update action

update action

tests/devices/liquid_handling/README.md

@@ -1,15 +0,0 @@
-# Liquid handling 集成测试
-
-`test_transfer_liquid.py` 现在会调用 PRCXI 的 RViz 仿真 backend，运行前请确保：
-
-1. 已安装包含 `pylabrobot`、`rclpy` 的运行环境；
-2. 启动 ROS 依赖（`rviz` 可选，但是 `rviz_backend` 会创建 ROS 节点）；
-3. 在 shell 中设置 `UNILAB_SIM_TEST=1`，否则 pytest 会自动跳过这些慢速用例：
-
-```bash
-export UNILAB_SIM_TEST=1
-pytest tests/devices/liquid_handling/test_transfer_liquid.py -m slow
-```
-
-如果只需验证逻辑层（不依赖仿真），可以直接运行 `tests/devices/liquid_handling/unit_test.py`，该文件使用 Fake backend，适合作为 CI 的快速测试。***
-

tests/devices/liquid_handling/unit_test.py

@@ -1,547 +0,0 @@
-import asyncio
-from dataclasses import dataclass
-from typing import Any, Iterable, List, Optional, Sequence, Tuple
-
-import pytest
-
-from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
-
-
-@dataclass(frozen=True)
-class DummyContainer:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyContainer({self.name})"
-
-
-@dataclass(frozen=True)
-class DummyTipSpot:
-    name: str
-
-    def __repr__(self) -> str:  # pragma: no cover
-        return f"DummyTipSpot({self.name})"
-
-
-def make_tip_iter(n: int = 256) -> Iterable[List[DummyTipSpot]]:
-    """Yield lists so code can safely call `tip.extend(next(self.current_tip))`."""
-    for i in range(n):
-        yield [DummyTipSpot(f"tip_{i}")]
-
-
-class FakeLiquidHandler(LiquidHandlerAbstract):
-    """不初始化真实 backend/deck；仅用来记录 transfer_liquid 内部调用序列。"""
-
-    def __init__(self, channel_num: int = 8):
-        # 不调用 super().__init__，避免真实硬件/后端依赖
-        self.channel_num = channel_num
-        self.support_touch_tip = True
-        self.current_tip = iter(make_tip_iter())
-        self.calls: List[Tuple[str, Any]] = []
-
-    async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
-        self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
-
-    async def aspirate(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "aspirate",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def dispense(
-        self,
-        resources: Sequence[Any],
-        vols: List[float],
-        use_channels: Optional[List[int]] = None,
-        flow_rates: Optional[List[Optional[float]]] = None,
-        offsets: Any = None,
-        liquid_height: Any = None,
-        blow_out_air_volume: Any = None,
-        spread: str = "wide",
-        **backend_kwargs,
-    ):
-        self.calls.append(
-            (
-                "dispense",
-                {
-                    "resources": list(resources),
-                    "vols": list(vols),
-                    "use_channels": list(use_channels) if use_channels is not None else None,
-                    "flow_rates": list(flow_rates) if flow_rates is not None else None,
-                    "offsets": list(offsets) if offsets is not None else None,
-                    "liquid_height": list(liquid_height) if liquid_height is not None else None,
-                    "blow_out_air_volume": list(blow_out_air_volume) if blow_out_air_volume is not None else None,
-                },
-            )
-        )
-
-    async def discard_tips(self, use_channels=None, *args, **kwargs):
-        # 有的分支是 discard_tips(use_channels=[0])，有的分支是 discard_tips([0..7])（位置参数）
-        self.calls.append(("discard_tips", {"use_channels": list(use_channels) if use_channels is not None else None}))
-
-    async def custom_delay(self, seconds=0, msg=None):
-        self.calls.append(("custom_delay", {"seconds": seconds, "msg": msg}))
-
-    async def touch_tip(self, targets):
-        # 原实现会访问 targets.get_size_x() 等；测试里只记录调用
-        self.calls.append(("touch_tip", {"targets": targets}))
-
-def run(coro):
-    return asyncio.run(coro)
-
-
-def test_one_to_one_single_channel_basic_calls():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[1, 2, 3],
-      dis_vols=[4, 5, 6],
-      mix_times=None,  # 应该仍能执行（不 mix）
-    )
-  )
-
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 3
-  assert [c[0] for c in lh.calls].count("aspirate") == 3
-  assert [c[0] for c in lh.calls].count("dispense") == 3
-  assert [c[0] for c in lh.calls].count("discard_tips") == 3
-
-  # 每次 aspirate/dispense 都是单孔列表
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [sources[0]]
-  assert aspirates[0]["vols"] == [1.0]
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[2]["resources"] == [targets[2]]
-  assert dispenses[2]["vols"] == [6.0]
-
-
-def test_one_to_one_single_channel_before_stage_mixes_prior_to_aspirate():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(16))
-
-  source = DummyContainer("S0")
-  target = DummyContainer("T0")
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5],
-      dis_vols=[5],
-      mix_stage="before",
-      mix_times=1,
-      mix_vol=3,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 2
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [3]
-  transfer_idx, transfer_payload = aspirate_calls[1]
-  assert transfer_payload["resources"] == [source]
-  assert mix_idx < transfer_idx
-
-
-def test_one_to_one_eight_channel_groups_by_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = list(range(1, 17))
-  dis_vols = list(range(101, 117))
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,  # 触发逻辑但不 mix
-    )
-  )
-
-  # 16 个任务 -> 2 组，每组 8 通道一起做
-  assert [c[0] for c in lh.calls].count("pick_up_tips") == 2
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == 2
-  assert len(dispenses) == 2
-
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols[0:8]]
-  assert dispenses[1]["resources"] == targets[8:16]
-  assert dispenses[1]["vols"] == [float(v) for v in dis_vols[8:16]]
-
-
-def test_one_to_one_eight_channel_requires_multiple_of_8_targets():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer(f"S{i}") for i in range(9)]
-  targets = [DummyContainer(f"T{i}") for i in range(9)]
-
-  with pytest.raises(ValueError, match="multiple of 8"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=list(range(8)),
-        asp_vols=[1] * 9,
-        dis_vols=[1] * 9,
-        mix_times=0,
-      )
-    )
-
-
-def test_one_to_one_eight_channel_parameter_lists_are_chunked_per_8():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(512))
-
-  sources = [DummyContainer(f"S{i}") for i in range(16)]
-  targets = [DummyContainer(f"T{i}") for i in range(16)]
-  asp_vols = [i + 1 for i in range(16)]
-  dis_vols = [200 + i for i in range(16)]
-  asp_flow_rates = [0.1 * (i + 1) for i in range(16)]
-  dis_flow_rates = [0.2 * (i + 1) for i in range(16)]
-  offsets = [f"offset_{i}" for i in range(16)]
-  liquid_heights = [i * 0.5 for i in range(16)]
-  blow_out_air_volume = [i + 0.05 for i in range(16)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      asp_flow_rates=asp_flow_rates,
-      dis_flow_rates=dis_flow_rates,
-      offsets=offsets,
-      liquid_height=liquid_heights,
-      blow_out_air_volume=blow_out_air_volume,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-
-  for batch_idx in range(2):
-    start = batch_idx * 8
-    end = start + 8
-    asp_call = aspirates[batch_idx]
-    dis_call = dispenses[batch_idx]
-    assert asp_call["resources"] == sources[start:end]
-    assert asp_call["flow_rates"] == asp_flow_rates[start:end]
-    assert asp_call["offsets"] == offsets[start:end]
-    assert asp_call["liquid_height"] == liquid_heights[start:end]
-    assert asp_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-    assert dis_call["flow_rates"] == dis_flow_rates[start:end]
-    assert dis_call["offsets"] == offsets[start:end]
-    assert dis_call["liquid_height"] == liquid_heights[start:end]
-    assert dis_call["blow_out_air_volume"] == blow_out_air_volume[start:end]
-
-
-def test_one_to_one_eight_channel_handles_32_tasks_four_batches():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(1024))
-
-  sources = [DummyContainer(f"S{i}") for i in range(32)]
-  targets = [DummyContainer(f"T{i}") for i in range(32)]
-  asp_vols = [i + 1 for i in range(32)]
-  dis_vols = [300 + i for i in range(32)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  pick_calls = [name for name, _ in lh.calls if name == "pick_up_tips"]
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(pick_calls) == 4
-  assert len(aspirates) == len(dispenses) == 4
-  assert aspirates[0]["resources"] == sources[0:8]
-  assert aspirates[-1]["resources"] == sources[24:32]
-  assert dispenses[0]["resources"] == targets[0:8]
-  assert dispenses[-1]["resources"] == targets[24:32]
-
-
-def test_one_to_many_single_channel_aspirates_total_when_asp_vol_too_small():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(3)]
-  dis_vols = [10, 20, 30]  # sum=60
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=10,  # 小于 sum(dis_vols) -> 应吸 60
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 1
-  assert aspirates[0]["resources"] == [source]
-  assert aspirates[0]["vols"] == [60.0]
-  assert aspirates[0]["use_channels"] == [0]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [10.0, 20.0, 30.0]
-
-
-def test_one_to_many_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  source = DummyContainer("SRC")
-  targets = [DummyContainer(f"T{i}") for i in range(8)]
-  dis_vols = [i + 1 for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=[source],
-      targets=targets,
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=999,  # one-to-many 8ch 会按 dis_vols 吸（每通道各自）
-      dis_vols=dis_vols,
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert aspirates[0]["resources"] == [source] * 8
-  assert aspirates[0]["vols"] == [float(v) for v in dis_vols]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert dispenses[0]["resources"] == targets
-  assert dispenses[0]["vols"] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_single_channel_standard_dispense_equals_asp_by_default():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=1,  # many-to-one 允许标量；非比例模式下实际每次分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in asp_vols]
-  assert all(d["resources"] == [target] for d in dispenses)
-
-
-def test_many_to_one_single_channel_before_stage_mixes_target_once():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  target = DummyContainer("T")
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=[5, 6],
-      dis_vols=1,
-      mix_stage="before",
-      mix_times=2,
-      mix_vol=4,
-    )
-  )
-
-  aspirate_calls = [(idx, payload) for idx, (name, payload) in enumerate(lh.calls) if name == "aspirate"]
-  assert len(aspirate_calls) >= 1
-  mix_idx, mix_payload = aspirate_calls[0]
-  assert mix_payload["resources"] == [target]
-  assert mix_payload["vols"] == [4]
-  # 第一個 mix 之後會真正開始吸 source
-  assert any(call["resources"] == [sources[0]] for _, call in aspirate_calls[1:])
-
-
-def test_many_to_one_single_channel_proportional_mixing_uses_dis_vols_per_source():
-  lh = FakeLiquidHandler(channel_num=1)
-  lh.current_tip = iter(make_tip_iter(128))
-
-  sources = [DummyContainer(f"S{i}") for i in range(3)]
-  target = DummyContainer("T")
-  asp_vols = [5, 6, 7]
-  dis_vols = [1, 2, 3]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=[0],
-      asp_vols=asp_vols,
-      dis_vols=dis_vols,  # 比例模式
-      mix_times=0,
-    )
-  )
-
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert [d["vols"][0] for d in dispenses] == [float(v) for v in dis_vols]
-
-
-def test_many_to_one_eight_channel_basic():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(256))
-
-  sources = [DummyContainer(f"S{i}") for i in range(8)]
-  target = DummyContainer("T")
-  asp_vols = [10 + i for i in range(8)]
-
-  run(
-    lh.transfer_liquid(
-      sources=sources,
-      targets=[target],
-      tip_racks=[],
-      use_channels=list(range(8)),
-      asp_vols=asp_vols,
-      dis_vols=999,  # 非比例模式下每通道分液=对应 asp_vol
-      mix_times=0,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert aspirates[0]["resources"] == sources
-  assert aspirates[0]["vols"] == [float(v) for v in asp_vols]
-  assert dispenses[0]["resources"] == [target] * 8
-  assert dispenses[0]["vols"] == [float(v) for v in asp_vols]
-
-
-def test_transfer_liquid_mode_detection_unsupported_shape_raises():
-  lh = FakeLiquidHandler(channel_num=8)
-  lh.current_tip = iter(make_tip_iter(64))
-
-  sources = [DummyContainer("S0"), DummyContainer("S1")]
-  targets = [DummyContainer("T0"), DummyContainer("T1"), DummyContainer("T2")]
-
-  with pytest.raises(ValueError, match="Unsupported transfer mode"):
-    run(
-      lh.transfer_liquid(
-        sources=sources,
-        targets=targets,
-        tip_racks=[],
-        use_channels=[0],
-        asp_vols=[1, 1],
-        dis_vols=[1, 1, 1],
-        mix_times=0,
-      )
-    )
-
-
-def test_mix_single_target_produces_matching_cycles():
-  lh = FakeLiquidHandler(channel_num=1)
-  target = DummyContainer("T_mix")
-
-  run(lh.mix(targets=[target], mix_time=2, mix_vol=5))
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  dispenses = [payload for name, payload in lh.calls if name == "dispense"]
-  assert len(aspirates) == len(dispenses) == 2
-  assert all(call["resources"] == [target] for call in aspirates)
-  assert all(call["vols"] == [5] for call in aspirates)
-  assert all(call["resources"] == [target] for call in dispenses)
-  assert all(call["vols"] == [5] for call in dispenses)
-
-
-def test_mix_multiple_targets_supports_per_target_offsets():
-  lh = FakeLiquidHandler(channel_num=1)
-  targets = [DummyContainer("T0"), DummyContainer("T1")]
-  offsets = ["left", "right"]
-  heights = [0.1, 0.2]
-  rates = [0.5, 1.0]
-
-  run(
-    lh.mix(
-      targets=targets,
-      mix_time=1,
-      mix_vol=3,
-      offsets=offsets,
-      height_to_bottom=heights,
-      mix_rate=rates,
-    )
-  )
-
-  aspirates = [payload for name, payload in lh.calls if name == "aspirate"]
-  assert len(aspirates) == 2
-  assert aspirates[0]["resources"] == [targets[0]]
-  assert aspirates[0]["offsets"] == [offsets[0]]
-  assert aspirates[0]["liquid_height"] == [heights[0]]
-  assert aspirates[0]["flow_rates"] == [rates[0]]
-  assert aspirates[1]["resources"] == [targets[1]]
-  assert aspirates[1]["offsets"] == [offsets[1]]
-  assert aspirates[1]["liquid_height"] == [heights[1]]
-  assert aspirates[1]["flow_rates"] == [rates[1]]
-
-

unilabos/app/ws_client.py

@@ -848,7 +848,7 @@ class MessageProcessor:
                     device_action_groups[key_add].append(item["uuid"])
 
                     logger.info(
-                        f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}"
+                        f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}"
                     )
                 else:
                     # 正常update
@@ -863,11 +863,11 @@ class MessageProcessor:
                     device_action_groups[key] = []
                 device_action_groups[key].append(item["uuid"])
 
-        logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
+        logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}")
 
         # 为每个(device_id, action)创建独立的更新线程
         for (device_id, actual_action), items in device_action_groups.items():
-            logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}")
+            logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}")
 
             def _notify_resource_tree(dev_id, act, item_list):
                 try:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -207,14 +207,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 
         res_samples = []
         res_volumes = []
-        # 处理 use_channels 为 None 的情况（通常用于单通道操作）
+        for resource, volume, channel in zip(resources, vols, use_channels):
-        if use_channels is None:
-            # 对于单通道操作，推断通道为 [0]
-            channels_to_use = [0] * len(resources)
-        else:
-            channels_to_use = use_channels
-
-        for resource, volume, channel in zip(resources, vols, channels_to_use):
             res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)})
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
@@ -927,7 +920,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 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,
-                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -991,7 +983,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                                 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,
-                                use_channels=use_channels,
                             )
                         if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
@@ -1174,7 +1165,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1209,7 +1199,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1246,7 +1235,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
 
                 await self.aspirate(
@@ -1283,7 +1271,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
@@ -1340,7 +1327,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[idx:idx + 1] if offsets and len(offsets) > idx else None,
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
-                        use_channels=use_channels,
                     )
 
             # 从源容器吸液（总体积）
@@ -1380,7 +1366,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
                 if touch_tip:
                     await self.touch_tip([target])
@@ -1416,7 +1401,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         offsets=offsets[i:i + 8] 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,
-                        use_channels=use_channels,
                     )
                 
                 # 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）
@@ -1462,7 +1446,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         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,
-                        use_channels=use_channels,
                     )
                 
                 if touch_tip:
@@ -1514,19 +1497,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 f"(matching `asp_vols`). Got length {len(dis_vols)}."
             )
 
-        need_mix_after = mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0
-        defer_final_discard = need_mix_after or touch_tip
-
         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）
-            # 如果需要 before mix，先 pick up tip 并执行 mix
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1534,11 +1508,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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,
-                    use_channels=use_channels,
                 )
-
+            
-                await self.discard_tips(use_channels=use_channels)
-
             # 从每个源容器吸液并分液到目标容器
             for idx, source in enumerate(sources):
                 tip = []
@@ -1556,10 +1527,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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
@@ -1575,7 +1546,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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],
@@ -1586,15 +1557,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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])
-
+                
-                if not (defer_final_discard and idx == len(sources) - 1):
+                await self.discard_tips(use_channels=use_channels)
-                    await self.discard_tips(use_channels=use_channels)
+            
-
             # 最后在目标容器中混合（如果需要）
-            if need_mix_after:
+            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,
@@ -1602,27 +1572,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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,
-                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
-
-            if defer_final_discard:
-                await self.discard_tips(use_channels=use_channels)
         
         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.")
-
+            
-            # 如果需要 before mix，先 pick up tips 并执行 mix
+            # 每次处理8个源
             if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-
                 await self.mix(
                     targets=[target],
                     mix_time=mix_times,
@@ -1630,11 +1591,8 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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,
-                    use_channels=use_channels,
                 )
 
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
             for i in range(0, len(sources), 8):
                 tip = []
                 for _ in range(len(use_channels)):
@@ -1692,12 +1650,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 
                 if delays is not None and len(delays) > 1:
                     await self.custom_delay(seconds=delays[1])
-
+                
-                if not (defer_final_discard and i + 8 >= len(sources)):
+                await self.discard_tips([0,1,2,3,4,5,6,7])
-                    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 need_mix_after:
+            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,
@@ -1705,15 +1662,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     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,
-                    use_channels=use_channels,
                 )
             
             if touch_tip:
                 await self.touch_tip([target])
 
-            if defer_final_discard:
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
     # except Exception as e:
     #     traceback.print_exc()
     #     raise RuntimeError(f"Liquid addition failed: {e}") from e
@@ -1733,12 +1686,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 print(f"Waiting time: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
                 print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            # Use ROS node sleep if available, otherwise use asyncio.sleep
+            await self._ros_node.sleep(seconds)
-            if hasattr(self, '_ros_node') and self._ros_node is not None:
-                await self._ros_node.sleep(seconds)
-            else:
-                import asyncio
-                await asyncio.sleep(seconds)
             if msg:
                 print(f"Done: {msg}")
                 print(f"Current time: {time.strftime('%H:%M:%S')}")
@@ -1777,59 +1725,27 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         height_to_bottom: Optional[float] = None,
         offsets: Optional[Coordinate] = None,
         mix_rate: Optional[float] = None,
-        use_channels: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        if mix_time is None or mix_time <= 0:  # No mixing required
+        if mix_time is None:  # No mixing required
             return
         """Mix the liquid in the target wells."""
-        if mix_vol is None:
-            raise ValueError("`mix_vol` must be provided when `mix_time` is set.")
-
-        targets_list: List[Container] = list(targets)
-        if len(targets_list) == 0:
-            return
-
-        def _expand(value, count: int):
-            if value is None:
-                return [None] * count
-            if isinstance(value, (list, tuple)):
-                if len(value) != count:
-                    raise ValueError("Length of per-target parameters must match targets.")
-                return list(value)
-            return [value] * count
-
-        offsets_list = _expand(offsets, len(targets_list))
-        heights_list = _expand(height_to_bottom, len(targets_list))
-        rates_list = _expand(mix_rate, len(targets_list))
-
         for _ in range(mix_time):
-            for idx, target in enumerate(targets_list):
+            await self.aspirate(
-                offset_arg = (
+                resources=[targets],
-                    [offsets_list[idx]] if offsets_list[idx] is not None else None
+                vols=[mix_vol],
-                )
+                flow_rates=[mix_rate] if mix_rate else None,
-                height_arg = (
+                offsets=[offsets] if offsets else None,
-                    [heights_list[idx]] if heights_list[idx] is not None else None
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
-                )
+            )
-                rate_arg = [rates_list[idx]] if rates_list[idx] is not None else None
+            await self.custom_delay(seconds=1)
-
+            await self.dispense(
-                await self.aspirate(
+                resources=[targets],
-                    resources=[target],
+                vols=[mix_vol],
-                    vols=[mix_vol],
+                flow_rates=[mix_rate] if mix_rate else None,
-                    use_channels=use_channels,
+                offsets=[offsets] if offsets else None,
-                    flow_rates=rate_arg,
+                liquid_height=[height_to_bottom] if height_to_bottom else None,
-                    offsets=offset_arg,
+            )
-                    liquid_height=height_arg,
-                )
-                await self.custom_delay(seconds=1)
-                await self.dispense(
-                    resources=[target],
-                    vols=[mix_vol],
-                    use_channels=use_channels,
-                    flow_rates=rate_arg,
-                    offsets=offset_arg,
-                    liquid_height=height_arg,
-                )
 
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -30,11 +30,10 @@ from pylabrobot.liquid_handling.standard import (
     ResourceMove,
     ResourceDrop,
 )
-from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
+from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
 
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
-from unilabos.resources.itemized_carrier import ItemizedCarrier
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class PRCXIError(RuntimeError):
@@ -137,31 +136,13 @@ class PRCXI9300Plate(Plate):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值是对象（可能是 Well 对象），检查是否有有效的 location
+                # ordering 的值已经是对象，可以直接使用
-                # 如果是反序列化过程，Well 对象可能没有正确的 location，需要让 Plate 重新创建
+                items = ordering
-                sample_value = next(iter(ordering.values()), None)
+                ordering_param = None
-                if sample_value is not None and hasattr(sample_value, 'location'):
-                    # 如果是 Well 对象但 location 为 None，说明是反序列化过程
-                    # 让 Plate 自己创建 Well 对象
-                    if sample_value.location is None:
-                        items = None
-                        ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
-                    else:
-                        # Well 对象有有效的 location，可以直接使用
-                        items = ordering
-                        ordering_param = None
-                elif sample_value is None:
-                    # ordering 的值都是 None，让 Plate 自己创建 Well 对象
-                    items = None
-                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
-                else:
-                    # 其他情况，直接使用
-                    items = ordering
-                    ordering_param = None
         else:
             items = None
-            ordering_param = collections.OrderedDict()  # 提供空的 ordering
+            ordering_param = None
-
+        
         # 根据情况传递不同的参数
         if items is not None:
             super().__init__(name, size_x, size_y, size_z, 
@@ -238,16 +219,9 @@ class PRCXI9300TipRack(TipRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，需要过滤掉 None 值
+                # ordering 的值已经是对象，可以直接使用
-                # 只保留有效的对象，用于 ordered_items 参数
+                items = ordering
-                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                ordering_param = None
-                if valid_items:
-                    items = valid_items
-                    ordering_param = None
-                else:
-                    # 如果没有有效对象，使用 ordering 参数
-                    items = None
-                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         else:
             items = None
             ordering_param = None
@@ -310,7 +284,7 @@ class PRCXI9300Trash(Trash):
     """
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, 
-                 category: str = "plate", 
+                 category: str = "trash", 
                  material_info: Optional[Dict[str, Any]] = None,
                  **kwargs):
         
@@ -383,16 +357,9 @@ class PRCXI9300TubeRack(TubeRack):
                 # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
-                # ordering 的值已经是对象，需要过滤掉 None 值
+                # ordering 的值已经是对象，可以直接使用
-                # 只保留有效的对象，用于 ordered_items 参数
+                items_to_pass = ordering
-                valid_items = {k: v for k, v in ordering.items() if v is not None}
+                ordering_param = None
-                if valid_items:
-                    items_to_pass = valid_items
-                    ordering_param = None
-                else:
-                    # 如果没有有效对象，使用 ordering 参数
-                    items_to_pass = None
-                    ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
         elif items is not None:
             # 兼容旧的 items 参数
             items_to_pass = items
@@ -448,81 +415,6 @@ class PRCXI9300TubeRack(TubeRack):
             
             data.update(safe_state)
         return data
-class PRCXI9300PlateAdapterSite(ItemizedCarrier):
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
-                 material_info: Optional[Dict[str, Any]] = None, **kwargs):
-        # 处理 sites 参数的不同格式
-
-        sites = create_homogeneous_resources(
-        klass=ResourceHolder,
-        locations=[Coordinate(0, 0, 0)],
-        resource_size_x=size_x,
-        resource_size_y=size_y,
-        resource_size_z=size_z,
-        name_prefix=name,
-    )[0]
-        # 确保不传递重复的参数
-        kwargs.pop('layout', None)
-        kwargs.pop('num_items_x', None)
-        kwargs.pop('num_items_y', None)
-        kwargs.pop('num_items_z', None)
-        kwargs.pop('sites', None)
-
-        super().__init__(name, size_x, size_y, size_z,
-        sites={name: sites},
-        num_items_x=1,
-        num_items_y=1,
-        num_items_z=1,
-        **kwargs)
-        self._unilabos_state = {}
-        if material_info:
-            self._unilabos_state["Material"] = material_info
-
-
-    def assign_child_resource(self, resource, location=Coordinate(0, 0, 0), reassign=True, spot=None):
-        """重写 assign_child_resource 方法，对于适配器位置，不使用索引分配"""
-        # 直接调用 Resource 的 assign_child_resource，避免 ItemizedCarrier 的索引逻辑
-        from pylabrobot.resources.resource import Resource
-        Resource.assign_child_resource(self, resource, location=location, reassign=reassign)
-
-    def unassign_child_resource(self, resource):
-        """重写 unassign_child_resource 方法，对于适配器位置，不使用 sites 列表"""
-        # 直接调用 Resource 的 unassign_child_resource，避免 ItemizedCarrier 的 sites 逻辑
-        from pylabrobot.resources.resource import Resource
-        Resource.unassign_child_resource(self, resource)
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        try:
-            data = super().serialize_state()
-        except AttributeError:
-            data = {}
-
-        # 包含 sites 配置信息，但避免序列化 ResourceHolder 对象
-        if hasattr(self, 'sites') and self.sites:
-            # 只保存 sites 的基本信息，不保存 ResourceHolder 对象本身
-            sites_info = []
-            for site in self.sites:
-                if hasattr(site, '__class__') and 'pylabrobot' in str(site.__class__.__module__):
-                    # 对于 pylabrobot 对象，只保存基本信息
-                    sites_info.append({
-                        "__pylabrobot_object__": True,
-                        "class": site.__class__.__name__,
-                        "module": site.__class__.__module__,
-                        "name": getattr(site, 'name', str(site))
-                    })
-                else:
-                    sites_info.append(site)
-            data['sites'] = sites_info
-
-        return data
-
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """加载状态，包括 sites 配置信息"""
-        super().load_state(state)
-
-        # 从状态中恢复 sites 配置信息
-        if 'sites' in state:
-            self.sites = [state['sites']]
 
 class PRCXI9300PlateAdapter(PlateAdapter):
     """
@@ -921,7 +813,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         **backend_kwargs,
     ):
 
-        res = await super().move_plate(
+        return await super().move_plate(
             plate,
             to,
             intermediate_locations,
@@ -933,12 +825,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
             target_plate_number = to,
             **backend_kwargs,
         )
-        plate.unassign()
-        to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
-        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
-            "resources": [self.deck]
-        })
-        return res
 
 class PRCXI9300Backend(LiquidHandlerBackend):
     """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,8 +4019,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4176,11 +4175,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5187,11 +5183,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -9284,7 +9278,13 @@ liquid_handler.prcxi:
                 z: 0.0
             sample_id: ''
             type: ''
-        handles: {}
+        handles:
+          input:
+          - data_key: wells
+            data_source: handle
+            data_type: resource
+            handler_key: input_wells
+            label: InputWells
         placeholder_keys:
           wells: unilabos_resources
         result: {}
@@ -9671,8 +9671,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9828,11 +9827,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
+                  maximum: 2147483647
-                    maximum: 2147483647
+                  minimum: -2147483648
-                    minimum: -2147483648
+                  type: integer
-                    type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/registry.py

@@ -124,17 +124,32 @@ class Registry:
                                     "output": [
                                         {
                                             "handler_key": "labware",
-                                            "label": "Labware",
                                             "data_type": "resource",
-                                            "data_source": "handle",
+                                            "label": "Labware",
-                                            "data_key": "liquid",
+                                            "data_source": "executor",
-                                        }
+                                            "data_key": "created_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "liquid_slots",
+                                            "data_type": "resource",
+                                            "label": "LiquidSlots",
+                                            "data_source": "executor",
+                                            "data_key": "liquid_input_resource_tree.@flatten",
+                                        },
+                                        {
+                                            "handler_key": "materials",
+                                            "data_type": "resource",
+                                            "label": "AllMaterials",
+                                            "data_source": "executor",
+                                            "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
+                                        },
                                     ]
                                 },
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
                                     "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
+                                    "class_name": "unilabos_class",
                                 },
                             },
                             "test_latency": {
@@ -186,7 +201,17 @@ class Registry:
                                     "resources": "unilabos_resources",
                                 },
                                 "goal_default": {},
-                                "handles": {},
+                                "handles": {
+                                    "input": [
+                                        {
+                                            "handler_key": "input_resources",
+                                            "data_type": "resource",
+                                            "label": "InputResources",
+                                            "data_source": "handle",
+                                            "data_key": "resources",  # 不为空
+                                        },
+                                    ]
+                                },
                             },
                         },
                     },

unilabos/resources/container.py

@@ -27,7 +27,7 @@ class RegularContainer(Container):
 def get_regular_container(name="container"):
     r = RegularContainer(name=name)
     r.category = "container"
-    return RegularContainer(name=name)
+    return r
 
 #
 # class RegularContainer(object):

unilabos/resources/graphio.py

@@ -1151,11 +1151,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
         if resource_class_config["type"] == "pylabrobot":
             resource_plr = RESOURCE(name=resource_config["name"])
             if resource_type != ResourcePLR:
-                tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
+                tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
-                # r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
-                # # r = resource_plr_to_ulab(resource_plr=resource_plr)
-                # if resource_config.get("position") is not None:
-                #     r["position"] = resource_config["position"]
                 r = tree_sets.dump()
             else:
                 r = resource_plr

unilabos/resources/resource_tracker.py

@@ -1,7 +1,7 @@
 import inspect
 import traceback
 import uuid
-from pydantic import BaseModel, field_serializer, field_validator
+from pydantic import BaseModel, field_serializer, field_validator, ValidationError
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
@@ -147,20 +147,24 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "position" in content:
-            pose = content.get("pose",{})
+            pose = content.get("pose", {})
-            if "position" not in pose :
+            if "position" not in pose:
                 if "position" in content["position"]:
                     pose["position"] = content["position"]["position"]
                 else:
                     pose["position"] = {"x": 0, "y": 0, "z": 0}
             if "size" not in pose:
                 pose["size"] = {
-                    "width": content["config"].get("size_x", 0), 
+                    "width": content["config"].get("size_x", 0),
-                    "height": content["config"].get("size_y", 0), 
+                    "height": content["config"].get("size_y", 0),
-                    "depth": content["config"].get("size_z", 0)
+                    "depth": content["config"].get("size_z", 0),
                 }
             content["pose"] = pose
-        return ResourceDictInstance(ResourceDict.model_validate(content))
+        try:
+            res_dict = ResourceDict.model_validate(content)
+            return ResourceDictInstance(res_dict)
+        except ValidationError as err:
+            raise err
 
     def get_plr_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
@@ -322,7 +326,7 @@ class ResourceTreeSet(object):
             )
 
     @classmethod
-    def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
+    def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
         """
         从plr资源创建ResourceTreeSet
         """
@@ -339,6 +343,8 @@ class ResourceTreeSet(object):
             }
             if source in replace_info:
                 return replace_info[source]
+            elif source is None:
+                return ""
             else:
                 print("转换pylabrobot的时候，出现未知类型", source)
                 return source
@@ -349,7 +355,8 @@ class ResourceTreeSet(object):
             if not uid:
                 uid = str(uuid.uuid4())
                 res.unilabos_uuid = uid
-                logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
+                if not known_newly_created:
+                    logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
 
             # 获取unilabos_extra，默认为空字典
             extra = getattr(res, "unilabos_extra", {})
@@ -448,7 +455,13 @@ class ResourceTreeSet(object):
         from pylabrobot.utils.object_parsing import find_subclass
 
         # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
+        TYPE_MAP = {
+            "plate": "Plate",
+            "well": "Well",
+            "deck": "Deck",
+            "container": "RegularContainer",
+            "tip_spot": "TipSpot",
+        }
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
             """一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
@@ -918,6 +931,33 @@ class DeviceNodeResourceTracker(object):
 
         return self._traverse_and_process(resource, process)
 
+    def loop_find_with_uuid(self, resource, target_uuid: str):
+        """
+        递归遍历资源树，根据 uuid 查找并返回对应的资源
+
+        Args:
+            resource: 资源对象（可以是list、dict或实例）
+            target_uuid: 要查找的uuid
+
+        Returns:
+            找到的资源对象，未找到则返回None
+        """
+        found_resource = None
+
+        def process(res):
+            nonlocal found_resource
+            if found_resource is not None:
+                return 0  # 已找到，跳过后续处理
+            current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
+            if current_uuid and current_uuid == target_uuid:
+                found_resource = res
+                logger.trace(f"找到资源UUID: {target_uuid}")
+                return 1
+            return 0
+
+        self._traverse_and_process(resource, process)
+        return found_resource
+
     def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
         """
         递归遍历资源树，根据 name 设置所有节点的 extra
@@ -1103,7 +1143,7 @@ class DeviceNodeResourceTracker(object):
         for key in keys_to_remove:
             self.resource2parent_resource.pop(key, None)
 
-        logger.debug(f"成功移除资源: {resource}")
+        logger.trace(f"[ResourceTracker] 成功移除资源: {resource}")
         return True
 
     def clear_resource(self):

unilabos/ros/msgs/message_converter.py

@@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = {
             else Pose()
         ),
         config=json.dumps(x.get("config", {})),
-        data=json.dumps(x.get("data", {})),
+        data=json.dumps(obtain_data_with_uuid(x)),
     ),
 }
 
+def obtain_data_with_uuid(x: dict):
+    data = x.get("data", {})
+    data["unilabos_uuid"] = x.get("uuid", None)
+    return data
 
 def json_or_yaml_loads(data: str) -> Any:
     try:

unilabos/ros/nodes/base_device_node.py

@@ -392,9 +392,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 parent_resource = self.resource_tracker.figure_resource(
                     {"name": bind_parent_id}
                 )
-            for r in rts.root_nodes:
+                for r in rts.root_nodes:
-                # noinspection PyUnresolvedReferences
+                    # noinspection PyUnresolvedReferences
-                r.res_content.parent_uuid = parent_resource.unilabos_uuid
+                    r.res_content.parent_uuid = parent_resource.unilabos_uuid
+            else:
+                for r in rts.root_nodes:
+                    r.res_content.parent_uuid = self.uuid
 
             if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
                 # noinspection PyTypeChecker
@@ -430,11 +433,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             })
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
-            self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
+            plr_instances = rts.to_plr_resources()
+            for plr_instance in plr_instances:
+                self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
+            rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
             self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
             final_response = {
-                "created_resources": rts.dump(),
+                "created_resource_tree": rts.dump(),
-                "liquid_input_resources": [],
+                "liquid_input_resource_tree": [],
             }
             res.response = json.dumps(final_response)
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
@@ -460,7 +466,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 return res
             try:
                 if len(rts.root_nodes) == 1 and parent_resource is not None:
-                    plr_instance = rts.to_plr_resources()[0]
+                    plr_instance = plr_instances[0]
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -485,7 +491,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
+                        final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
                         res.response = json.dumps(final_response)
                     if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
                         other_calling_param["slot"] = int(other_calling_param["slot"])
@@ -653,61 +659,71 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
     def transfer_to_new_resource(
         self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
-    ):
+    ) -> Optional["ResourcePLR"]:
         parent_uuid = tree.root_node.res_content.parent_uuid
-        if parent_uuid:
+        if not parent_uuid:
-            parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+            self.lab_logger().warning(
-            if parent_resource is None:
+                f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}"
+            )
+            return None
+        if parent_uuid == self.uuid:
+            self.lab_logger().warning(
+                f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}"
+            )
+            return None
+        parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
+        if parent_resource is None:
+            self.lab_logger().warning(
+                f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+            )
+        else:
+            try:
+                # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                additional_params = {}
+                extra = getattr(plr_resource, "unilabos_extra", {})
+                if len(extra):
+                    self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
+                if "update_resource_site" in extra:
+                    additional_add_params["site"] = extra["update_resource_site"]
+                site = additional_add_params.get("site", None)
+                spec = inspect.signature(parent_resource.assign_child_resource)
+                if "spot" in spec.parameters:
+                    ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
+                    if ordering_dict:
+                        site = list(ordering_dict.keys()).index(site)
+                    additional_params["spot"] = site
+                old_parent = plr_resource.parent
+                if old_parent is not None:
+                    # plr并不支持同一个deck的加载和卸载
+                    self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
+                    old_parent.unassign_child_resource(plr_resource)
                 self.lab_logger().warning(
-                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
+                    f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
                 )
-            else:
-                try:
-                    # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
-                    additional_params = {}
-                    extra = getattr(plr_resource, "unilabos_extra", {})
-                    if len(extra):
-                        self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
-                    if "update_resource_site" in extra:
-                        additional_add_params["site"] = extra["update_resource_site"]
-                    site = additional_add_params.get("site", None)
-                    spec = inspect.signature(parent_resource.assign_child_resource)
-                    if "spot" in spec.parameters:
-                        ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering")
-                        if ordering_dict:
-                            site = list(ordering_dict.keys()).index(site)
-                        additional_params["spot"] = site
-                    old_parent = plr_resource.parent
-                    if old_parent is not None:
-                        # plr并不支持同一个deck的加载和卸载
-                        self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
-                        old_parent.unassign_child_resource(plr_resource)
-                    self.lab_logger().warning(
-                        f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
-                    )
 
-                    # ⭐ assign 之前，需要从 resources 列表中移除
+                # ⭐ assign 之前，需要从 resources 列表中移除
-                    # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
+                # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
-                    # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
+                # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
-                    resource_id = id(plr_resource)
+                resource_id = id(plr_resource)
-                    for i, r in enumerate(self.resource_tracker.resources):
+                for i, r in enumerate(self.resource_tracker.resources):
-                        if id(r) == resource_id:
+                    if id(r) == resource_id:
-                            self.resource_tracker.resources.pop(i)
+                        self.resource_tracker.resources.pop(i)
-                            self.lab_logger().debug(
+                        self.lab_logger().debug(
-                                f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
+                            f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
-                            )
+                        )
-                            break
+                        break
 
-                    parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
+                parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
 
-                    func = getattr(self.driver_instance, "resource_tree_transfer", None)
+                func = getattr(self.driver_instance, "resource_tree_transfer", None)
-                    if callable(func):
+                if callable(func):
-                        # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
+                    # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
-                        func(old_parent, plr_resource, parent_resource)
+                    func(old_parent, plr_resource, parent_resource)
-                except Exception as e:
+                return parent_resource
-                    self.lab_logger().warning(
+            except Exception as e:
-                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                self.lab_logger().warning(
-                    )
+                    f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
+                )
 
     async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
         """
@@ -722,7 +738,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         def _handle_add(
             plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
-        ) -> Dict[str, Any]:
+        ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
             """
             处理资源添加操作的内部函数
 
@@ -734,15 +750,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             Returns:
                 操作结果字典
             """
+            parents = []  # 放的是被变更的物料 / 被变更的物料父级
             for plr_resource, tree in zip(plr_resources, tree_set.trees):
                 self.resource_tracker.add_resource(plr_resource)
-                self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
+                if parent is not None:
+                    parents.append(parent)
+                else:
+                    parents.append(plr_resource)
 
             func = getattr(self.driver_instance, "resource_tree_add", None)
             if callable(func):
                 func(plr_resources)
 
-            return {"success": True, "action": "add"}
+            return {"success": True, "action": "add"}, parents
 
         def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
             """
@@ -777,11 +798,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if plr_resource.parent is not None:
                     plr_resource.parent.unassign_child_resource(plr_resource)
                 self.resource_tracker.remove_resource(plr_resource)
-                self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点")
 
             for other_plr_resource in other_plr_resources:
                 self.resource_tracker.remove_resource(other_plr_resource)
-                self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
+                self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点")
 
             return {
                 "success": True,
@@ -813,11 +834,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 original_instance: ResourcePLR = self.resource_tracker.figure_resource(
                     {"uuid": tree.root_node.res_content.uuid}, try_mode=False
                 )
+                original_parent_resource = original_instance.parent
+                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
+                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
+                not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
+                old_name = original_instance.name
+                new_name = plr_resource.name
+                parent_appended = False
 
-                # Update操作中包含改名：需要先remove再add
+                # Update操作中包含改名：需要先remove再add，这里更新父节点即可
-                if original_instance.name != plr_resource.name:
+                if not not_same_parent and old_name != new_name:
-                    old_name = original_instance.name
-                    new_name = plr_resource.name
                     self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
 
                     # 收集所有相关的uuid（包括子节点）
@@ -826,12 +852,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     _handle_add([original_instance], tree_set, additional_add_params)
 
                     self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
+                    original_instances.append(original_parent_resource)
+                    parent_appended = True
 
                 # 常规更新：不涉及改名
-                original_parent_resource = original_instance.parent
-                original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
-                target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
-
                 self.lab_logger().info(
                     f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
                     f"目标父节点{target_parent_resource_uuid} 更新"
@@ -842,13 +866,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")  # type: ignore  # noqa: E501
 
                 # 如果父节点变化，需要重新挂载
-                if (
+                if not_same_parent:
-                    original_parent_resource_uuid != target_parent_resource_uuid
+                    parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
-                    and original_parent_resource is not None
+                    original_instances.append(parent)
-                ):
+                    parent_appended = True
-                    self.transfer_to_new_resource(original_instance, tree, additional_add_params)
                 else:
-                    # 判断是否变更了resource_site
+                    # 判断是否变更了resource_site，重新登记
                     target_site = original_instance.unilabos_extra.get("update_resource_site")
                     sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
                     site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
@@ -856,7 +879,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         site_index = sites.index(original_instance)
                         site_name = site_names[site_index]
                         if site_name != target_site:
-                            self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
+                            if parent is not None:
+                                original_instances.append(parent)
+                                parent_appended = True
 
                 # 加载状态
                 original_instance.load_all_state(states)
@@ -864,7 +890,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.lab_logger().info(
                     f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
                 )
-                original_instances.append(original_instance)
+                if not parent_appended:
+                    original_instances.append(original_instance)
 
             # 调用driver的update回调
             func = getattr(self.driver_instance, "resource_tree_update", None)
@@ -881,8 +908,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 action = i.get("action")  # remove, add, update
                 resources_uuid: List[str] = i.get("data")  # 资源数据
                 additional_add_params = i.get("additional_add_params", {})  # 额外参数
-                self.lab_logger().info(
+                self.lab_logger().trace(
-                    f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}"
+                    f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
                 )
                 tree_set = None
                 if action in ["add", "update"]:
@@ -894,8 +921,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         if tree_set is None:
                             raise ValueError("tree_set不能为None")
                         plr_resources = tree_set.to_plr_resources()
-                        result = _handle_add(plr_resources, tree_set, additional_add_params)
+                        result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
-                        new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
+                        parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None]
+                        # de_dupe_parents = list(set(parents))
+                        # Fix unhashable type error for WareHouse
+                        de_dupe_parents = []
+                        _seen_ids = set()
+                        for p in parents:
+                            if id(p) not in _seen_ids:
+                                _seen_ids.add(id(p))
+                                de_dupe_parents.append(p)
+                        new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents)  # 去重
+                        for tree in new_tree_set.trees:
+                            if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                tree.root_node.res_content.parent_uuid = self.uuid
                         r = SerialCommand.Request()
                         r.command = json.dumps(
                             {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
@@ -914,7 +953,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
                         result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
                         if not BasicConfig.no_update_feedback:
-                            new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
+                            new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)  # 去重
+                            for tree in new_tree_set.trees:
+                                if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
+                                    tree.root_node.res_content.parent_uuid = self.uuid
                             r = SerialCommand.Request()
                             r.command = json.dumps(
                                 {"data": {"data": new_tree_set.dump()}, "action": "update"})  # 和Update Resource一致
@@ -934,15 +976,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 返回处理结果
             result_json = {"results": results, "total": len(data)}
             res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
-            self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
+            # self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
 
         except json.JSONDecodeError as e:
             error_msg = f"Invalid JSON format: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
             res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
         except Exception as e:
             error_msg = f"Unexpected error: {str(e)}"
-            self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
+            self.lab_logger().error(f"[资源同步] {error_msg}")
             self.lab_logger().error(traceback.format_exc())
             res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
 
@@ -1263,7 +1305,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
-            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
+            self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}")
+            self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
             error_skip = False
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
             if action_name not in ["create_resource_detailed", "create_resource"]:
@@ -1279,9 +1322,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             # 批量查询资源
                             queried_resources = []
                             for resource_data in resource_inputs:
-                                plr_resource = await self.get_resource_with_dir(
+                                unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
-                                    resource_id=resource_data["id"], with_children=True
+                                if unilabos_uuid is None:
-                                )
+                                    plr_resource = await self.get_resource_with_dir(
+                                        resource_id=resource_data["id"], with_children=True
+                                    )
+                                else:
+                                    resource_tree = await self.get_resource([unilabos_uuid])
+                                    plr_resource = resource_tree.to_plr_resources()[0]
                                 if "sample_id" in resource_data:
                                     plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
                                 queried_resources.append(plr_resource)
@@ -1330,9 +1378,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as _:
                                 execution_error = traceback.format_exc()
-                                error(
+                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
-                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
+                                trace(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)
@@ -1352,8 +1399,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         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}"
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
-                            )
+                            trace(
+                                f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
 
                     future.add_done_callback(_handle_future_exception)
 
@@ -1421,7 +1469,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
                             else:
-                                res = self.resource_tracker.parent_resource(r)
+                                res = self.resource_tracker.parent_resource(rs)
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)
@@ -1497,8 +1545,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     resource_data = function_args[arg_name]
                     if isinstance(resource_data, dict) and "id" in resource_data:
                         try:
-                            converted_resource = self._convert_resource_sync(resource_data)
+                            function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
-                            function_args[arg_name] = converted_resource
                         except Exception as e:
                             self.lab_logger().error(
                                 f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1512,12 +1559,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         resource_list = function_args[arg_name]
                         if isinstance(resource_list, list):
                             try:
-                                converted_resources = []
+                                uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
-                                for resource_data in resource_list:
+                                function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
-                                    if isinstance(resource_data, dict) and "id" in resource_data:
-                                        converted_resource = self._convert_resource_sync(resource_data)
-                                        converted_resources.append(converted_resource)
-                                function_args[arg_name] = converted_resources
                             except Exception as e:
                                 self.lab_logger().error(
                                     f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1530,20 +1573,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
             )
 
-    def _convert_resource_sync(self, resource_data: Dict[str, Any]):
+    def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
-        """同步转换资源数据为实例"""
+        """同步转换资源 UUID 为实例
-        # 创建资源查询请求
-        r = SerialCommand.Request()
-        r.command = json.dumps(
-            {
-                "id": resource_data.get("id", None),
-                "uuid": resource_data.get("uuid", None),
-                "with_children": True,
-            }
-        )
 
-        # 同步调用资源查询服务
+        Args:
-        future = self._resource_clients["resource_get"].call_async(r)
+            *uuids: 一个或多个资源 UUID
+
+        Returns:
+            单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
+        """
+        if not uuids:
+            raise ValueError("至少需要提供一个 UUID")
+
+        uuids_list = list(uuids)
+        future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
+            command=json.dumps(
+                {
+                    "data": {"data": uuids_list, "with_children": True},
+                    "action": "get",
+                }
+            )
+        ))
 
         # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
         timeout = 30.0
@@ -1553,27 +1603,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             elapsed += 0.05
 
         if not future.done():
-            raise Exception(f"资源查询超时: {resource_data}")
+            raise Exception(f"资源查询超时: {uuids_list}")
 
         response = future.result()
         if response is None:
-            raise Exception(f"资源查询返回空结果: {resource_data}")
+            raise Exception(f"资源查询返回空结果: {uuids_list}")
 
         raw_data = json.loads(response.response)
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
-        plr_resource = tree_set.to_plr_resources()[0]
+        if not len(tree_set.trees):
+            raise Exception(f"资源查询返回空树: {raw_data}")
+        plr_resources = tree_set.to_plr_resources()
 
         # 通过资源跟踪器获取本地实例
-        res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
+        figured_resources: List[ResourcePLR] = []
-        if len(res) == 0:
+        for plr_resource, tree in zip(plr_resources, tree_set.trees):
-            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
+            res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
-            return plr_resource
+            if len(res) == 0:
-        elif len(res) == 1:
+                self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例")
-            return res[0]
+                figured_resources.append(plr_resource)
-        else:
+            elif len(res) == 1:
-            raise ValueError(f"资源转换得到多个实例: {res}")
+                figured_resources.append(res[0])
+            else:
+                raise ValueError(f"资源转换得到多个实例: {res}")
+
+        mapped_plr_resources = []
+        for uuid in uuids_list:
+            for plr_resource in figured_resources:
+                r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
+                mapped_plr_resources.append(r)
+                break
+
+        return mapped_plr_resources
 
     async def _execute_driver_command_async(self, string: str):
         try:

unilabos/ros/nodes/presets/host_node.py

@@ -23,6 +23,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
+from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
@@ -361,8 +362,7 @@ class HostNode(BaseROS2DeviceNode):
             request.command = ""
             future = sclient.call_async(request)
             # Use timeout for result as well
-            future.result(timeout_sec=5.0)
+            future.result()
-            self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}")
         except Exception as e:
             # Gracefully handle destruction during shutdown
             if "destruction was requested" in str(e) or self._shutting_down:
@@ -586,11 +586,10 @@ class HostNode(BaseROS2DeviceNode):
         )
 
         try:
-            new_li = []
+            assert len(response) == 1, "Create Resource应当只返回一个结果"
             for i in response:
                 res = json.loads(i)
-                new_li.append(res)
+                return res
-            return {"resources": new_li, "liquid_input_resources": new_li}
         except Exception as ex:
             pass
         _n = "\n"
@@ -795,7 +794,8 @@ class HostNode(BaseROS2DeviceNode):
         assign_sample_id(action_kwargs)
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
-        self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
+        self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
         goal_uuid_obj = UUID(uuid=list(u.bytes))
 
@@ -1133,11 +1133,11 @@ class HostNode(BaseROS2DeviceNode):
 
         接收序列化的 ResourceTreeSet 数据并进行处理
         """
-        self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
         try:
             # 解析请求数据
             data = json.loads(request.command)
             action = data["action"]
+            self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
             data = data["data"]
             if action == "add":
                 await self._resource_tree_action_add_callback(data, response)
@@ -1243,7 +1243,7 @@ class HostNode(BaseROS2DeviceNode):
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
                 http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
-            elif "id" in data and data["id"].startswith("/"):
+            elif "id" in data:
                 http_req = http_client.resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1453,10 +1453,16 @@ class HostNode(BaseROS2DeviceNode):
         }
 
     def test_resource(
-        self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
+        self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
     ) -> TestResourceReturn:
+        if resources is None:
+            resources = []
+        if devices is None:
+            devices = []
+        if resource is None:
+            resource = RegularContainer("test_resource传入None")
         return {
-            "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
+            "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
         }
 
@@ -1508,7 +1514,7 @@ class HostNode(BaseROS2DeviceNode):
 
             # 构建服务地址
             srv_address = f"/srv{namespace}/s2c_resource_tree"
-            self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")
 
             # 创建服务客户端
             sclient = self.create_client(SerialCommand, srv_address)
@@ -1543,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode):
                 time.sleep(0.05)
 
             response = future.result()
-            self.lab_logger().info(
+            self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
-                f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
-            )
             return True
 
         except Exception as e:

unilabos/test/experiments/prcxi_9320_with_res_test.json

@@ -8,8 +8,8 @@
       "parent": "",
       "pose": {
         "size": {
-          "width": 542,
+          "width": 562,
-          "height": 374,
+          "height": 394,
           "depth": 0
         }
       },
@@ -21,12 +21,12 @@
         },
         "host": "10.20.30.184",
         "port": 9999,
-        "debug": false,
+        "debug": true,
         "setup": true,
         "is_9320": true,
         "timeout": 10,
         "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
-        "simulator": false,
+        "simulator": true,
         "channel_num": 2
       },
       "data": {
@@ -37,7 +37,7 @@
       "model": null,
       "position": {
         "x": 0,
-        "y": 700,
+        "y": 240,
         "z": 0
       }
     },
@@ -50,8 +50,8 @@
       "type": "deck",
       "class": "",
       "position": {
-        "x": 0,
+        "x": 10,
-        "y": 0,
+        "y": 10,
         "z": 0
       },
       "config": {
@@ -83,7 +83,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300PlateAdapterSite",
+        "type": "PRCXI9300Container",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -96,7 +96,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        
+        "ordering": {},
         "sites": [
           {
             "label": "T1",
@@ -128,7 +128,7 @@
         "z": 0
       },
       "config": {
-        "type": "PRCXI9300PlateAdapterSite",
+        "type": "PRCXI9300Container",
         "size_x": 127,
         "size_y": 85.5,
         "size_z": 10,
@@ -141,7 +141,7 @@
         "category": "plate",
         "model": null,
         "barcode": null,
-        
+        "ordering": {},
         "sites": [
           {
             "label": "T2",
@@ -173,7 +173,7 @@
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@@ -40712,7 +40712,7 @@
 
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