Merge branch 'dev' of https://github.com/dptech-corp/Uni-Lab-OS into dev

.gitignore

@@ -242,3 +242,4 @@ unilabos/device_mesh/view_robot.rviz
 **/.certs
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
+*.bz2

README.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.10.0-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.10.0-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.13
+  version: 0.10.0
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.13"
+  version: "0.10.0"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.13',
+    version='0.10.0',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/comprehensive_protocol/comprehensive_slim.json

@@ -0,0 +1,70 @@
+{
+    "nodes": [
+        {
+            "id": "OrganicSynthesisStation",
+            "name": "有机化学流程综合测试工作站",
+            "children": [
+                "heater_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 600,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "AddProtocol",
+                    "TransferProtocol",
+                    "StartStirProtocol",
+                    "StopStirProtocol",
+                    "StirProtocol",
+                    "RunColumnProtocol",
+                    "CentrifugeProtocol",
+                    "FilterProtocol",
+                    "CleanVesselProtocol",
+                    "DissolveProtocol",
+                    "FilterThroughProtocol",
+                    "WashSolidProtocol",
+                    "SeparateProtocol",
+                    "EvaporateProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol",
+                    "EvacuateAndRefillProtocol",
+                    "PumpTransferProtocol",
+                    "AdjustPHProtocol",
+                    "ResetHandlingProtocol",
+                    "DryProtocol",
+                    "HydrogenateProtocol",
+                    "RecrystallizeProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "heater_1",
+            "name": "加热器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 450,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 200.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/prcxi.json

@@ -21,7 +21,7 @@
                 "timeout": 10.0,
                 "axis": "Right",
                 "channel_num": 1,
-                "setup": false,
+                "setup": true,
                 "debug": false,
                 "simulator": false,
                 "matrix_id": "fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1"

unilabos/app/register.py

@@ -18,10 +18,22 @@ def register_devices_and_resources(mqtt_client, lab_registry):
         mqtt_client.publish_registry(device_info["id"], device_info, False)
         logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
-    # 注册资源信息
+    # 注册资源信息 - 使用HTTP方式
+    from unilabos.app.web.client import http_client
+
+    resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
-        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+        resources_to_register[resource_info["id"]] = resource_info
+        logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
+
+    if resources_to_register:
+        start_time = time.time()
+        response = http_client.resource_registry(resources_to_register)
+        cost_time = time.time() - start_time
+        if response.status_code in [200, 201]:
+            logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+        else:
+            logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
 
     time.sleep(10)
 
@@ -53,11 +65,9 @@ def main():
         help="是否补全注册表",
     )
     args = parser.parse_args()
-
+    load_config_from_file(args.config)
     # 构建注册表
     build_registry(args.registry, args.complete_registry)
-    load_config_from_file(args.config)
-
     from unilabos.app.mq import mqtt_client
 
     # 连接mqtt
@@ -70,4 +80,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

unilabos/app/web/client.py

@@ -40,8 +40,9 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
+        database_param = 1 if database_process_later else 0
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=100,
@@ -149,6 +150,26 @@ class HTTPClient:
             )
         return response
 
+    def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
+        """
+        注册资源到服务器
+
+        Args:
+            registry_data: 注册表数据，格式为 {resource_id: resource_info}
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/registry/",
+            json=registry_data,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=30,
+        )
+        if response.status_code not in [200, 201]:
+            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
+        return response
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -104,6 +104,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
+        print('222'*200)
+        print(tip_spots)
         if self._simulator:
             return await self._simulate_handler.pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
         return await super().pick_up_tips(tip_spots, use_channels, offsets, **backend_kwargs)
@@ -533,7 +535,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     """Extended LiquidHandler with additional operations."""
     support_touch_tip = True
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool, channel_num:int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
         """Initialize a LiquidHandler.
 
         Args:
@@ -620,12 +622,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             spread=spread,
                         )
                         await self.discard_tips()
-                elif len(use_channels) == 8 and self.backend.num_channels == 8:
-                    tip = []
-                    for _ in range(len(use_channels)):
-                        tip.extend(next(self.current_tip))
-                    await self.pick_up_tips(tip)
 
+                elif len(use_channels) == 8 and self.backend.num_channels == 8:
+               
+                  
                     # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                     if len(sources) % 8 != 0:
                         raise ValueError(f"Length of `sources` {len(sources)} must be a multiple of 8 for 8-channel mode.")
@@ -633,7 +633,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     # 8个8个来取任务序列
 
                     for i in range(0, len(sources), 8):
-                        # 取出8个任务
                         tip = []
                         for _ in range(len(use_channels)):
                             tip.extend(next(self.current_tip))
@@ -762,19 +761,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(targets[_])
                     await self.discard_tips()
-                elif len(use_channels) == 8:
 
+                elif len(use_channels) == 8:
                     # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
                     if len(targets) % 8 != 0:
                         raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
-
-                    # 8个8个来取任务序列
-
+                    tip = []
+                    for _ in range(len(use_channels)):
+                        tip.extend(next(self.current_tip))
+                    await self.pick_up_tips(tip)
                     for i in range(0, len(targets), 8):
-                        tip = []
-                        for _ in range(len(use_channels)):
-                            tip.extend(next(self.current_tip))
-                        await self.pick_up_tips(tip)
                         current_targets = targets[i:i + 8]
                         current_reagent_sources = reagent_sources[i:i + 8]
                         current_asp_vols = asp_vols[i:i + 8]
@@ -824,7 +820,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         if delays is not None:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
-                        await self.discard_tips()
+                    await self.discard_tips()
 
 
         # except Exception as e:

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -455,7 +455,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         # print(plate_indexes[0])
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
-
+        hole_row = 1
         if self._num_channels == 1:
             hole_row = tipspot_index % 8 + 1 
 
@@ -476,7 +476,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 dosage=0,
                 plate_no=PlateNo,
                 is_whole_plate=False,
-                hole_row=3,
+                hole_row=1,
                 hole_col=3,
                 blending_times=0,
                 balance_height=0,
@@ -974,156 +974,9 @@ if __name__ == "__main__":
     # # 2. backend需要支持num channel为1的情况
     # # 3. 设计一个单点动作流程，可以跑
     # # 4.
-    # deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
-    # plate1 = PRCXI9300Container(name="rackT1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    # plate1.load_state({
-    #     "Material": {
-    #         "uuid": "80652665f6a54402b2408d50b40398df",
-    #         "Co#de": "ZX-001-1000",
-    #         "Name": "1000μL Tip头",
-    #         "SummaryName": "1000μL Tip头",
-    #         "PipetteHeight": 100,
-    #         "materialEnum": 1
-    #     }
-    # })
-
-    # plate2 = PRCXI9300Container(name="plateT2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    # plate2.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #     }
-    # })
-
-    # plate3 = PRCXI9300Container(name="plateT3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    # plate3.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #     }
-    # })
-
-    # plate4 = PRCXI9300Container(name="rackT4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    # plate4.load_state({
-    #     "Material": {
-    #         "uuid": "80652665f6a54402b2408d50b40398df",
-    #         "Code": "ZX-001-1000",
-    #         "Name": "1000μL Tip头",
-    #         "SummaryName": "1000μL Tip头",
-    #         "PipetteHeight": 100,
-    #         "materialEnum": 1
-    #     }
-    # })
-
-    # plate5 = PRCXI9300Container(name="plateT5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    # plate5.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #     }
-    # })
-    # plate6 = PRCXI9300Trash(name="trash", size_x=50, size_y=500, size_z=10, category="trash")
-    # plate6.load_state({
-    #     "Material": {
-    #         "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
-    #     }
-    # })
-
-    # from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul
-    # from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat
-
-    # tip_rack = tipone_96_tiprack_200ul("TipRack")
-    # well_containers = corning_96_wellplate_360ul_flat("Plate")
-    # # from pprint import pprint
-    # # pprint(well_containers.children)
-    # plate1.assign_child_resource(tip_rack, location=Coordinate(0, 0, 0))
-    # plate2.assign_child_resource(well_containers, location=Coordinate(0, 0, 0))
-
-    # deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
-
-    # print(plate2)
-    # # plate_2_liquids = [[(None, 500)]]*96
-
-    # # plate2.set_well_liquids(plate_2_liquids)
-
-
-    # handler = PRCXI9300Handler(deck=deck, host="192.168.3.9", port=9999, timeout=10.0, setup=False, debug=True, matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1")
-    # handler.set_tiprack([tip_rack])  # Set the tip rack for the handler
-    # asyncio.run(handler.setup())  # Initialize the handler and setup the connection
-    # from pylabrobot.resources import set_volume_tracking
-
-    # # from pylabrobot.resources import set_tip_tracking
-    # set_volume_tracking(enabled=True)
-    # plate2.set_well_liquids([("Water", 100)] * plate2.num_items)
-    # asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
-    # # asyncio.run(handler.pick_up_tips(tip_rack.children[:8],[0,1,2,3,4,5,6,7]))
-
-    # # asyncio.run(handler.aspirate(well_containers.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.dispense(well_containers.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
-    # # asyncio.run(handler.discard_tips())
-    # # asyncio.run(handler.mix(well_containers.children[:8
-    # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # asyncio.run(handler.add_liquid(
-    #     asp_vols=[100]*16,
-    #     dis_vols=[100]*16,
-    #     reagent_sources=well_containers.children[-16:],
-    #     targets=well_containers.children[:16],
-    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    #     flow_rates=[None] * 32,
-    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    #     liquid_height=[None] * 16,
-    #     blow_out_air_volume=[None] * 16,
-    #     delays=None,
-    #     mix_time=3,
-    #     mix_vol=50,
-    #     spread="wide",
-    # ))
-
-    # # asyncio.run(handler.remove_liquid(
-    # #     vols=[100]*16,
-    # #     sources=well_containers.children[-16:],
-    # #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     flow_rates=[None] * 32,
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     liquid_height=[None] * 32,
-    # #     blow_out_air_volume=[None] * 32,
-    # #     spread="wide",
-    # # ))
-    # # asyncio.run(handler.transfer_liquid(
-    # #     asp_vols=[100]*16,
-    # #     dis_vols=[100]*16,
-    # #     tip_racks=[tip_rack],
-    # #     sources=well_containers.children[-16:],
-    # #     targets=well_containers.children[:16],
-    # #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    # #     offsets=[Coordinate(0, 0, 0)] * 32,
-    # #     asp_flow_rates=[None] * 16,
-    # #     dis_flow_rates=[None] * 16,
-    # #     liquid_height=[None] * 32,
-    # #     blow_out_air_volume=[None] * 32,
-    # #     mix_times=3,
-    # #     mix_vol=50,
-    # #     spread="wide",
-    # # ))
-    # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # # input("pick_up_tips add step")
-    # #asyncio.run(handler.run_protocol())  # Run the protocol
-    # # input("Running protocol...")
-    # # input("Press Enter to continue...")  # Wait for user input before proceeding
-    # # print("PRCXI9300Handler initialized with deck and host settings.")
-
-    # Example usage
-    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
-    # 2. 设计一个单点动作流程，可以跑
-    # 3.
     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
 
-    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+    from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul,opentrons_96_tiprack_10ul
     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
 
     def get_well_container(name: str) -> PRCXI9300Container:
@@ -1137,7 +990,7 @@ if __name__ == "__main__":
         return new_plate
 
     def get_tip_rack(name: str) -> PRCXI9300Container:
-        tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+        tip_racks = opentrons_96_tiprack_300ul("name").serialize()
         tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
                            ordering=collections.OrderedDict())
         tip_rack_serialized = tip_rack.serialize()
@@ -1146,145 +999,320 @@ if __name__ == "__main__":
         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
         return new_tip_rack
     
-    plate1 = get_well_container("HPLCPlateT1")
+    plate1 = get_tip_rack("RackT1")
     plate1.load_state({
         "Material": {
-            "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
-            "Code": "HPLC01",
-            "Name":  "HPLC料盘"
+            "uuid": "076250742950465b9d6ea29a225dfb00",
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
         }
     })
+
     plate2 = get_well_container("PlateT2")
     plate2.load_state({
         "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
         }
     })
-    plate3 = get_well_container("PlateT3")
+
+
+    plate3 = PRCXI9300Trash("trash", size_x=50, size_y=100, size_z=10, category="trash")
     plate3.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
-        }
-    })
-    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
-    trash.load_state({
         "Material": {
             "uuid": "730067cf07ae43849ddf4034299030e9"
         }
     })
+
+    plate4 = get_tip_rack("RackT4")
+    plate4.load_state({
+        "Material": {
+            "uuid": "076250742950465b9d6ea29a225dfb00",
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
+        }
+    })
+
     plate5 = get_well_container("PlateT5")
     plate5.load_state({
         "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650",
+            "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
         }
     })
     plate6 = get_well_container("PlateT6")
     plate6.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    plate7.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate8 = get_tip_rack("RackT8")
-    plate8.load_state({
-        "Material": {
-            "uuid": "068b3815e36b4a72a59bae017011b29f",
-            "Code": "ZX-001-10+",
-            "Name": "10μL加长 Tip头"
-        }
-    })
-    plate9 = get_well_container("PlateT9")
-    plate9.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate10 = get_well_container("PlateT10")
-    plate10.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate11 = get_well_container("PlateT11")
-    plate11.load_state({
         "Material": {
             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
         }
     })
-    plate12 = get_well_container("PlateT12")
-    plate12.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-    plate13 = get_well_container("PlateT13")
-    plate13.load_state({
-        "Material": {
-            "uuid": "04211a2dc93547fe9bf6121eac533650"
-        }
-    })
-
-    # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
 
     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
-    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate4, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
 
-    handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
+    # print(plate2)
+    plate_2_liquids = [[('water', 500)]]*96
+    plate2.set_well_liquids(plate_2_liquids)
+
+    handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, 
                                timeout=10.0, setup=False, debug=False, 
-                               matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
-                               channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
+                               matrix_id="71593",
+                               channel_num=8, axis="Left")  # Initialize the handler with the deck and host settings
     
-    handler.set_tiprack([plate8])  # Set the tip rack for the handler
+
+    handler.set_tiprack([plate1]) 
+
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
     from pylabrobot.resources import set_volume_tracking
     # from pylabrobot.resources import set_tip_tracking
     set_volume_tracking(enabled=True)
-
-    plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
-
     from unilabos.resources.graphio import *
 
-    A = tree_to_list([resource_plr_to_ulab(deck)])
-    with open("deck.json", "w", encoding="utf-8") as f:
-        json.dump(A, f, indent=4, ensure_ascii=False)
-
-    print(plate11.get_well(0).tracker.get_used_volume())
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    # asyncio.run(handler.pick_up_tips(plate1.children[:8],[0,1,2,3,4,5,6,7]))
 
-    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
-    # print(plate8.children[8])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
-    # print(plate11.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
-    # print(plate1.children[0])
-    # # asyncio.run(handler.run_protocol())
-    # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    # print(plate1.children[0])
+    # asyncio.run(handler.aspirate(plate2.children[:8],[50]*8, [0,1,2,3,4,5,6,7]))
+    # asyncio.run(handler.dispense(plate5.children[:8],[50]*8,[0,1,2,3,4,5,6,7]))
+    # # # asyncio.run(handler.drop_tips(tip_rack.children[8:16],[0,1,2,3,4,5,6,7]))
     # asyncio.run(handler.discard_tips())
 
+    # asyncio.run(handler.mix(well_containers.children[:8
+    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+    # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # asyncio.run(handler.add_liquid(
+    #     asp_vols=[100]*16,
+    #     dis_vols=[100]*16,
+    #     reagent_sources=plate2.children[:16],
+    #     targets=plate5.children[:16],
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 16,
+    #     blow_out_air_volume=[None] * 16,
+    #     delays=None,
+    #     mix_time=3,
+    #     mix_vol=50,
+    #     spread="wide",
+    # ))
+
+    # asyncio.run(handler.remove_liquid(
+    #     vols=[100]*16,
+    #     sources=plate2.children[-16:],
+    #     waste_liquid=plate5.children[:16], # 这个有些奇怪，但是好像也只能这么写
+    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+    #     flow_rates=[None] * 32,
+    #     offsets=[Coordinate(0, 0, 0)] * 32,
+    #     liquid_height=[None] * 32,
+    #     blow_out_air_volume=[None] * 32,
+    #     spread="wide",
+    # ))
+    asyncio.run(handler.transfer_liquid(
+        asp_vols=[100]*16,
+        dis_vols=[100]*16,
+        tip_racks=[plate1],
+        sources=plate2.children[-16:],
+        targets=plate5.children[:16],
+        use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+        offsets=[Coordinate(0, 0, 0)] * 32,
+        asp_flow_rates=[None] * 16,
+        dis_flow_rates=[None] * 16,
+        liquid_height=[None] * 32,
+        blow_out_air_volume=[None] * 32,
+        mix_times=3,
+        mix_vol=50,
+        spread="wide",
+    ))
+    print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+    # # input("pick_up_tips add step")
+    asyncio.run(handler.run_protocol())  # Run the protocol
+    # # input("Running protocol...")
+    # # input("Press Enter to continue...")  # Wait for user input before proceeding
+    # # print("PRCXI9300Handler initialized with deck and host settings.")
+
+    # Example usage
+    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
+    # 2. 设计一个单点动作流程，可以跑
+    # 3.
+
+
+
+
+
+
+
+
+#     deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
+
+#     from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul,opentrons_96_tiprack_10ul
+#     from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+#     def get_well_container(name: str) -> PRCXI9300Container:
+#         well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+#         plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+#                            ordering=collections.OrderedDict())
+#         plate_serialized = plate.serialize()
+#         plate_serialized["parent_name"] = deck.name
+#         well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+#         new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+#         return new_plate
+
+#     def get_tip_rack(name: str) -> PRCXI9300Container:
+#         tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+#         tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+#                            ordering=collections.OrderedDict())
+#         tip_rack_serialized = tip_rack.serialize()
+#         tip_rack_serialized["parent_name"] = deck.name
+#         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+#         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+#         return new_tip_rack
+    
+#     plate1 = get_well_container("HPLCPlateT1")
+#     plate1.load_state({
+#         "Material": {
+#             "uuid": "548bbc3df0d4447586f2c19d2c0c0c55",
+#             "Code": "HPLC01",
+#             "Name":  "HPLC料盘"
+#         }
+#     })
+#     plate2 = get_well_container("PlateT2")
+#     plate2.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate3 = get_well_container("PlateT3")
+#     plate3.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+#     trash.load_state({
+#         "Material": {
+#             "uuid": "730067cf07ae43849ddf4034299030e9"
+#         }
+#     })
+#     plate5 = get_well_container("PlateT5")
+#     plate5.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650",
+#         }
+#     })
+#     plate6 = get_well_container("PlateT6")
+#     plate6.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate7 = PRCXI9300Container(name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+#     plate7.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate8 = get_tip_rack("RackT8")
+#     plate8.load_state({
+#         "Material": {
+#             "uuid": "068b3815e36b4a72a59bae017011b29f",
+#             "Code": "ZX-001-10+",
+#             "Name": "10μL加长 Tip头"
+#         }
+#     })
+#     plate9 = get_well_container("PlateT9")
+#     plate9.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate10 = get_well_container("PlateT10")
+#     plate10.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate11 = get_well_container("PlateT11")
+#     plate11.load_state({
+#         "Material": {
+#             "uuid": "57b1e4711e9e4a32b529f3132fc5931f",
+#         }
+#     })
+#     plate12 = get_well_container("PlateT12")
+#     plate12.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+#     plate13 = get_well_container("PlateT13")
+#     plate13.load_state({
+#         "Material": {
+#             "uuid": "04211a2dc93547fe9bf6121eac533650"
+#         }
+#     })
+
+#     # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+
+#     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+#     deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+
+#     handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
+#                                timeout=10.0, setup=False, debug=False, 
+#                                matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
+#                                channel_num=1, axis="Right")  # Initialize the handler with the deck and host settings
+    
+#     handler.set_tiprack([plate8])  # Set the tip rack for the handler
+#     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
+#     from pylabrobot.resources import set_volume_tracking
+#     # from pylabrobot.resources import set_tip_tracking
+#     set_volume_tracking(enabled=True)
+
+#     plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)])  # Set liquids for every 8 wells in plate8
+
+#     from unilabos.resources.graphio import *
+
+#     A = tree_to_list([resource_plr_to_ulab(deck)])
+#     with open("deck.json", "w", encoding="utf-8") as f:
+#         json.dump(A, f, indent=4, ensure_ascii=False)
+
+#     print(plate11.get_well(0).tracker.get_used_volume())
+#     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+
+#     # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
+#     # print(plate8.children[8])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
+#     # print(plate11.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.dispense([plate1.children[0]],[10],[0]))
+#     # print(plate1.children[0])
+#     # # asyncio.run(handler.run_protocol())
+#     # asyncio.run(handler.mix([plate1.children[0]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+#     # print(plate1.children[0])
+#     # asyncio.run(handler.discard_tips())
+
 #     asyncio.run(handler.add_liquid(
-#     asp_vols=[10]*2,
-#     dis_vols=[10]*2,
+#     asp_vols=[10]*7,
+#     dis_vols=[10]*7,
 #     reagent_sources=[plate11.children[0]],
-#     targets=plate11.children[-2:],
+#     targets=plate1.children[2:9],
 #     use_channels=[0],
 #     flow_rates=[None] * 4,
 #     offsets=[Coordinate(0, 0, 0)] * 4,
@@ -1296,33 +1324,33 @@ if __name__ == "__main__":
 #     spread="wide",
 # ))
 
-#     asyncio.run(handler.transfer_liquid(
-#     asp_vols=[10]*2,
-#     dis_vols=[10]*2,
-#     sources=plate11.children[:2],
-#     targets=plate11.children[-2:],
-#     use_channels=[0],
-#     offsets=[Coordinate(0, 0, 0)] * 4,
-#     liquid_height=[None] * 2,
-#     blow_out_air_volume=[None] * 2,
-#     delays=None,
-#     mix_times=3,
-#     mix_vol=5,
-#     spread="wide",
-#     tip_racks=[plate8]
-# ))
+# #     asyncio.run(handler.transfer_liquid(
+# #     asp_vols=[10]*2,
+# #     dis_vols=[10]*2,
+# #     sources=plate11.children[:2],
+# #     targets=plate11.children[-2:],
+# #     use_channels=[0],
+# #     offsets=[Coordinate(0, 0, 0)] * 4,
+# #     liquid_height=[None] * 2,
+# #     blow_out_air_volume=[None] * 2,
+# #     delays=None,
+# #     mix_times=3,
+# #     mix_vol=5,
+# #     spread="wide",
+# #     tip_racks=[plate8]
+# # ))
 
-    asyncio.run(handler.remove_liquid(
-    vols=[10]*2,
-    sources=plate11.children[:2],
-    waste_liquid=plate11.children[43],
-    use_channels=[0],
-    offsets=[Coordinate(0, 0, 0)] * 4,
-    liquid_height=[None] * 2,
-    blow_out_air_volume=[None] * 2,
-    delays=None,
-    spread="wide"
-))
+# #     asyncio.run(handler.remove_liquid(
+# #     vols=[10]*2,
+# #     sources=plate11.children[:2],
+# #     waste_liquid=plate11.children[43],
+# #     use_channels=[0],
+# #     offsets=[Coordinate(0, 0, 0)] * 4,
+# #     liquid_height=[None] * 2,
+# #     blow_out_air_volume=[None] * 2,
+# #     delays=None,
+# #     spread="wide"
+# # ))
 
 
 
@@ -1331,45 +1359,45 @@ if __name__ == "__main__":
 
 
 
-    asyncio.run(handler.run_protocol())
+#     asyncio.run(handler.run_protocol())
 
-    # asyncio.run(handler.discard_tips())
-    # asyncio.run(handler.mix(well_containers.children[:8
-    # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
-    #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+#     # asyncio.run(handler.discard_tips())
+#     # asyncio.run(handler.mix(well_containers.children[:8
+#     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
+#     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
 
 
-    # asyncio.run(handler.remove_liquid(
-    #     vols=[100]*16,
-    #     sources=well_containers.children[-16:],
-    #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
-    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    #     flow_rates=[None] * 32,
-    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    #     liquid_height=[None] * 32,
-    #     blow_out_air_volume=[None] * 32,
-    #     spread="wide",
-    # ))
-    # asyncio.run(handler.transfer_liquid(
-    #     asp_vols=[100]*16,
-    #     dis_vols=[100]*16,
-    #     tip_racks=[tip_rack],
-    #     sources=well_containers.children[-16:],
-    #     targets=well_containers.children[:16],
-    #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
-    #     offsets=[Coordinate(0, 0, 0)] * 32,
-    #     asp_flow_rates=[None] * 16,
-    #     dis_flow_rates=[None] * 16,
-    #     liquid_height=[None] * 32,
-    #     blow_out_air_volume=[None] * 32,
-    #     mix_times=3,
-    #     mix_vol=50,
-    #     spread="wide",
-    # ))
-    print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
-    # input("pick_up_tips add step")
-    #asyncio.run(handler.run_protocol())  # Run the protocol
-    # input("Running protocol...")
-    # input("Press Enter to continue...")  # Wait for user input before proceeding
-    # print("PRCXI9300Handler initialized with deck and host settings.")
+#     # asyncio.run(handler.remove_liquid(
+#     #     vols=[100]*16,
+#     #     sources=well_containers.children[-16:],
+#     #     waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
+#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+#     #     flow_rates=[None] * 32,
+#     #     offsets=[Coordinate(0, 0, 0)] * 32,
+#     #     liquid_height=[None] * 32,
+#     #     blow_out_air_volume=[None] * 32,
+#     #     spread="wide",
+#     # ))
+#     # asyncio.run(handler.transfer_liquid(
+#     #     asp_vols=[100]*16,
+#     #     dis_vols=[100]*16,
+#     #     tip_racks=[tip_rack],
+#     #     sources=well_containers.children[-16:],
+#     #     targets=well_containers.children[:16],
+#     #     use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
+#     #     offsets=[Coordinate(0, 0, 0)] * 32,
+#     #     asp_flow_rates=[None] * 16,
+#     #     dis_flow_rates=[None] * 16,
+#     #     liquid_height=[None] * 32,
+#     #     blow_out_air_volume=[None] * 32,
+#     #     mix_times=3,
+#     #     mix_vol=50,
+#     #     spread="wide",
+#     # ))
+#     print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
+#     # input("pick_up_tips add step")
+#     #asyncio.run(handler.run_protocol())  # Run the protocol
+#     # input("Running protocol...")
+#     # input("Press Enter to continue...")  # Wait for user input before proceeding
+#     # print("PRCXI9300Handler initialized with deck and host settings.")
 

unilabos/registry/devices/virtual_device.yaml

@@ -4580,6 +4580,7 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
+              required: []
               type: object
             result: {}
           required:
@@ -4587,6 +4588,30 @@ virtual_solid_dispenser:
           title: cleanup参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-find_solid_reagent_bottle:
+        feedback: {}
+        goal: {}
+        goal_default:
+          reagent_name: null
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                reagent_name:
+                  type: string
+              required:
+              - reagent_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: find_solid_reagent_bottle参数
+          type: object
+        type: UniLabJsonCommand
       auto-initialize:
         feedback: {}
         goal: {}
@@ -4599,6 +4624,7 @@ virtual_solid_dispenser:
             feedback: {}
             goal:
               properties: {}
+              required: []
               type: object
             result: {}
           required:
@@ -4606,9 +4632,58 @@ virtual_solid_dispenser:
           title: initialize参数
           type: object
         type: UniLabJsonCommandAsync
+      auto-parse_mass_string:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mass_str: null
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mass_str:
+                  type: string
+              required:
+              - mass_str
+              type: object
+            result: {}
+          required:
+          - goal
+          title: parse_mass_string参数
+          type: object
+        type: UniLabJsonCommand
+      auto-parse_mol_string:
+        feedback: {}
+        goal: {}
+        goal_default:
+          mol_str: null
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                mol_str:
+                  type: string
+              required:
+              - mol_str
+              type: object
+            result: {}
+          required:
+          - goal
+          title: parse_mol_string参数
+          type: object
+        type: UniLabJsonCommand
     module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
     status_types:
       current_reagent: str
+      device_info: dict
       dispensed_amount: float
       status: str
       total_operations: int
@@ -4641,18 +4716,14 @@ virtual_solid_dispenser:
           type: object
         device_id:
           type: string
-        max_capacity:
-          default: 100.0
-          type: number
-        precision:
-          default: 0.001
-          type: number
       required: []
       type: object
     data:
       properties:
         current_reagent:
           type: string
+        device_info:
+          type: object
         dispensed_amount:
           type: number
         status:
@@ -4664,6 +4735,7 @@ virtual_solid_dispenser:
       - current_reagent
       - dispensed_amount
       - total_operations
+      - device_info
       type: object
   version: 1.0.0
 virtual_stirrer:

unilabos/registry/devices/work_station.yaml

@@ -474,12 +474,12 @@ workstation:
         goal:
           ph_value: ph_value
           reagent: reagent
-          vessel: vessel
-          volume: volume
+          settling_time: settling_time
           stir: stir
           stir_speed: stir_speed
           stir_time: stir_time
-          settling_time: settling_time
+          vessel: vessel
+          volume: volume
         goal_default:
           ph_value: 0.0
           reagent: ''
@@ -503,11 +503,6 @@ workstation:
                 z: 0.0
             sample_id: ''
             type: ''
-          volume: 0.0
-          stir: false
-          stir_speed: 300.0
-          stir_time: 60.0
-          settling_time: 30.0
         handles:
           input:
           - data_key: vessel
@@ -622,21 +617,6 @@ workstation:
                   - data
                   title: Resource
                   type: object
-                volume:
-                  type: number
-                  description: 'Volume of the solution to adjust pH'
-                stir:
-                  type: boolean
-                  description: "是否启用搅拌"
-                stir_speed:
-                  type: number
-                  description: "搅拌速度(RPM)"
-                stir_time:
-                  type: number
-                  description: "搅拌时间(秒)"
-                settling_time:
-                  type: number
-                  description: "pH平衡时间(秒)"
               required:
               - vessel
               - ph_value
@@ -2248,7 +2228,7 @@ workstation:
                   type: number
               required:
               - vessel
-              - #filtrate_vessel
+              - filtrate_vessel
               - stir
               - stir_speed
               - temp

unilabos/registry/registry.py

@@ -127,6 +127,8 @@ class Registry:
                         },
                     },
                     "version": "1.0.0",
+                    "category": [],
+                    "config_info": [],
                     "icon": "icon_device.webp",
                     "registry_type": "device",
                     "handles": [],