Feat/samples (#229)

* add sample_material

* adapt to new samples sys

.conda/base/recipe.yaml

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

unilabos/app/model.py

@@ -54,6 +54,7 @@ class JobAddReq(BaseModel):
     action_type: str = Field(
         examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
     )
+    sample_material: dict = Field(examples=[{"string": "string"}], description="sample uuid to material uuid", default_factory=dict)
     action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
     task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")

unilabos/app/web/controller.py

@@ -327,6 +327,7 @@ def job_add(req: JobAddReq) -> JobData:
             queue_item,
             action_type=action_type,
             action_kwargs=action_args,
+            sample_material=req.sample_material,
             server_info=server_info,
         )
 

unilabos/app/ws_client.py

@@ -545,7 +545,7 @@ class MessageProcessor:
                         try:
                             message_str = json.dumps(msg, ensure_ascii=False)
                             await self.websocket.send(message_str)
-                            logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
+                            # logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}")  # type: ignore  # noqa: E501
                         except Exception as e:
                             logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
                             logger.error(traceback.format_exc())
@@ -688,6 +688,7 @@ class MessageProcessor:
                 queue_item,
                 action_type=req.action_type,
                 action_kwargs=req.action_args,
+                sample_material=req.sample_material,
                 server_info=req.server_info,
             )
 
@@ -1301,7 +1302,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        # logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -1,15 +1,11 @@
 from __future__ import annotations
 
-import asyncio
 import time
 import traceback
 from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
-from typing_extensions import TypedDict
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
-from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
-from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources import (
@@ -27,26 +23,38 @@ from pylabrobot.resources import (
     Trash,
     Tip,
 )
+from typing_extensions import TypedDict
 
+from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.registry.placeholder_type import ResourceSlot
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.resources.resource_tracker import (
-from unilabos.resources.resource_tracker import ResourceTreeSet
+    ResourceTreeSet,
+    ResourceDict,
+    EXTRA_SAMPLE_UUID,
+    EXTRA_UNILABOS_SAMPLE_UUID,
+)
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
 class SimpleReturn(TypedDict):
-    samples: list
+    samples: List[List[ResourceDict]]
-    volumes: list
+    volumes: List[float]
 
 
 class SetLiquidReturn(TypedDict):
-    wells: list
+    wells: List[List[ResourceDict]]
-    volumes: list
+    volumes: List[float]
 
 
 class SetLiquidFromPlateReturn(TypedDict):
-    plate: list
+    plate: List[List[ResourceDict]]
-    wells: list
+    wells: List[List[ResourceDict]]
-    volumes: list
+    volumes: List[float]
+
+
+class TransferLiquidReturn(TypedDict):
+    sources: List[List[ResourceDict]]
+    targets: List[List[ResourceDict]]
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
@@ -228,12 +236,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_samples.append(
+            sample_uuid_value = resource.unilabos_extra.get(EXTRA_SAMPLE_UUID, None)
-                {"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}
+            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: sample_uuid_value})
-            )
             res_volumes.append(volume)
             self.pending_liquids_dict[channel] = {
-                "sample_uuid": resource.unilabos_extra.get("sample_uuid", None),
+                EXTRA_SAMPLE_UUID: sample_uuid_value,
                 "volume": volume,
             }
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -275,10 +282,10 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_uuid = self.pending_liquids_dict[channel]["sample_uuid"]
+            res_uuid = self.pending_liquids_dict[channel][EXTRA_SAMPLE_UUID]
             self.pending_liquids_dict[channel]["volume"] -= volume
-            resource.unilabos_extra["sample_uuid"] = res_uuid
+            resource.unilabos_extra[EXTRA_SAMPLE_UUID] = res_uuid
-            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
+            res_samples.append({"name": resource.name, EXTRA_SAMPLE_UUID: res_uuid})
             res_volumes.append(volume)
 
         return SimpleReturn(samples=res_samples, volumes=res_volumes)
@@ -682,14 +689,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(), volumes=res_volumes  # type: ignore
         )
 
-    @classmethod
     def set_liquid_from_plate(
-        cls, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
     ) -> SetLiquidFromPlateReturn:
         """Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
+        if isinstance(plate, list):  # 未来移除
+            plate = plate[0]
+        assert issubclass(plate.__class__, Plate), "plate must be a Plate"
+        plate: Plate = cast(Plate, plate)
         # 根据 well_names 获取对应的 Well 对象
         wells = [plate.get_well(name) for name in well_names]
         res_volumes = []
@@ -706,6 +716,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             well.set_liquids([(liquid_name, volume)])  # type: ignore
             res_volumes.append(volume)
 
+        task = ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{"resources": wells})
+        submit_time = time.time()
+        while not task.done():
+            if time.time() - submit_time > 10:
+                self._ros_node.lab_logger().info(f"set_liquid_from_plate {plate} 超时")
+                break
+            time.sleep(0.01)
+
         return SetLiquidFromPlateReturn(
             plate=ResourceTreeSet.from_plr_resources([plate], known_newly_created=False).dump(),  # type: ignore
             wells=ResourceTreeSet.from_plr_resources(wells, known_newly_created=False).dump(),  # type: ignore
@@ -1111,7 +1129,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         mix_liquid_height: Optional[float] = None,
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
-    ):
+    ) -> TransferLiquidReturn:
         """Transfer liquid with automatic mode detection.
 
         Supports three transfer modes:
@@ -1251,6 +1269,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                 "Supported modes: 1->N, N->1, or N->N."
             )
 
+        return TransferLiquidReturn(
+            sources=ResourceTreeSet.from_plr_resources(list(sources), known_newly_created=False).dump(),  # type: ignore
+            targets=ResourceTreeSet.from_plr_resources(list(targets), known_newly_created=False).dump(),  # type: ignore
+        )
+
     async def _transfer_one_to_one(
         self,
         sources: Sequence[Container],

unilabos/devices/liquid_handling/prcxi/prcxi.py

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

unilabos/devices/motor/ZDT_X42.py

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

unilabos/devices/separator/chinwe.py

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

unilabos/devices/separator/xkc_sensor.py

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

unilabos/registry/devices/chinwe.yaml

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

unilabos/registry/devices/liquid_handler.yaml

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

unilabos/registry/devices/motor.yaml

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

unilabos/registry/devices/sensor.yaml

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

unilabos/resources/graphio.py

@@ -151,12 +151,40 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
     """
     # 构建 id 到 uuid 的映射
     id_to_uuid: Dict[str, str] = {}
+    uuid_to_id: Dict[str, str] = {}
     for node in resource_tree_set.all_nodes:
         id_to_uuid[node.res_content.id] = node.res_content.uuid
+        uuid_to_id[node.res_content.uuid] = node.res_content.id
+
+    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
+    for link in links:
+        source_id = link.get("source")
+        target_id = link.get("target")
+
+        # 添加 source_uuid
+        if source_id and source_id in id_to_uuid:
+            link["source_uuid"] = id_to_uuid[source_id]
+
+        # 添加 target_uuid
+        if target_id and target_id in id_to_uuid:
+            link["target_uuid"] = id_to_uuid[target_id]
+
+        source_uuid = link.get("source_uuid")
+        target_uuid = link.get("target_uuid")
+
+        # 添加 source_uuid
+        if source_uuid and source_uuid in uuid_to_id:
+            link["source"] = uuid_to_id[source_uuid]
+
+        # 添加 target_uuid
+        if target_uuid and target_uuid in uuid_to_id:
+            link["target"] = uuid_to_id[target_uuid]
 
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in links:
         port = link.get("port")
+        if port is None:
+            continue
         if link.get("type", "physical") == "physical":
             link["type"] = "fluid"
         if isinstance(port, int):
@@ -179,13 +207,15 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
             link["port"] = {link["source"]: None, link["target"]: None}
 
     # 构建边字典，键为(source节点, target节点)，值为对应的port信息
-    edges = {(link["source"], link["target"]): link["port"] for link in links}
+    edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
 
     # 第二遍处理：填充反向边的dest信息
     delete_reverses = []
     for i, link in enumerate(links):
         s, t = link["source"], link["target"]
-        current_port = link["port"]
+        current_port = link.get("port")
+        if current_port is None:
+            continue
         if current_port.get(t) is None:
             reverse_key = (t, s)
             reverse_port = edges.get(reverse_key)
@@ -200,20 +230,6 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
                 current_port[t] = current_port[s]
     # 删除已被使用反向端口信息的反向边
     standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
-
-    # 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
-    for link in standardized_links:
-        source_id = link.get("source")
-        target_id = link.get("target")
-
-        # 添加 source_uuid
-        if source_id and source_id in id_to_uuid:
-            link["source_uuid"] = id_to_uuid[source_id]
-
-        # 添加 target_uuid
-        if target_id and target_id in id_to_uuid:
-            link["target_uuid"] = id_to_uuid[target_id]
-
     return standardized_links
 
 
@@ -284,6 +300,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["sourceHandle"] = port[source]
         elif "source_port" in edge:
             edge["sourceHandle"] = edge.pop("source_port")
+        elif "source_handle" in edge:
+            edge["sourceHandle"] = edge.pop("source_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":
@@ -292,6 +310,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
+        elif "target_handle" in edge:
+            edge["targetHandle"] = edge.pop("target_handle")
         else:
             typ = edge.get("type")
             if typ == "communication":

unilabos/resources/resource_tracker.py

@@ -14,6 +14,20 @@ if TYPE_CHECKING:
 
 
 EXTRA_CLASS = "unilabos_resource_class"
+EXTRA_SAMPLE_UUID = "sample_uuid"
+EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
+
+# 函数参数名常量 - 用于自动注入 sample_uuids 列表
+PARAM_SAMPLE_UUIDS = "sample_uuids"
+
+# JSON Command 中的系统参数字段名
+JSON_UNILABOS_PARAM = "unilabos_param"
+
+# 返回值中的 samples 字段名
+RETURN_UNILABOS_SAMPLES = "unilabos_samples"
+
+# sample_uuids 参数类型 (用于 virtual bench 等设备添加 sample_uuids 参数)
+SampleUUIDsType = Dict[str, Optional["PLRResource"]]
 
 
 class ResourceDictPositionSize(BaseModel):
@@ -529,6 +543,7 @@ class ResourceTreeSet(object):
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
+
                 location = cast(Coordinate, deserialize(plr_dict["location"]))
                 plr_resource.location = location
                 plr_resource.load_all_state(all_states)

unilabos/ros/nodes/base_device_node.py

@@ -4,8 +4,20 @@ import json
 import threading
 import time
 import traceback
-from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
+from typing import (
-    Tuple
+    get_type_hints,
+    TypeVar,
+    Generic,
+    Dict,
+    Any,
+    Type,
+    TypedDict,
+    Optional,
+    List,
+    TYPE_CHECKING,
+    Union,
+    Tuple,
+)
 
 from concurrent.futures import ThreadPoolExecutor
 import asyncio
@@ -48,6 +60,9 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeSet,
     ResourceTreeInstance,
     ResourceDictInstance,
+    EXTRA_SAMPLE_UUID,
+    PARAM_SAMPLE_UUIDS,
+    JSON_UNILABOS_PARAM,
 )
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from rclpy.task import Task, Future
@@ -216,14 +231,15 @@ class PropertyPublisher:
 
     def publish_property(self):
         try:
-            self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
+            # self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
             value = self.get_property()
             if self.print_publish:
-                self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
+                pass
+                # self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
             if value is not None:
                 msg = convert_to_ros_msg(self.msg_type, value)
                 self.publisher_.publish(msg)
-                self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
+                # self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
         except Exception as e:
             self.node.lab_logger().error(
                 f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
@@ -361,6 +377,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate
+
             # 物料传输到对应的node节点
             client = self._resource_clients["c2s_update_resource_tree"]
             request = SerialCommand.Request()
@@ -388,9 +405,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
             parent_resource = None
             if bind_parent_id != self.node_name:
-                parent_resource = self.resource_tracker.figure_resource(
+                parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
-                    {"name": bind_parent_id}
-                )
                 for r in rts.root_nodes:
                     # noinspection PyUnresolvedReferences
                     r.res_content.parent_uuid = parent_resource.unilabos_uuid
@@ -398,19 +413,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 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):
+            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
                 container_instance: RegularContainer = rts.root_nodes[0]
-                found_resources = self.resource_tracker.figure_resource(
+                found_resources = self.resource_tracker.figure_resource({"id": container_instance.name}, try_mode=True)
-                    {"id": container_instance.name}, try_mode=True
-                )
                 if not len(found_resources):
                     self.resource_tracker.add_resource(container_instance)
                     logger.info(f"添加物料{container_instance.name}到资源跟踪器")
                 else:
-                    assert (
+                    assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
-                        len(found_resources) == 1
-                    ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
                     found_resource = found_resources[0]
                     if isinstance(found_resource, RegularContainer):
                         logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
@@ -422,14 +438,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
                         )
             # noinspection PyUnresolvedReferences
-            request.command = json.dumps({
+            request.command = json.dumps(
+                {
                     "action": "add",
                     "data": {
                         "data": rts.dump(),
                         "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
                         "first_add": False,
                     },
-            })
+                }
+            )
             tree_response: SerialCommand.Response = await client.call_async(request)
             uuid_maps = json.loads(tree_response.response)
             plr_instances = rts.to_plr_resources()
@@ -471,7 +489,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
                             ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
                             LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
-                            self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
+                            self.lab_logger().warning(
+                                f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
+                            )
                         for liquid_type, liquid_volume, liquid_input_slot in zip(
                             ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
                         ):
@@ -490,9 +510,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
-                        final_response["liquid_input_resource_tree"] = 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:
+                    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"])
                         parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
@@ -507,14 +533,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
-                    request.command = json.dumps({
+                    request.command = json.dumps(
+                        {
                             "action": "add",
                             "data": {
                                 "data": rts_with_parent.dump(),
                                 "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
                                 "first_add": False,
                             },
-                    })
+                        }
+                    )
                     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)
@@ -811,7 +839,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
 
         def _handle_update(
-            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
+            plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
+            tree_set: ResourceTreeSet,
+            additional_add_params: Dict[str, Any],
         ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
             """
             处理资源更新操作的内部函数
@@ -836,7 +866,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 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
+                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
@@ -872,8 +905,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 else:
                     # 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
+                    sites = (
-                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
+                        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 []
+                    )
                     if target_site is not None and sites is not None and site_names is not None:
                         site_index = sites.index(original_instance)
                         site_name = site_names[site_index]
@@ -910,9 +951,7 @@ 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().trace(
+                self.lab_logger().trace(f"[资源同步] 处理 {action}, " 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"]:
                     tree_set = await self.get_resource(
@@ -939,9 +978,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 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
+                            {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                        )  # 和Update Resource一致
                         response: SerialCommand_Response = await self._resource_clients[
-                            "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                            "c2s_update_resource_tree"
+                        ].call_async(
+                            r
+                        )  # type: ignore
                         self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
                         results.append(result)
                     elif action == "update":
@@ -961,9 +1004,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     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
+                                {"data": {"data": new_tree_set.dump()}, "action": "update"}
+                            )  # 和Update Resource一致
                             response: SerialCommand_Response = await self._resource_clients[
-                                "c2s_update_resource_tree"].call_async(r)  # type: ignore
+                                "c2s_update_resource_tree"
+                            ].call_async(
+                                r
+                            )  # type: ignore
                             self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
                         results.append(result)
                     elif action == "remove":
@@ -1333,7 +1380,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                         resource_id=resource_data["id"], with_children=True
                                     )
                                     if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
                                     queried_resources[idx] = plr_resource
                                 else:
                                     uuid_indices.append((idx, unilabos_uuid, resource_data))
@@ -1346,7 +1393,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 for i, (idx, _, resource_data) in enumerate(uuid_indices):
                                     plr_resource = plr_resources[i]
                                     if "sample_id" in resource_data:
-                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                        plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
                                     queried_resources[idx] = plr_resource
 
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
@@ -1354,7 +1401,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             # 通过资源跟踪器获取本地实例
                             final_resources = queried_resources if is_sequence else queried_resources[0]
                             if not is_sequence:
-                                plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
+                                plr = self.resource_tracker.figure_resource(
+                                    {"name": final_resources.name}, try_mode=False
+                                )
                                 # 保留unilabos_extra
                                 if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
                                     plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
@@ -1393,8 +1442,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 execution_success = True
                             except Exception as _:
                                 execution_error = traceback.format_exc()
-                                error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
+                                error(
-                                trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
+                                    f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
+                                )
+                                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)
@@ -1414,9 +1467,11 @@ 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：{str(action_kwargs)[:1000]}")
+                                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}")
+                                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)
 
@@ -1539,20 +1594,39 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
+            # 获取 unilabos 系统参数
+            unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
+
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
                 function
             ), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
 
-            # 处理 ResourceSlot 类型参数
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
+                    # 处理 sample_uuids 参数注入
+                    if arg_name == PARAM_SAMPLE_UUIDS:
+                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
+                        # 将 material uuid 转换为 resource 实例
+                        # key: sample_uuid, value: material_uuid -> resource 实例
+                        resolved_sample_uuids: Dict[str, Any] = {}
+                        for sample_uuid, material_uuid in raw_sample_uuids.items():
+                            if material_uuid and self.resource_tracker:
+                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
+                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
+                            else:
+                                resolved_sample_uuids[sample_uuid] = material_uuid
+                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
+                        self.lab_logger().debug(
+                            f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
+                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1582,6 +1656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 )
                                 raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
+            # todo: 默认反报送
             return function(**function_args)
         except KeyError as ex:
             raise JsonCommandInitError(
@@ -1601,21 +1676,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             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(
+        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
         elapsed = 0.0
         while not future.done() and elapsed < timeout:
-            time.sleep(0.05)
+            time.sleep(0.02)
-            elapsed += 0.05
+            elapsed += 0.02
 
         if not future.done():
             raise Exception(f"资源查询超时: {uuids_list}")
@@ -1666,6 +1743,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         try:
             function_name = target["function_name"]
             function_args = target["function_args"]
+            # 获取 unilabos 系统参数
+            unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
+
             assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
             function = getattr(self.driver_instance, function_name)
             assert callable(
@@ -1675,14 +1755,30 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 function
             ), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
 
-            # 处理 ResourceSlot 类型参数
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
             for arg in args_list:
                 arg_name = arg["name"]
                 arg_type = arg["type"]
 
                 # 跳过不在 function_args 中的参数
                 if arg_name not in function_args:
+                    # 处理 sample_uuids 参数注入
+                    if arg_name == PARAM_SAMPLE_UUIDS:
+                        raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
+                        # 将 material uuid 转换为 resource 实例
+                        # key: sample_uuid, value: material_uuid -> resource 实例
+                        resolved_sample_uuids: Dict[str, Any] = {}
+                        for sample_uuid, material_uuid in raw_sample_uuids.items():
+                            if material_uuid and self.resource_tracker:
+                                resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
+                                resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
+                            else:
+                                resolved_sample_uuids[sample_uuid] = material_uuid
+                        function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
+                        self.lab_logger().debug(
+                            f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
+                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -1960,7 +2056,9 @@ class ROS2DeviceNode:
             asyncio.set_event_loop(loop)
             loop.run_forever()
 
-        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
+        ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
+            target=run_event_loop, daemon=True, name="ROS2DeviceNode"
+        )
         ROS2DeviceNode._asyncio_loop_thread.start()
         logger.info(f"循环线程已启动")
 

unilabos/ros/nodes/presets/host_node.py

@@ -1,17 +1,17 @@
 import collections
-from dataclasses import dataclass, field
 import json
 import threading
 import time
 import traceback
 import uuid
+from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
-from typing_extensions import TypedDict
 
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.service import Service
+from typing_extensions import TypedDict
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
     ResourceAdd,
@@ -23,10 +23,20 @@ from unilabos_msgs.srv import (
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 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.resources.resource_tracker import (
+    ResourceDict,
+    ResourceDictInstance,
+    ResourceTreeSet,
+    ResourceTreeInstance,
+    RETURN_UNILABOS_SAMPLES,
+    JSON_UNILABOS_PARAM,
+    PARAM_SAMPLE_UUIDS,
+)
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_msg_type,
@@ -37,17 +47,10 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.resources.resource_tracker import (
-    ResourceDict,
-    ResourceDictInstance,
-    ResourceTreeSet,
-    ResourceTreeInstance,
-)
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.log import warning
 from unilabos.utils.type_check import serialize_result_info
-from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -755,6 +758,7 @@ class HostNode(BaseROS2DeviceNode):
         item: "QueueItem",
         action_type: str,
         action_kwargs: Dict[str, Any],
+        sample_material: Dict[str, str],
         server_info: Optional[Dict[str, Any]] = None,
     ) -> None:
         """
@@ -772,14 +776,14 @@ class HostNode(BaseROS2DeviceNode):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
             action_id = f"/devices/{device_id}/_execute_driver_command"
-            action_kwargs = {
+            json_command: Dict[str, Any] = {
-                "string": json.dumps(
-                    {
                 "function_name": action_name,
                 "function_args": action_kwargs,
+                JSON_UNILABOS_PARAM: {
+                    PARAM_SAMPLE_UUIDS: sample_material,
+                },
             }
-                )
+            action_kwargs = {"string": json.dumps(json_command)}
-            }
             if action_type.startswith("UniLabJsonCommandAsync"):
                 action_id = f"/devices/{device_id}/_execute_driver_command_async"
         else:
@@ -790,24 +794,9 @@ class HostNode(BaseROS2DeviceNode):
             raise ValueError(f"ActionClient {action_id} not found.")
 
         action_client: ActionClient = self._action_clients[action_id]
-
-        # 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
-        def assign_sample_id(obj):
-            if isinstance(obj, dict):
-                if "sample_uuid" in obj:
-                    obj["sample_id"] = obj["sample_uuid"]
-                    obj.pop("sample_uuid")
-                for k, v in obj.items():
-                    if k != "unilabos_extra":
-                        assign_sample_id(v)
-            elif isinstance(obj, list):
-                for item in obj:
-                    assign_sample_id(item)
-
-        assign_sample_id(action_kwargs)
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
-        self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        # self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
@@ -867,14 +856,14 @@ class HostNode(BaseROS2DeviceNode):
                         # 适配后端的一些额外处理
                         return_value = return_info.get("return_value")
                         if isinstance(return_value, dict):
-                            unilabos_samples = return_value.pop("unilabos_samples", None)
+                            unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
                             if isinstance(unilabos_samples, list) and unilabos_samples:
                                 self.lab_logger().info(
                                     f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
                                     f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
                                     f"{'...' if len(unilabos_samples) > 5 else ''}"
                                 )
-                                return_info["unilabos_samples"] = unilabos_samples
+                                return_info[RETURN_UNILABOS_SAMPLES] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"
@@ -1180,7 +1169,7 @@ class HostNode(BaseROS2DeviceNode):
         """
         更新节点信息回调
         """
-        # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
+        self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
         try:
             from unilabos.app.communication import get_communication_client
             from unilabos.app.web.client import HTTPClient, http_client

unilabos/test/experiments/prcxi_9320_slim.json

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

unilabos/test/experiments/xkc_sensor_test.json

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

unilabos/test/experiments/zdt_motor_test.json

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

unilabos/utils/import_manager.py

@@ -27,6 +27,7 @@ __all__ = [
 
 from ast import Constant
 
+from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
 from unilabos.utils import logger
 from unilabos.utils.decorator import is_not_action
 
@@ -341,13 +342,18 @@ class ImportManager:
                     result["action_methods"][method_name] = method_info
         return result
 
-    def _analyze_method_signature(self, method) -> Dict[str, Any]:
+    def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
         """
         分析方法签名，提取具体的命名参数信息
 
         注意：此方法会跳过*args和**kwargs，只提取具体的命名参数
         这样可以确保通过**dict方式传参时的准确性
 
+        Args:
+            method: 要分析的方法
+            skip_unilabos_params: 是否跳过 unilabos 系统参数（如 sample_uuids），
+                                  registry 补全时为 True，JsonCommand 执行时为 False
+
         示例用法：
             method_info = self._analyze_method_signature(some_method)
             params = {"param1": "value1", "param2": "value2"}
@@ -368,6 +374,10 @@ class ImportManager:
             if param.kind == param.VAR_KEYWORD:  # **kwargs
                 continue
 
+            # 跳过 sample_uuids 参数（由系统自动注入，registry 补全时跳过）
+            if skip_unilabos_params and param_name == PARAM_SAMPLE_UUIDS:
+                continue
+
             is_required = param.default == inspect.Parameter.empty
             if is_required:
                 num_required += 1
@@ -563,6 +573,9 @@ class ImportManager:
         for i, arg in enumerate(node.args.args):
             if arg.arg == "self":
                 continue
+            # 跳过 sample_uuids 参数（由系统自动注入）
+            if arg.arg == PARAM_SAMPLE_UUIDS:
+                continue
             arg_info = {
                 "name": arg.arg,
                 "type": None,

unilabos/workflow/common.py

@@ -19,7 +19,9 @@
 
 第一步: 按 slot 去重创建 create_resource 节点（创建板子）
 --------------------------------------------------------------------------------
+- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 create_resource 节点
 - 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
+- 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
 - 生成参数:
     res_id: plate_slot_{slot}
     device_id: /PRCXI
@@ -29,11 +31,13 @@
 - 输出端口: labware（用于连接 set_liquid_from_plate）
 - 控制流: create_resource 之间通过 ready 端口串联
 
-示例: slot=1, slot=4 -> 创建 2 个 create_resource 节点
+示例: slot=1, slot=4 -> 创建 1 个 Group + 2 个 create_resource 节点
 
 第二步: 为每个 reagent 创建 set_liquid_from_plate 节点（设置液体）
 --------------------------------------------------------------------------------
+- 首先创建一个 Group 节点（type="Group", minimized=true），用于包含所有 set_liquid_from_plate 节点
 - 遍历所有 reagent，为每个试剂创建 set_liquid_from_plate 节点
+- 所有 set_liquid_from_plate 节点的 parent_uuid 指向 Group 节点，minimized=true
 - 生成参数:
     plate: []（通过连接传递，来自 create_resource 的 labware）
     well_names: ["A1", "A3", "A5"]（来自 reagent 的 well 数组）
@@ -56,7 +60,11 @@
 ==================== 连接关系图 ====================
 
 控制流 (ready 端口串联):
-    create_resource_1 -> create_resource_2 -> ... -> set_liquid_1 -> set_liquid_2 -> ... -> transfer_liquid_1 -> transfer_liquid_2 -> ...
+    - create_resource 之间: 无 ready 连接
+    - set_liquid_from_plate 之间: 无 ready 连接
+    - create_resource 与 set_liquid_from_plate 之间: 无 ready 连接
+    - transfer_liquid 之间: 通过 ready 端口串联
+        transfer_liquid_1 -> transfer_liquid_2 -> transfer_liquid_3 -> ...
 
 物料流:
     [create_resource] --labware--> [set_liquid_from_plate] --output_wells--> [transfer_liquid] --sources_out/targets_out--> [下一个 transfer_liquid]
@@ -76,6 +84,13 @@ transfer_liquid:
     输入: sources -> sources_identifier, targets -> targets_identifier
     输出: sources -> sources_out, targets -> targets_out
 
+==================== 设备名配置 (device_name) ====================
+
+每个节点都有 device_name 字段，指定在哪个设备上执行:
+- create_resource: device_name = "host_node"（固定）
+- set_liquid_from_plate: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
+- transfer_liquid 等动作: device_name = "PRCXI"（可配置，见 DEVICE_NAME_DEFAULT）
+
 ==================== 校验规则 ====================
 
 - 检查 sources/targets 是否在 reagent 中定义
@@ -97,6 +112,13 @@ Json = Dict[str, Any]
 
 # ==================== 默认配置 ====================
 
+# 设备名配置
+DEVICE_NAME_HOST = "host_node"  # create_resource 固定在 host_node 上执行
+DEVICE_NAME_DEFAULT = "PRCXI"  # transfer_liquid, set_liquid_from_plate 等动作的默认设备名
+
+# 节点类型
+NODE_TYPE_DEFAULT = "ILab"  # 所有节点的默认类型
+
 # create_resource 节点默认参数
 CREATE_RESOURCE_DEFAULTS = {
     "device_id": "/PRCXI",
@@ -367,9 +389,23 @@ def build_protocol_graph(
                 "res_id": res_id,
             }
 
+    # 创建 Group 节点，包含所有 create_resource 节点
+    group_node_id = str(uuid.uuid4())
+    G.add_node(
+        group_node_id,
+        name="Resources Group",
+        type="Group",
+        parent_uuid="",
+        lab_node_type="Device",
+        template_name="",
+        resource_name="",
+        footer="",
+        minimized=True,
+        param=None,
+    )
+
     # 为每个唯一的 slot 创建 create_resource 节点
     res_index = 0
-    last_create_resource_id = None
     for slot, info in slots_info.items():
         node_id = str(uuid.uuid4())
         res_id = info["res_id"]
@@ -383,6 +419,10 @@ def build_protocol_graph(
             description=f"Create plate on slot {slot}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
+            device_name=DEVICE_NAME_HOST,
+            type=NODE_TYPE_DEFAULT,
+            parent_uuid=group_node_id,  # 指向 Group 节点
+            minimized=True,  # 折叠显示
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
@@ -394,14 +434,25 @@ def build_protocol_graph(
         )
         slot_to_create_resource[slot] = node_id
 
-        # create_resource 之间通过 ready 串联
+        # create_resource 之间不需要 ready 连接
-        if last_create_resource_id is not None:
-            G.add_edge(last_create_resource_id, node_id, source_port="ready", target_port="ready")
-        last_create_resource_id = node_id
 
     # ==================== 第二步：为每个 reagent 创建 set_liquid_from_plate 节点 ====================
+    # 创建 Group 节点，包含所有 set_liquid_from_plate 节点
+    set_liquid_group_id = str(uuid.uuid4())
+    G.add_node(
+        set_liquid_group_id,
+        name="SetLiquid Group",
+        type="Group",
+        parent_uuid="",
+        lab_node_type="Device",
+        template_name="",
+        resource_name="",
+        footer="",
+        minimized=True,
+        param=None,
+    )
+
     set_liquid_index = 0
-    last_set_liquid_id = last_create_resource_id  # set_liquid_from_plate 连接在 create_resource 之后
 
     for labware_id, item in labware_info.items():
         # 跳过 Tip/Rack 类型
@@ -430,6 +481,10 @@ def build_protocol_graph(
             description=f"Set liquid: {labware_id}",
             lab_node_type="Reagent",
             footer="set_liquid_from_plate-liquid_handler.prcxi",
+            device_name=DEVICE_NAME_DEFAULT,
+            type=NODE_TYPE_DEFAULT,
+            parent_uuid=set_liquid_group_id,  # 指向 Group 节点
+            minimized=True,  # 折叠显示
             param={
                 "plate": [],  # 通过连接传递
                 "well_names": wells,  # 孔位名数组，如 ["A1", "A3", "A5"]
@@ -438,10 +493,7 @@ def build_protocol_graph(
             },
         )
 
-        # ready 连接：上一个节点 -> set_liquid_from_plate
+        # set_liquid_from_plate 之间不需要 ready 连接
-        if last_set_liquid_id is not None:
-            G.add_edge(last_set_liquid_id, node_id, source_port="ready", target_port="ready")
-        last_set_liquid_id = node_id
 
         # 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
         create_res_node_id = slot_to_create_resource.get(slot)
@@ -451,7 +503,8 @@ def build_protocol_graph(
         # set_liquid_from_plate 的输出 output_wells 用于连接 transfer_liquid
         resource_last_writer[labware_id] = f"{node_id}:output_wells"
 
-    last_control_node_id = last_set_liquid_id
+    # transfer_liquid 之间通过 ready 串联，从 None 开始
+    last_control_node_id = None
 
     # 端口名称映射：JSON 字段名 -> 实际 handle key
     INPUT_PORT_MAPPING = {
@@ -544,9 +597,11 @@ def build_protocol_graph(
             if param_key in params:
                 params[param_key] = []
 
-        # 更新 step 的 param 和 footer
+        # 更新 step 的 param、footer、device_name 和 type
         step_copy = step.copy()
         step_copy["param"] = params
+        step_copy["device_name"] = DEVICE_NAME_DEFAULT  # 动作节点使用默认设备名
+        step_copy["type"] = NODE_TYPE_DEFAULT  # 节点类型
 
         # 如果有警告，修改 footer 添加警告标记（警告放前面）
         if warnings: