Update deploy-docs.yml

.github/workflows/deploy-docs.yml

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

docs/conf.py

@@ -23,7 +23,7 @@ extensions = [
     "myst_parser",
     "sphinx.ext.autodoc",
     "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
-    "sphinx_rtd_theme"
+    "sphinx_rtd_theme",
 ]
 
 source_suffix = {

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -178,12 +178,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "DMF",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["DMF", 500.0]],
+                "pending_liquids": [["DMF", 500.0]]
             }
         },
         {
@@ -207,12 +203,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "ethyl_acetate",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["ethyl_acetate", 1000.0]],
+                "pending_liquids": [["ethyl_acetate", 1000.0]]
             }
         },
         {
@@ -236,12 +228,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "hexane",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["hexane", 1000.0]],
+                "pending_liquids": [["hexane", 1000.0]]
             }
         },
         {
@@ -265,12 +253,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "methanol",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["methanol", 1000.0]],
+                "pending_liquids": [["methanol", 1000.0]]
             }
         },
         {
@@ -294,12 +278,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                    {
-                        "liquid_type": "water",
-                        "liquid_volume": 1000.0
-                    }
-                ]
+                "liquids": [["water", 1000.0]],
+                "pending_liquids": [["water", 1000.0]]
             }
         },
         {
@@ -368,8 +348,8 @@
                 "has_heater": true
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {
@@ -454,8 +434,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {
@@ -479,8 +459,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {
@@ -694,8 +674,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {
@@ -719,8 +699,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {
@@ -744,8 +724,8 @@
                 "size_z": 0
             },
             "data": {
-                "liquids": [
-                ]
+                "liquids": [],
+                "pending_liquids": []
             }
         },
         {

unilabos/resources/container.py

@@ -1,4 +1,5 @@
 import json
+from typing import Dict, Any
 
 from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource
@@ -15,9 +16,11 @@ class RegularContainer(Container):
         if "size_z" not in kwargs:
             kwargs["size_z"] = 0
         self.kwargs = kwargs
+        self.state = {}
         super().__init__(*args, **kwargs)
 
-
+    def load_state(self, state: Dict[str, Any]):
+        self.state = state
 #
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入

unilabos/ros/nodes/resource_tracker.py

@@ -399,11 +399,11 @@ class ResourceTreeSet(object):
             res = node.res_content
             plr_type = TYPE_MAP.get(res.type, res.type)
             if res.type not in TYPE_MAP:
-                logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
+                logger.warning(f"未知类型 {res.type}")
 
             d = {
                 "name": res.name,
-                "type": res.type,
+                "type": res.config.get("type", plr_type),
                 "size_x": res.config.get("size_x", 0),
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),