[str, Any] = Field(description="Resource data")
@@ -146,15 +147,16 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "pose" not in content:
-            content["pose"] = content.get("position", {})
+            content["pose"] = content.pop("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
 
-    def get_nested_dict(self) -> Dict[str, Any]:
+    def get_plr_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
         res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
-        res_dict["position"] = self.res_content.position.position.model_dump()
+        res_dict["position"] = self.res_content.pose.position.model_dump()
+        del res_dict["pose"]
         return res_dict
 
 
@@ -429,9 +431,9 @@ class ResourceTreeSet(object):
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
+        register()
         from pylabrobot.resources import Resource as PLRResource
         from pylabrobot.utils.object_parsing import find_subclass
-        import inspect
 
         # 类型映射
         TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
@@ -459,9 +461,9 @@ class ResourceTreeSet(object):
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
                 "location": {
-                    "x": res.position.position.x,
-                    "y": res.position.position.y,
-                    "z": res.position.position.z,
+                    "x": res.pose.position.x,
+                    "y": res.pose.position.y,
+                    "z": res.pose.position.z,
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},

unilabos/ros/utils/driver_creator.py

@@ -9,10 +9,11 @@ import asyncio
 import inspect
 import traceback
 from abc import abstractmethod
-from typing import Type, Any, Dict, Optional, TypeVar, Generic
+from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
 
 from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+    ResourceTreeInstance
 from unilabos.utils import logger, import_manager
 from unilabos.utils.cls_creator import create_instance_from_config
 
@@ -33,7 +34,7 @@ class DeviceClassCreator(Generic[T]):
     这个类提供了从任意类创建实例的通用方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -50,9 +51,9 @@ class DeviceClassCreator(Generic[T]):
         附加资源到设备类实例
         """
         if self.device_instance is not None:
-            for c in self.children.values():
-                if c["type"] != "device":
-                    self.resource_tracker.add_resource(c)
+            for c in self.children:
+                if c.res_content.type != "device":
+                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -94,7 +95,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     这个类提供了针对PyLabRobot设备类的实例创建方法，特别处理deserialize方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化PyLabRobot设备类创建器
 
@@ -111,12 +112,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     def attach_resource(self):
         pass  # 只能增加实例化物料，原来默认物料仅为字典查询
 
-    def _process_resource_mapping(self, resource, source_type):
-        if source_type == dict:
-            from pylabrobot.resources.resource import Resource
-
-            return nested_dict_to_list(resource), Resource
-        return resource, source_type
+    # def _process_resource_mapping(self, resource, source_type):
+    #     if source_type == dict:
+    #         from pylabrobot.resources.resource import Resource
+    #
+    #         return nested_dict_to_list(resource), Resource
+    #     return resource, source_type
 
     def _process_resource_references(
         self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
@@ -142,15 +143,21 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if isinstance(data, dict):
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
-                if child_name in self.children:
-                    resource = self.children[child_name]
+                resource: Optional[ResourceDictInstance] = None
+                for child in self.children:
+                    if child.res_content.name == child_name:
+                        resource = child
+                if resource is not None:
                     if "_resource_type" in data:
                         type_path = data["_resource_type"]
                         try:
-                            target_type = import_manager.get_class(type_path)
-                            contain_model = not issubclass(target_type, Deck)
-                            resource, target_type = self._process_resource_mapping(resource, target_type)
-                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
+                            # target_type = import_manager.get_class(type_path)
+                            # contain_model = not issubclass(target_type, Deck)
+                            # resource, target_type = self._process_resource_mapping(resource, target_type)
+                            res_tree = ResourceTreeInstance(resource)
+                            res_tree_set = ResourceTreeSet([res_tree])
+                            resource_instance: Resource = res_tree_set.to_plr_resources()[0]
+                            # resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -202,12 +209,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         stack = None
 
         # 递归遍历 children 构建 name_to_uuid 映射
-        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
+        def collect_name_to_uuid(children_list: List[ResourceDictInstance], result: Dict[str, str]):
             """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
-            for child in children_dict.values():
-                if isinstance(child, dict):
-                    result[child["name"]] = child["uuid"]
-                    collect_name_to_uuid(child["children"], result)
+            for child in children_list:
+                if isinstance(child, ResourceDictInstance):
+                    result[child.res_content.name] = child.res_content.uuid
+                    collect_name_to_uuid(child.children, result)
 
         name_to_uuid = {}
         collect_name_to_uuid(self.children, name_to_uuid)
@@ -313,7 +320,7 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
     这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化WorkstationNode设备类创建器
 
@@ -336,9 +343,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for material_id, child in self.children.items():
-                if child["type"] != "device":
-                    self.resource_tracker.add_resource(self.children[material_id])
+            for child in self.children:
+                if child.res_content.type != "device":
+                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/utils/environment_check.py

@@ -5,6 +5,7 @@
 
 import argparse
 import importlib
+import locale
 import subprocess
 import sys
 
@@ -22,13 +23,33 @@ class EnvironmentChecker:
             "websockets": "websockets",
             "msgcenterpy": "msgcenterpy",
             "opentrons_shared_data": "opentrons_shared_data",
+            "typing_extensions": "typing_extensions",
         }
 
         # 特殊安装包（需要特殊处理的包）
         self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
 
+        # 包版本要求（包名: 最低版本）
+        self.version_requirements = {
+            "msgcenterpy": "0.1.5",  # msgcenterpy 最低版本要求
+        }
+
         self.missing_packages = []
         self.failed_installs = []
+        self.packages_need_upgrade = []
+
+        # 检测系统语言
+        self.is_chinese = self._is_chinese_locale()
+
+    def _is_chinese_locale(self) -> bool:
+        """检测系统是否为中文环境"""
+        try:
+            lang = locale.getdefaultlocale()[0]
+            if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
+                return True
+        except Exception:
+            pass
+        return False
 
     def check_package_installed(self, package_name: str) -> bool:
         """检查包是否已安装"""
@@ -38,31 +59,74 @@ class EnvironmentChecker:
         except ImportError:
             return False
 
-    def install_package(self, package_name: str, pip_name: str) -> bool:
+    def get_package_version(self, package_name: str) -> str | None:
+        """获取已安装包的版本"""
+        try:
+            module = importlib.import_module(package_name)
+            return getattr(module, "__version__", None)
+        except (ImportError, AttributeError):
+            return None
+
+    def compare_version(self, current: str, required: str) -> bool:
+        """
+        比较版本号
+        Returns:
+            True: current >= required
+            False: current < required
+        """
+        try:
+            current_parts = [int(x) for x in current.split(".")]
+            required_parts = [int(x) for x in required.split(".")]
+
+            # 补齐长度
+            max_len = max(len(current_parts), len(required_parts))
+            current_parts.extend([0] * (max_len - len(current_parts)))
+            required_parts.extend([0] * (max_len - len(required_parts)))
+
+            return current_parts >= required_parts
+        except Exception:
+            return True  # 如果无法比较，假设版本满足要求
+
+    def install_package(self, package_name: str, pip_name: str, upgrade: bool = False) -> bool:
         """安装包"""
         try:
-            print_status(f"正在安装 {package_name} ({pip_name})...", "info")
+            action = "升级" if upgrade else "安装"
+            print_status(f"正在{action} {package_name} ({pip_name})...", "info")
 
             # 构建安装命令
-            cmd = [sys.executable, "-m", "pip", "install", pip_name]
+            cmd = [sys.executable, "-m", "pip", "install"]
+
+            # 如果是升级操作，添加 --upgrade 参数
+            if upgrade:
+                cmd.append("--upgrade")
+
+            cmd.append(pip_name)
+
+            # 如果是中文环境，使用清华镜像源
+            if self.is_chinese:
+                cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
 
             # 执行安装
             result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)  # 5分钟超时
 
             if result.returncode == 0:
-                print_status(f"✓ {package_name} 安装成功", "success")
+                print_status(f"✓ {package_name} {action}成功", "success")
                 return True
             else:
-                print_status(f"× {package_name} 安装失败: {result.stderr}", "error")
+                print_status(f"× {package_name} {action}失败: {result.stderr}", "error")
                 return False
 
         except subprocess.TimeoutExpired:
-            print_status(f"× {package_name} 安装超时", "error")
+            print_status(f"× {package_name} {action}超时", "error")
             return False
         except Exception as e:
-            print_status(f"× {package_name} 安装异常: {str(e)}", "error")
+            print_status(f"× {package_name} {action}异常: {str(e)}", "error")
             return False
 
+    def upgrade_package(self, package_name: str, pip_name: str) -> bool:
+        """升级包"""
+        return self.install_package(package_name, pip_name, upgrade=True)
+
     def check_all_packages(self) -> bool:
         """检查所有必需的包"""
         print_status("开始检查环境依赖...", "info")
@@ -71,60 +135,116 @@ class EnvironmentChecker:
         for import_name, pip_name in self.required_packages.items():
             if not self.check_package_installed(import_name):
                 self.missing_packages.append((import_name, pip_name))
+            else:
+                # 检查版本要求
+                if import_name in self.version_requirements:
+                    current_version = self.get_package_version(import_name)
+                    required_version = self.version_requirements[import_name]
+
+                    if current_version:
+                        if not self.compare_version(current_version, required_version):
+                            print_status(
+                                f"{import_name} 版本过低 (当前: {current_version}, 需要: >={required_version})",
+                                "warning",
+                            )
+                            self.packages_need_upgrade.append((import_name, pip_name))
 
         # 检查特殊包
         for package_name, install_url in self.special_packages.items():
             if not self.check_package_installed(package_name):
                 self.missing_packages.append((package_name, install_url))
 
-        if not self.missing_packages:
+        all_ok = not self.missing_packages and not self.packages_need_upgrade
+
+        if all_ok:
             print_status("✓ 所有依赖包检查完成，环境正常", "success")
             return True
 
-        print_status(f"发现 {len(self.missing_packages)} 个缺失的包", "warning")
+        if self.missing_packages:
+            print_status(f"发现 {len(self.missing_packages)} 个缺失的包", "warning")
+        if self.packages_need_upgrade:
+            print_status(f"发现 {len(self.packages_need_upgrade)} 个需要升级的包", "warning")
+
         return False
 
     def install_missing_packages(self, auto_install: bool = True) -> bool:
         """安装缺失的包"""
-        if not self.missing_packages:
+        if not self.missing_packages and not self.packages_need_upgrade:
             return True
 
         if not auto_install:
-            print_status("缺失以下包:", "warning")
-            for import_name, pip_name in self.missing_packages:
-                print_status(f"  - {import_name} (pip install {pip_name})", "warning")
+            if self.missing_packages:
+                print_status("缺失以下包:", "warning")
+                for import_name, pip_name in self.missing_packages:
+                    print_status(f"  - {import_name} (pip install {pip_name})", "warning")
+            if self.packages_need_upgrade:
+                print_status("需要升级以下包:", "warning")
+                for import_name, pip_name in self.packages_need_upgrade:
+                    print_status(f"  - {import_name} (pip install --upgrade {pip_name})", "warning")
             return False
 
-        print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info")
+        # 安装缺失的包
+        if self.missing_packages:
+            print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info")
 
-        success_count = 0
-        for import_name, pip_name in self.missing_packages:
-            if self.install_package(import_name, pip_name):
-                success_count += 1
-            else:
-                self.failed_installs.append((import_name, pip_name))
+            success_count = 0
+            for import_name, pip_name in self.missing_packages:
+                if self.install_package(import_name, pip_name):
+                    success_count += 1
+                else:
+                    self.failed_installs.append((import_name, pip_name))
+
+            print_status(f"✓ 成功安装 {success_count}/{len(self.missing_packages)} 个包", "success")
+
+        # 升级需要更新的包
+        if self.packages_need_upgrade:
+            print_status(f"开始自动升级 {len(self.packages_need_upgrade)} 个包...", "info")
+
+            upgrade_success_count = 0
+            for import_name, pip_name in self.packages_need_upgrade:
+                if self.upgrade_package(import_name, pip_name):
+                    upgrade_success_count += 1
+                else:
+                    self.failed_installs.append((import_name, pip_name))
+
+            print_status(f"✓ 成功升级 {upgrade_success_count}/{len(self.packages_need_upgrade)} 个包", "success")
 
         if self.failed_installs:
-            print_status(f"有 {len(self.failed_installs)} 个包安装失败:", "error")
+            print_status(f"有 {len(self.failed_installs)} 个包操作失败:", "error")
             for import_name, pip_name in self.failed_installs:
-                print_status(f"  - {import_name} (pip install {pip_name})", "error")
+                print_status(f"  - {import_name} ({pip_name})", "error")
             return False
 
-        print_status(f"✓ 成功安装 {success_count} 个包", "success")
         return True
 
     def verify_installation(self) -> bool:
         """验证安装结果"""
-        if not self.missing_packages:
+        if not self.missing_packages and not self.packages_need_upgrade:
             return True
 
         print_status("验证安装结果...", "info")
 
         failed_verification = []
+
+        # 验证新安装的包
         for import_name, pip_name in self.missing_packages:
             if not self.check_package_installed(import_name):
                 failed_verification.append((import_name, pip_name))
 
+        # 验证升级的包
+        for import_name, pip_name in self.packages_need_upgrade:
+            if not self.check_package_installed(import_name):
+                failed_verification.append((import_name, pip_name))
+            elif import_name in self.version_requirements:
+                current_version = self.get_package_version(import_name)
+                required_version = self.version_requirements[import_name]
+                if current_version and not self.compare_version(current_version, required_version):
+                    failed_verification.append((import_name, pip_name))
+                    print_status(
+                        f"  {import_name} 版本仍然过低 (当前: {current_version}, 需要: >={required_version})",
+                        "error",
+                    )
+
         if failed_verification:
             print_status(f"有 {len(failed_verification)} 个包验证失败:", "error")
             for import_name, pip_name in failed_verification:

unilabos/utils/import_manager.py

@@ -239,8 +239,12 @@ class ImportManager:
         cls = get_class(class_path)
         class_name = cls.__name__
 
-        result = {"class_name": class_name, "init_params": self._analyze_method_signature(cls.__init__)["args"],
-                  "status_methods": {}, "action_methods": {}}
+        result = {
+            "class_name": class_name,
+            "init_params": self._analyze_method_signature(cls.__init__)["args"],
+            "status_methods": {},
+            "action_methods": {},
+        }
         # 分析类的所有成员
         for name, method in cls.__dict__.items():
             if name.startswith("_"):
@@ -374,6 +378,7 @@ class ImportManager:
             "name": method.__name__,
             "args": args,
             "return_type": self._get_type_string(signature.return_annotation),
+            "return_annotation": signature.return_annotation,  # 保留原始类型注解，用于TypedDict等特殊处理
             "is_async": inspect.iscoroutinefunction(method),
         }
 

unilabos/utils/log.py

@@ -124,11 +124,14 @@ class ColoredFormatter(logging.Formatter):
     def _format_basic(self, record):
         """基本格式化，不包含颜色"""
         datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-        filename = os.path.basename(record.filename).rsplit(".", 1)[0]  # 提取文件名（不含路径和扩展名）
+        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
+        if "/" in filename:
+            filename = filename.split("/")[-1]
         module_path = f"{record.name}.{filename}"
         func_line = f"{record.funcName}:{record.lineno}"
+        right_info = f" [{func_line}] [{module_path}]"
 
-        formatted_message = f"{datetime_str} [{record.levelname}] [{module_path}] [{func_line}]: {record.getMessage()}"
+        formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}"
 
         if record.exc_info:
             exc_text = self.formatException(record.exc_info)
@@ -150,7 +153,7 @@ class ColoredFormatter(logging.Formatter):
 
 
 # 配置日志处理器
-def configure_logger(loglevel=None):
+def configure_logger(loglevel=None, working_dir=None):
     """配置日志记录器
 
     Args:
@@ -159,8 +162,9 @@ def configure_logger(loglevel=None):
     """
     # 获取根日志记录器
     root_logger = logging.getLogger()
-
+    root_logger.setLevel(TRACE_LEVEL)
     # 设置日志级别
+    numeric_level = logging.DEBUG
     if loglevel is not None:
         if isinstance(loglevel, str):
             # 将字符串转换为logging级别
@@ -170,12 +174,8 @@ def configure_logger(loglevel=None):
                 numeric_level = getattr(logging, loglevel.upper(), None)
                 if not isinstance(numeric_level, int):
                     print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-                    numeric_level = logging.DEBUG
         else:
             numeric_level = loglevel
-        root_logger.setLevel(numeric_level)
-    else:
-        root_logger.setLevel(logging.DEBUG)  # 默认级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -183,7 +183,7 @@ def configure_logger(loglevel=None):
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(root_logger.level)  # 使用与根记录器相同的级别
+    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()
@@ -191,9 +191,30 @@ def configure_logger(loglevel=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
+
+    # 如果指定了工作目录，添加文件处理器
+    if working_dir is not None:
+        logs_dir = os.path.join(working_dir, "logs")
+        os.makedirs(logs_dir, exist_ok=True)
+
+        # 生成日志文件名：日期 时间.log
+        log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log"
+        log_filepath = os.path.join(logs_dir, log_filename)
+
+        # 创建文件处理器
+        file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
+        file_handler.setLevel(TRACE_LEVEL)
+
+        # 使用不带颜色的格式化器
+        file_formatter = ColoredFormatter(use_colors=False)
+        file_handler.setFormatter(file_formatter)
+
+        root_logger.addHandler(file_handler)
+
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
 
+
 # 配置日志系统
 configure_logger()
 

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.10</version>
+  <version>0.10.12</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>