add registry name & add always free

* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.

docs/user_guide/best_practice.md

@@ -452,8 +452,9 @@ unilab --ak your_ak --sk your_sk -g test/experiments/mock_devices/mock_all.json
 **操作步骤：**
 
 1. 将两个 `container` 拖拽到 `workstation` 中
-2. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
-3. 在画布上连接它们（建立父子关系）
+2. 将 `virtual_multiway_valve` 拖拽到 `workstation` 中
+3. 将 `virtual_transfer_pump` 拖拽到 `workstation` 中
+4. 在画布上连接它们（建立父子关系）
 
 ![设备连接](image/links.png)
 

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")
     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

@@ -76,6 +76,7 @@ class JobInfo:
     start_time: float
     last_update_time: float = field(default_factory=time.time)
     ready_timeout: Optional[float] = None  # READY状态的超时时间
+    always_free: bool = False  # 是否为永久闲置动作(不受排队限制)
 
     def update_timestamp(self):
         """更新最后更新时间"""
@@ -127,6 +128,15 @@ class DeviceActionManager:
             # 总是将job添加到all_jobs中
             self.all_jobs[job_info.job_id] = job_info
 
+            # always_free的动作不受排队限制，直接设为READY
+            if job_info.always_free:
+                job_info.status = JobStatus.READY
+                job_info.update_timestamp()
+                job_info.set_ready_timeout(10)
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Job {job_log} always_free, start immediately")
+                return True
+
             # 检查是否有正在执行或准备执行的任务
             if device_key in self.active_jobs:
                 # 有正在执行或准备执行的任务，加入队列
@@ -176,11 +186,15 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 return False
 
-            # 检查设备上是否是这个job
-            if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
-                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
-                logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
-                return False
+            # always_free的job不需要检查active_jobs
+            if not job_info.always_free:
+                # 检查设备上是否是这个job
+                if device_key not in self.active_jobs or self.active_jobs[device_key].job_id != job_id:
+                    job_log = format_job_log(
+                        job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name
+                    )
+                    logger.error(f"[DeviceActionManager] Job {job_log} is not the active job for {device_key}")
+                    return False
 
             # 开始执行任务，将状态从READY转换为STARTED
             job_info.status = JobStatus.STARTED
@@ -203,6 +217,13 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理，不影响队列
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                job_info.update_timestamp()
+                del self.all_jobs[job_id]
+                return None
+
             # 移除活跃任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 del self.active_jobs[device_key]
@@ -234,9 +255,14 @@ class DeviceActionManager:
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务"""
+        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
         with self.lock:
-            return list(self.active_jobs.values())
+            jobs = list(self.active_jobs.values())
+            # 补充 always_free 的 STARTED job(它们不在 active_jobs 中)
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.STARTED and job not in jobs:
+                    jobs.append(job)
+            return jobs
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -261,6 +287,14 @@ class DeviceActionManager:
             job_info = self.all_jobs[job_id]
             device_key = job_info.device_action_key
 
+            # always_free的job直接清理
+            if job_info.always_free:
+                job_info.status = JobStatus.ENDED
+                del self.all_jobs[job_id]
+                job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name)
+                logger.trace(f"[DeviceActionManager] Always-free job {job_log} cancelled")
+                return True
+
             # 如果是正在执行的任务
             if device_key in self.active_jobs and self.active_jobs[device_key].job_id == job_id:
                 # 清理active job状态
@@ -334,13 +368,18 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 统计READY状态的任务数量
-            ready_jobs_count = sum(1 for job in self.active_jobs.values() if job.status == JobStatus.READY)
+            # 收集所有需要检查的 READY 任务(active_jobs + always_free READY jobs)
+            ready_candidates = list(self.active_jobs.values())
+            for job in self.all_jobs.values():
+                if job.always_free and job.status == JobStatus.READY and job not in ready_candidates:
+                    ready_candidates.append(job)
+
+            ready_jobs_count = sum(1 for job in ready_candidates if job.status == JobStatus.READY)
             if ready_jobs_count > 0:
                 logger.trace(f"[DeviceActionManager] Checking {ready_jobs_count} READY jobs for timeout")  # type: ignore  # noqa: E501
 
             # 找到所有超时的READY任务（只检测，不处理）
-            for job_info in self.active_jobs.values():
+            for job_info in ready_candidates:
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -545,7 +584,7 @@ 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())
@@ -608,6 +647,24 @@ class MessageProcessor:
         if host_node:
             host_node.handle_pong_response(pong_data)
 
+    def _check_action_always_free(self, device_id: str, action_name: str) -> bool:
+        """检查该action是否标记为always_free，通过HostNode统一的_action_value_mappings查找"""
+        try:
+            host_node = HostNode.get_instance(0)
+            if not host_node:
+                return False
+            # noinspection PyProtectedMember
+            action_mappings = host_node._action_value_mappings.get(device_id)
+            if not action_mappings:
+                return False
+            # 尝试直接匹配或 auto- 前缀匹配
+            for key in [action_name, f"auto-{action_name}"]:
+                if key in action_mappings:
+                    return action_mappings[key].get("always_free", False)
+            return False
+        except Exception:
+            return False
+
     async def _handle_query_action_state(self, data: Dict[str, Any]):
         """处理query_action_state消息"""
         device_id = data.get("device_id", "")
@@ -622,6 +679,9 @@ class MessageProcessor:
 
         device_action_key = f"/devices/{device_id}/{action_name}"
 
+        # 检查action是否为always_free
+        action_always_free = self._check_action_always_free(device_id, action_name)
+
         # 创建任务信息
         job_info = JobInfo(
             job_id=job_id,
@@ -631,6 +691,7 @@ class MessageProcessor:
             device_action_key=device_action_key,
             status=JobStatus.QUEUE,
             start_time=time.time(),
+            always_free=action_always_free,
         )
 
         # 添加到设备管理器
@@ -657,6 +718,8 @@ class MessageProcessor:
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理job_start消息"""
         try:
+            if not data.get("sample_material"):
+                data["sample_material"] = {}
             req = JobAddReq(**data)
 
             job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
@@ -688,6 +751,7 @@ 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 +1365,7 @@ 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/compile/pump_protocol.py

@@ -95,8 +95,29 @@ def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
     return total_volume
 
 
-def is_integrated_pump(node_name):
-    return "pump" in node_name and "valve" in node_name
+def is_integrated_pump(node_class: str, node_name: str = "") -> bool:
+    """
+    判断是否为泵阀一体设备
+    """
+    class_lower = (node_class or "").lower()
+    name_lower = (node_name or "").lower()
+
+    if "pump" not in class_lower and "pump" not in name_lower:
+        return False
+
+    integrated_markers = [
+        "valve",
+        "pump_valve",
+        "pumpvalve",
+        "integrated",
+        "transfer_pump",
+    ]
+
+    for marker in integrated_markers:
+        if marker in class_lower or marker in name_lower:
+            return True
+
+    return False
 
 
 def find_connected_pump(G, valve_node):
@@ -186,7 +207,9 @@ def build_pump_valve_maps(G, pump_backbone):
     debug_print(f"🔧 过滤后的骨架: {filtered_backbone}")
 
     for node in filtered_backbone:
-        if is_integrated_pump(G.nodes[node]["class"]):
+        node_data = G.nodes.get(node, {})
+        node_class = node_data.get("class", "") or ""
+        if is_integrated_pump(node_class, node):
             pumps_from_node[node] = node
             valve_from_node[node] = node
             debug_print(f"  - 集成泵-阀: {node}")

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -27,7 +27,12 @@ from typing_extensions import TypedDict
 
 from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
 from unilabos.registry.placeholder_type import ResourceSlot
-from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
+from unilabos.resources.resource_tracker import (
+    ResourceTreeSet,
+    ResourceDict,
+    EXTRA_SAMPLE_UUID,
+    EXTRA_UNILABOS_SAMPLE_UUID,
+)
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
 
 
@@ -231,12 +236,11 @@ class LiquidHandlerMiddleware(LiquidHandler):
         res_samples = []
         res_volumes = []
         for resource, volume, channel in zip(resources, vols, use_channels):
-            res_samples.append(
-                {"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}
-            )
+            sample_uuid_value = resource.unilabos_extra.get(EXTRA_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)
@@ -278,10 +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
-            res_samples.append({"name": resource.name, "sample_uuid": res_uuid})
+            resource.unilabos_extra[EXTRA_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)
@@ -686,16 +690,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         )
 
     def set_liquid_from_plate(
-        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: 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)
+        plate: Plate = cast(Plate, cast(Resource, 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 = []

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -595,7 +595,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
         return super().set_liquid(wells, liquid_names, volumes)
 
     def set_liquid_from_plate(
-        self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
+        self, plate: 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)
 

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,10 +19,11 @@ from rclpy.node import Node
 import re
 
 class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
-    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", registry_name: str = "lh_joint_publisher", **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/devices/virtual/virtual_transferpump.py

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
 
 class VirtualTransferPump:
     """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
-    
+
     _ros_node: BaseROS2DeviceNode
-    
+
     def __init__(self, device_id: str = None, config: dict = None, **kwargs):
         """
         初始化虚拟转移泵
-        
+
         Args:
             device_id: 设备ID
             config: 配置字典，包含max_volume, port等参数
             **kwargs: 其他参数，确保兼容性
         """
         self.device_id = device_id or "virtual_transfer_pump"
-        
+
         # 从config或kwargs中获取参数，确保类型正确
         if config:
-            self.max_volume = float(config.get('max_volume', 25.0))
-            self.port = config.get('port', 'VIRTUAL')
+            self.max_volume = float(config.get("max_volume", 25.0))
+            self.port = config.get("port", "VIRTUAL")
         else:
-            self.max_volume = float(kwargs.get('max_volume', 25.0))
-            self.port = kwargs.get('port', 'VIRTUAL')
-        
-        self._transfer_rate = float(kwargs.get('transfer_rate', 0))
-        self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
-        
+            self.max_volume = float(kwargs.get("max_volume", 25.0))
+            self.port = kwargs.get("port", "VIRTUAL")
+
+        self._transfer_rate = float(kwargs.get("transfer_rate", 0))
+        self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
+
         # 状态变量 - 确保都是正确类型
         self._status = "Idle"
         self._position = 0.0  # float
-        self._max_velocity = 5.0  # float 
+        self._max_velocity = 5.0  # float
         self._current_volume = 0.0  # float
 
         # 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,14 +52,16 @@ class VirtualTransferPump:
         self._fast_dispense_time = 1.0  # 快速喷射时间（秒）
 
         self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
-        
+
         print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
-        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
+        print(
+            f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
+        )
         print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
-    
+
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
-    
+
     async def initialize(self) -> bool:
         """初始化虚拟泵 🚀"""
         self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -68,33 +70,33 @@ class VirtualTransferPump:
         self._current_volume = 0.0
         self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
         return True
-    
+
     async def cleanup(self) -> bool:
         """清理虚拟泵 🧹"""
         self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
         self._status = "Idle"
         self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
         return True
-    
+
     # 基本属性
     @property
     def status(self) -> str:
         return self._status
-    
+
     @property
     def position(self) -> float:
         """当前柱塞位置 (ml) 📍"""
         return self._position
-    
+
     @property
     def current_volume(self) -> float:
         """当前注射器中的体积 (ml) 💧"""
         return self._current_volume
-    
+
     @property
     def max_velocity(self) -> float:
         return self._max_velocity
-    
+
     @property
     def transfer_rate(self) -> float:
         return self._transfer_rate
@@ -103,17 +105,17 @@ class VirtualTransferPump:
         """设置最大速度 (ml/s) 🌊"""
         self._max_velocity = max(0.1, min(50.0, velocity))  # 限制在合理范围内
         self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
-    
+
     def get_status(self) -> str:
         """获取泵状态 📋"""
         return self._status
-    
+
     async def _simulate_operation(self, duration: float):
         """模拟操作延时 ⏱️"""
         self._status = "Busy"
         await self._ros_node.sleep(duration)
         self._status = "Idle"
-    
+
     def _calculate_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算操作持续时间 ⏰
@@ -121,10 +123,10 @@ class VirtualTransferPump:
         """
         if velocity is None:
             velocity = self._max_velocity
-        
+
         # 📊 计算理论时间（用于日志显示）
         theoretical_duration = abs(volume) / velocity
-        
+
         # 🚀 如果启用快速模式，使用固定的快速时间
         if self._fast_mode:
             # 根据操作类型选择快速时间
@@ -132,13 +134,13 @@ class VirtualTransferPump:
                 actual_duration = self._fast_move_time
             else:  # 很小的操作
                 actual_duration = 0.5
-            
+
             self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
             return actual_duration
         else:
             # 正常模式使用理论时间
             return theoretical_duration
-    
+
     def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
         """
         计算显示用的持续时间（用于日志） 📊
@@ -147,16 +149,16 @@ class VirtualTransferPump:
         if velocity is None:
             velocity = self._max_velocity
         return abs(volume) / velocity
-    
+
     # 新的set_position方法 - 专门用于SetPumpPosition动作
     async def set_position(self, position: float, max_velocity: float = None):
         """
         移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
-        
+
         Args:
             position (float): 目标位置 (ml)
             max_velocity (float): 移动速度 (ml/s)
-        
+
         Returns:
             dict: 符合SetPumpPosition.action定义的结果
         """
@@ -164,19 +166,19 @@ class VirtualTransferPump:
             # 验证并转换参数
             target_position = float(position)
             velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
-            
+
             # 限制位置在有效范围内
             target_position = max(0.0, min(float(self.max_volume), target_position))
-            
+
             # 计算移动距离
             volume_to_move = abs(target_position - self._position)
-            
+
             # 📊 计算显示用的时间（用于日志）
             display_duration = self._calculate_display_duration(volume_to_move, velocity)
-            
+
             # ⚡ 计算实际执行时间（快速模式）
             actual_duration = self._calculate_duration(volume_to_move, velocity)
-            
+
             # 🎯 确定操作类型和emoji
             if target_position > self._position:
                 operation_type = "吸液"
@@ -187,28 +189,34 @@ class VirtualTransferPump:
             else:
                 operation_type = "保持"
                 operation_emoji = "📍"
-            
+
             self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
-            self.logger.info(f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
+            self.logger.info(
+                f"  📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
+            )
             self.logger.info(f"  🌊 速度: {velocity:.2f} mL/s")
             self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-            
+
             if self._fast_mode:
                 self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-            
+
             # 🚀 模拟移动过程
             if volume_to_move > 0.01:  # 只有当移动距离足够大时才显示进度
                 start_position = self._position
                 steps = 5 if actual_duration > 0.5 else 2  # 根据实际时间调整步数
                 step_duration = actual_duration / steps
-                
+
                 self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
-                
+
                 for i in range(steps + 1):
                     # 计算当前位置和进度
                     progress = (i / steps) * 100 if steps > 0 else 100
-                    current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
-                    
+                    current_pos = (
+                        start_position + (target_position - start_position) * (i / steps)
+                        if steps > 0
+                        else target_position
+                    )
+
                     # 更新状态
                     if i < steps:
                         self._status = f"{operation_type}中"
@@ -216,10 +224,10 @@ class VirtualTransferPump:
                     else:
                         self._status = "Idle"
                         status_emoji = "✅"
-                    
+
                     self._position = current_pos
                     self._current_volume = current_pos
-                    
+
                     # 显示进度（每25%或最后一步）
                     if i == 0:
                         self.logger.debug(f"  🔄 {operation_type}开始: {progress:.0f}%")
@@ -227,7 +235,7 @@ class VirtualTransferPump:
                         self.logger.debug(f"  🔄 {operation_type}进度: {progress:.0f}%")
                     elif i == steps:
                         self.logger.info(f"  ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
-                    
+
                     # 等待一小步时间
                     if i < steps and step_duration > 0:
                         await self._ros_node.sleep(step_duration)
@@ -236,25 +244,27 @@ class VirtualTransferPump:
                 self._position = target_position
                 self._current_volume = target_position
                 self.logger.info(f"  📍 微调完成: {target_position:.2f}mL")
-        
+
             # 确保最终位置准确
             self._position = target_position
             self._current_volume = target_position
             self._status = "Idle"
-            
+
             # 📊 最终状态日志
             if volume_to_move > 0.01:
-                self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
-            
+                self.logger.info(
+                    f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
+                )
+
             # 返回符合action定义的结果
             return {
                 "success": True,
                 "message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
                 "final_position": self._position,
                 "final_volume": self._current_volume,
-                "operation_type": operation_type
+                "operation_type": operation_type,
             }
-            
+
         except Exception as e:
             error_msg = f"❌ 设置位置失败: {str(e)}"
             self.logger.error(error_msg)
@@ -262,134 +272,136 @@ class VirtualTransferPump:
                 "success": False,
                 "message": error_msg,
                 "final_position": self._position,
-                "final_volume": self._current_volume
+                "final_volume": self._current_volume,
             }
-    
+
     # 其他泵操作方法
     async def pull_plunger(self, volume: float, velocity: float = None):
         """
         拉取柱塞（吸液） 📥
-        
+
         Args:
             volume (float): 要拉取的体积 (ml)
             velocity (float): 拉取速度 (ml/s)
         """
         new_position = min(self.max_volume, self._position + volume)
         actual_volume = new_position - self._position
-        
+
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
             return
-        
+
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-        
+
         self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-        
+
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-        
+
         await self._simulate_operation(actual_duration)
-        
+
         self._position = new_position
         self._current_volume = new_position
-        
+
         self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     async def push_plunger(self, volume: float, velocity: float = None):
         """
         推出柱塞（排液） 📤
-        
+
         Args:
             volume (float): 要推出的体积 (ml)
             velocity (float): 推出速度 (ml/s)
         """
         new_position = max(0, self._position - volume)
         actual_volume = self._position - new_position
-        
+
         if actual_volume <= 0:
             self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
             return
-        
+
         display_duration = self._calculate_display_duration(actual_volume, velocity)
         actual_duration = self._calculate_duration(actual_volume, velocity)
-        
+
         self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
         self.logger.info(f"  📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
         self.logger.info(f"  ⏰ 预计时间: {display_duration:.2f}s")
-        
+
         if self._fast_mode:
             self.logger.info(f"  ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
-        
+
         await self._simulate_operation(actual_duration)
-        
+
         self._position = new_position
         self._current_volume = new_position
-        
+
         self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
 
     # 便捷操作方法
     async def aspirate(self, volume: float, velocity: float = None):
         """吸液操作 📥"""
         await self.pull_plunger(volume, velocity)
-    
+
     async def dispense(self, volume: float, velocity: float = None):
         """排液操作 📤"""
         await self.push_plunger(volume, velocity)
-    
+
     async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
         """转移操作（先吸后排） 🔄"""
         self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
-        
+
         # 吸液
         await self.aspirate(volume, aspirate_velocity)
-        
+
         # 短暂停顿
         self.logger.debug("⏸️ 短暂停顿...")
         await self._ros_node.sleep(0.1)
-        
+
         # 排液
         await self.dispense(volume, dispense_velocity)
-    
+
     async def empty_syringe(self, velocity: float = None):
         """清空注射器"""
         await self.set_position(0, velocity)
-    
+
     async def fill_syringe(self, velocity: float = None):
         """充满注射器"""
         await self.set_position(self.max_volume, velocity)
-    
+
     async def stop_operation(self):
         """停止当前操作"""
         self._status = "Idle"
         self.logger.info("Operation stopped")
-    
+
     # 状态查询方法
     def get_position(self) -> float:
         """获取当前位置"""
         return self._position
-    
+
     def get_current_volume(self) -> float:
         """获取当前体积"""
         return self._current_volume
-    
+
     def get_remaining_capacity(self) -> float:
         """获取剩余容量"""
         return self.max_volume - self._current_volume
-    
+
     def is_empty(self) -> bool:
         """检查是否为空"""
         return self._current_volume <= 0.01  # 允许小量误差
-    
+
     def is_full(self) -> bool:
         """检查是否已满"""
         return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
-    
+
     def __str__(self):
-        return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
-    
+        return (
+            f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
+        )
+
     def __repr__(self):
         return self.__str__()
 
@@ -398,20 +410,20 @@ class VirtualTransferPump:
 async def demo():
     """虚拟泵使用示例"""
     pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
-    
+
     await pump.initialize()
-    
+
     print(f"Initial state: {pump}")
-    
+
     # 测试set_position方法
     result = await pump.set_position(10.0, max_velocity=2.0)
     print(f"Set position result: {result}")
     print(f"After setting position to 10ml: {pump}")
-    
+
     # 吸液测试
     await pump.aspirate(5.0, velocity=2.0)
     print(f"After aspirating 5ml: {pump}")
-    
+
     # 清空测试
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")

unilabos/devices/virtual/workbench.py

@@ -11,9 +11,10 @@ Virtual Workbench Device - 模拟工作台设备
 
 注意：调用来自线程池，使用 threading.Lock 进行同步
 """
+
 import logging
 import time
-from typing import Dict, Any, Optional
+from typing import Dict, Any, Optional, List
 from dataclasses import dataclass
 from enum import Enum
 from threading import Lock, RLock
@@ -21,38 +22,47 @@ from threading import Lock, RLock
 from typing_extensions import TypedDict
 
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.utils.decorator import not_action
+from unilabos.utils.decorator import not_action, always_free
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
 
 
 # ============ TypedDict 返回类型定义 ============
 
+
 class MoveToHeatingStationResult(TypedDict):
     """move_to_heating_station 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class StartHeatingResult(TypedDict):
     """start_heating 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
     material_number: int
     message: str
+    unilabos_samples: List[LabSample]
 
 
 class MoveToOutputResult(TypedDict):
     """move_to_output 返回类型"""
+
     success: bool
     station_id: int
     material_id: str
+    unilabos_samples: List[LabSample]
 
 
 class PrepareMaterialsResult(TypedDict):
     """prepare_materials 返回类型 - 批量准备物料"""
+
     success: bool
     count: int
     material_1: int  # 物料编号1
@@ -61,12 +71,15 @@ class PrepareMaterialsResult(TypedDict):
     material_4: int  # 物料编号4
     material_5: int  # 物料编号5
     message: str
+    unilabos_samples: List[LabSample]
 
 
 # ============ 状态枚举 ============
 
+
 class HeatingStationState(Enum):
     """加热台状态枚举"""
+
     IDLE = "idle"  # 空闲
     OCCUPIED = "occupied"  # 已放置物料，等待加热
     HEATING = "heating"  # 加热中
@@ -75,6 +88,7 @@ class HeatingStationState(Enum):
 
 class ArmState(Enum):
     """机械臂状态枚举"""
+
     IDLE = "idle"  # 空闲
     BUSY = "busy"  # 工作中
 
@@ -82,6 +96,7 @@ class ArmState(Enum):
 @dataclass
 class HeatingStation:
     """加热台数据结构"""
+
     station_id: int
     state: HeatingStationState = HeatingStationState.IDLE
     current_material: Optional[str] = None  # 当前物料 (如 "A1", "A2")
@@ -108,8 +123,8 @@ class VirtualWorkbench:
     _ros_node: BaseROS2DeviceNode
 
     # 配置常量
-    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 10.0  # 加热时间(秒)
+    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 60.0  # 加热时间(秒)
     NUM_HEATING_STATIONS: int = 3  # 加热台数量
 
     def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
@@ -126,9 +141,9 @@ class VirtualWorkbench:
         self.data: Dict[str, Any] = {}
 
         # 从config中获取可配置参数
-        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0))
-        self.HEATING_TIME = float(self.config.get("heating_time", 10.0))
-        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3))
+        self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", self.ARM_OPERATION_TIME))
+        self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
+        self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
 
         # 机械臂状态和锁 (使用threading.Lock)
         self._arm_lock = Lock()
@@ -137,8 +152,7 @@ class VirtualWorkbench:
 
         # 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
         self._heating_stations: Dict[int, HeatingStation] = {
-            i: HeatingStation(station_id=i)
-            for i in range(1, self.NUM_HEATING_STATIONS + 1)
+            i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
         }
         self._stations_lock = RLock()  # 可重入锁，保护加热台状态
 
@@ -178,14 +192,16 @@ class VirtualWorkbench:
                 station.heating_progress = 0.0
 
         # 初始化状态
-        self.data.update({
-            "status": "Ready",
-            "arm_state": ArmState.IDLE.value,
-            "arm_current_task": None,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": 0,
-            "message": "工作台就绪",
-        })
+        self.data.update(
+            {
+                "status": "Ready",
+                "arm_state": ArmState.IDLE.value,
+                "arm_current_task": None,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": 0,
+                "message": "工作台就绪",
+            }
+        )
 
         self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
         return True
@@ -204,12 +220,14 @@ class VirtualWorkbench:
         with self._tasks_lock:
             self._active_tasks.clear()
 
-        self.data.update({
-            "status": "Offline",
-            "arm_state": ArmState.IDLE.value,
-            "heating_stations": {},
-            "message": "工作台已关闭",
-        })
+        self.data.update(
+            {
+                "status": "Offline",
+                "arm_state": ArmState.IDLE.value,
+                "heating_stations": {},
+                "message": "工作台已关闭",
+            }
+        )
         return True
 
     def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
@@ -227,12 +245,14 @@ class VirtualWorkbench:
 
     def _update_data_status(self, message: Optional[str] = None):
         """更新状态数据"""
-        self.data.update({
-            "arm_state": self._arm_state.value,
-            "arm_current_task": self._arm_current_task,
-            "heating_stations": self._get_stations_status(),
-            "active_tasks_count": len(self._active_tasks),
-        })
+        self.data.update(
+            {
+                "arm_state": self._arm_state.value,
+                "arm_current_task": self._arm_current_task,
+                "heating_stations": self._get_stations_status(),
+                "active_tasks_count": len(self._active_tasks),
+            }
+        )
         if message:
             self.data["message"] = message
 
@@ -280,6 +300,7 @@ class VirtualWorkbench:
 
     def prepare_materials(
         self,
+        sample_uuids: SampleUUIDsType,
         count: int = 5,
     ) -> PrepareMaterialsResult:
         """
@@ -297,10 +318,7 @@ class VirtualWorkbench:
         # 生成物料列表 A1 - A{count}
         materials = [i for i in range(1, count + 1)]
 
-        self.logger.info(
-            f"[准备物料] 生成 {count} 个物料: "
-            f"A1-A{count} -> material_1~material_{count}"
-        )
+        self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
 
         return {
             "success": True,
@@ -311,10 +329,12 @@ class VirtualWorkbench:
             "material_4": materials[3] if len(materials) > 3 else 0,
             "material_5": materials[4] if len(materials) > 4 else 0,
             "message": f"已准备 {count} 个物料: A1-A{count}",
+            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
         }
 
     def move_to_heating_station(
         self,
+        sample_uuids: SampleUUIDsType,
         material_number: int,
     ) -> MoveToHeatingStationResult:
         """
@@ -391,6 +411,9 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"{material_id}已成功移动到加热台{station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         except Exception as e:
@@ -403,10 +426,15 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "material_number": material_number,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
+    @always_free
     def start_heating(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> StartHeatingResult:
@@ -429,6 +457,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "material_number": material_number,
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         with self._stations_lock:
@@ -441,6 +472,9 @@ class VirtualWorkbench:
                     "material_id": "",
                     "material_number": material_number,
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             if station.state == HeatingStationState.HEATING:
@@ -450,6 +484,9 @@ class VirtualWorkbench:
                     "material_id": station.current_material,
                     "material_number": material_number,
                     "message": f"加热台{station_id}已经在加热中",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             material_id = station.current_material
@@ -465,10 +502,21 @@ class VirtualWorkbench:
 
         self._update_data_status(f"加热台{station_id}开始加热{material_id}")
 
-        # 模拟加热过程 (10秒)
+        # 打印当前所有正在加热的台位
+        with self._stations_lock:
+            heating_list = [
+                f"加热台{sid}:{s.current_material}"
+                for sid, s in self._heating_stations.items()
+                if s.state == HeatingStationState.HEATING and s.current_material
+            ]
+        self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
+
+        # 模拟加热过程
         start_time = time.time()
+        last_countdown_log = start_time
         while True:
             elapsed = time.time() - start_time
+            remaining = max(0.0, self.HEATING_TIME - elapsed)
             progress = min(100.0, (elapsed / self.HEATING_TIME) * 100)
 
             with self._stations_lock:
@@ -476,6 +524,11 @@ class VirtualWorkbench:
 
             self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
 
+            # 每5秒打印一次倒计时
+            if time.time() - last_countdown_log >= 5.0:
+                self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
+                last_countdown_log = time.time()
+
             if elapsed >= self.HEATING_TIME:
                 break
 
@@ -499,10 +552,14 @@ class VirtualWorkbench:
             "material_id": material_id,
             "material_number": material_number,
             "message": f"加热台{station_id}加热完成",
+            "unilabos_samples": [
+                LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                sample_uuid, content in sample_uuids.items()]
         }
 
     def move_to_output(
         self,
+        sample_uuids: SampleUUIDsType,
         station_id: int,
         material_number: int,
     ) -> MoveToOutputResult:
@@ -525,6 +582,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": f"C{output_number}",
                 "message": f"无效的加热台ID: {station_id}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         with self._stations_lock:
@@ -538,6 +598,9 @@ class VirtualWorkbench:
                     "material_id": "",
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}上没有物料",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
             if station.state != HeatingStationState.COMPLETED:
@@ -547,6 +610,9 @@ class VirtualWorkbench:
                     "material_id": material_id,
                     "output_position": f"C{output_number}",
                     "message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
+                    "unilabos_samples": [
+                        LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                        sample_uuid, content in sample_uuids.items()]
                 }
 
         output_position = f"C{output_number}"
@@ -595,6 +661,9 @@ class VirtualWorkbench:
                 "material_id": material_id,
                 "output_position": output_position,
                 "message": f"{material_id}已成功移动到{output_position}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
         except Exception as e:
@@ -607,6 +676,9 @@ class VirtualWorkbench:
                 "material_id": "",
                 "output_position": output_position,
                 "message": f"移动失败: {str(e)}",
+                "unilabos_samples": [
+                    LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
+                    sample_uuid, content in sample_uuids.items()]
             }
 
     # ============ 状态属性 ============

unilabos/registry/devices/liquid_handler.yaml

@@ -9468,7 +9468,7 @@ liquid_handler.prcxi:
           well_names: null
         handles:
           input:
-          - data_key: plate
+          - data_key: '@this.0@@@plate'
             data_source: handle
             data_type: resource
             handler_key: input_plate
@@ -9503,81 +9503,78 @@ liquid_handler.prcxi:
                     type: string
                   type: array
                 plate:
-                  items:
-                    properties:
-                      category:
+                  properties:
+                    category:
+                      type: string
+                    children:
+                      items:
                         type: string
-                      children:
-                        items:
-                          type: string
-                        type: array
-                      config:
-                        type: string
-                      data:
-                        type: string
-                      id:
-                        type: string
-                      name:
-                        type: string
-                      parent:
-                        type: string
-                      pose:
-                        properties:
-                          orientation:
-                            properties:
-                              w:
-                                type: number
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            - w
-                            title: orientation
-                            type: object
-                          position:
-                            properties:
-                              x:
-                                type: number
-                              y:
-                                type: number
-                              z:
-                                type: number
-                            required:
-                            - x
-                            - y
-                            - z
-                            title: position
-                            type: object
-                        required:
-                        - position
-                        - orientation
-                        title: pose
-                        type: object
-                      sample_id:
-                        type: string
-                      type:
-                        type: string
-                    required:
-                    - id
-                    - name
-                    - sample_id
-                    - children
-                    - parent
-                    - type
-                    - category
-                    - pose
-                    - config
-                    - data
-                    title: plate
-                    type: object
+                      type: array
+                    config:
+                      type: string
+                    data:
+                      type: string
+                    id:
+                      type: string
+                    name:
+                      type: string
+                    parent:
+                      type: string
+                    pose:
+                      properties:
+                        orientation:
+                          properties:
+                            w:
+                              type: number
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          - w
+                          title: orientation
+                          type: object
+                        position:
+                          properties:
+                            x:
+                              type: number
+                            y:
+                              type: number
+                            z:
+                              type: number
+                          required:
+                          - x
+                          - y
+                          - z
+                          title: position
+                          type: object
+                      required:
+                      - position
+                      - orientation
+                      title: pose
+                      type: object
+                    sample_id:
+                      type: string
+                    type:
+                      type: string
+                  required:
+                  - id
+                  - name
+                  - sample_id
+                  - children
+                  - parent
+                  - type
+                  - category
+                  - pose
+                  - config
+                  - data
                   title: plate
-                  type: array
+                  type: object
                 volumes:
                   items:
                     type: number
@@ -9593,17 +9590,207 @@ liquid_handler.prcxi:
               - volumes
               type: object
             result:
+              $defs:
+                ResourceDict:
+                  properties:
+                    class:
+                      description: Resource class name
+                      title: Class
+                      type: string
+                    config:
+                      additionalProperties: true
+                      description: Resource configuration
+                      title: Config
+                      type: object
+                    data:
+                      additionalProperties: true
+                      description: 'Resource data, eg: container liquid data'
+                      title: Data
+                      type: object
+                    description:
+                      default: ''
+                      description: Resource description
+                      title: Description
+                      type: string
+                    extra:
+                      additionalProperties: true
+                      description: 'Extra data, eg: slot index'
+                      title: Extra
+                      type: object
+                    icon:
+                      default: ''
+                      description: Resource icon
+                      title: Icon
+                      type: string
+                    id:
+                      description: Resource ID
+                      title: Id
+                      type: string
+                    model:
+                      additionalProperties: true
+                      description: Resource model
+                      title: Model
+                      type: object
+                    name:
+                      description: Resource name
+                      title: Name
+                      type: string
+                    parent:
+                      anyOf:
+                      - $ref: '#/$defs/ResourceDict'
+                      - type: 'null'
+                      default: null
+                      description: Parent resource object
+                    parent_uuid:
+                      anyOf:
+                      - type: string
+                      - type: 'null'
+                      default: null
+                      description: Parent resource uuid
+                      title: Parent Uuid
+                    pose:
+                      $ref: '#/$defs/ResourceDictPosition'
+                      description: Resource position
+                    schema:
+                      additionalProperties: true
+                      description: Resource schema
+                      title: Schema
+                      type: object
+                    type:
+                      anyOf:
+                      - const: device
+                        type: string
+                      - type: string
+                      description: Resource type
+                      title: Type
+                    uuid:
+                      description: Resource UUID
+                      title: Uuid
+                      type: string
+                  required:
+                  - id
+                  - uuid
+                  - name
+                  - type
+                  - class
+                  - config
+                  - data
+                  - extra
+                  title: ResourceDict
+                  type: object
+                ResourceDictPosition:
+                  properties:
+                    cross_section_type:
+                      default: rectangle
+                      description: Cross section type
+                      enum:
+                      - rectangle
+                      - circle
+                      - rounded_rectangle
+                      title: Cross Section Type
+                      type: string
+                    layout:
+                      default: x-y
+                      description: Resource layout
+                      enum:
+                      - 2d
+                      - x-y
+                      - z-y
+                      - x-z
+                      title: Layout
+                      type: string
+                    position:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position
+                    position3d:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource position in 3D space
+                    rotation:
+                      $ref: '#/$defs/ResourceDictPositionObject'
+                      description: Resource rotation
+                    scale:
+                      $ref: '#/$defs/ResourceDictPositionScale'
+                      description: Resource scale
+                    size:
+                      $ref: '#/$defs/ResourceDictPositionSize'
+                      description: Resource size
+                  title: ResourceDictPosition
+                  type: object
+                ResourceDictPositionObject:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: X coordinate
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: Y coordinate
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: Z coordinate
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionObject
+                  type: object
+                ResourceDictPositionScale:
+                  properties:
+                    x:
+                      default: 0.0
+                      description: x scale
+                      title: X
+                      type: number
+                    y:
+                      default: 0.0
+                      description: y scale
+                      title: Y
+                      type: number
+                    z:
+                      default: 0.0
+                      description: z scale
+                      title: Z
+                      type: number
+                  title: ResourceDictPositionScale
+                  type: object
+                ResourceDictPositionSize:
+                  properties:
+                    depth:
+                      default: 0.0
+                      description: Depth
+                      title: Depth
+                      type: number
+                    height:
+                      default: 0.0
+                      description: Height
+                      title: Height
+                      type: number
+                    width:
+                      default: 0.0
+                      description: Width
+                      title: Width
+                      type: number
+                  title: ResourceDictPositionSize
+                  type: object
               properties:
                 plate:
-                  items: {}
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
                   title: Plate
                   type: array
                 volumes:
-                  items: {}
+                  items:
+                    type: number
                   title: Volumes
                   type: array
                 wells:
-                  items: {}
+                  items:
+                    items:
+                      $ref: '#/$defs/ResourceDict'
+                    type: array
                   title: Wells
                   type: array
               required:

unilabos/registry/devices/virtual_device.yaml

@@ -5835,6 +5835,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: move_to_heating_station 返回类型
               properties:
                 material_id:
@@ -5853,12 +5872,18 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
               - material_number
               - message
+              - unilabos_samples
               title: MoveToHeatingStationResult
               type: object
           required:
@@ -5903,6 +5928,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: move_to_output 返回类型
               properties:
                 material_id:
@@ -5914,10 +5958,16 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
+              - unilabos_samples
               title: MoveToOutputResult
               type: object
           required:
@@ -5972,6 +6022,25 @@ virtual_workbench:
               required: []
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: prepare_materials 返回类型 - 批量准备物料
               properties:
                 count:
@@ -5998,6 +6067,11 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - count
@@ -6007,6 +6081,7 @@ virtual_workbench:
               - material_4
               - material_5
               - message
+              - unilabos_samples
               title: PrepareMaterialsResult
               type: object
           required:
@@ -6015,6 +6090,7 @@ virtual_workbench:
           type: object
         type: UniLabJsonCommand
       auto-start_heating:
+        always_free: true
         feedback: {}
         goal: {}
         goal_default:
@@ -6062,6 +6138,25 @@ virtual_workbench:
               - material_number
               type: object
             result:
+              $defs:
+                LabSample:
+                  properties:
+                    extra:
+                      additionalProperties: true
+                      title: Extra
+                      type: object
+                    oss_path:
+                      title: Oss Path
+                      type: string
+                    sample_uuid:
+                      title: Sample Uuid
+                      type: string
+                  required:
+                  - sample_uuid
+                  - oss_path
+                  - extra
+                  title: LabSample
+                  type: object
               description: start_heating 返回类型
               properties:
                 material_id:
@@ -6079,12 +6174,18 @@ virtual_workbench:
                 success:
                   title: Success
                   type: boolean
+                unilabos_samples:
+                  items:
+                    $ref: '#/$defs/LabSample'
+                  title: Unilabos Samples
+                  type: array
               required:
               - success
               - station_id
               - material_id
               - material_number
               - message
+              - unilabos_samples
               title: StartHeatingResult
               type: object
           required:

unilabos/registry/registry.py

@@ -838,6 +838,7 @@ class Registry:
                                         ("list", "unilabos.registry.placeholder_type:DeviceSlot"),
                                     ]
                                 },
+                                **({"always_free": True} if v.get("always_free") else {}),
                             }
                             for k, v in enhanced_info["action_methods"].items()
                             if k not in device_config["class"]["action_value_mappings"]

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

@@ -5,6 +5,8 @@ from pydantic import BaseModel, field_serializer, field_validator, ValidationErr
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
+from typing_extensions import TypedDict
+
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
@@ -14,6 +16,26 @@ 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 LabSample(TypedDict):
+    sample_uuid: str
+    oss_path: str
+    extra: Dict[str, Any]
 
 
 class ResourceDictPositionSize(BaseModel):
@@ -529,6 +551,7 @@ 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/device_node_wrapper.py

@@ -44,8 +44,7 @@ def ros2_device_node(
     # 从属性中自动发现可发布状态
     if status_types is None:
         status_types = {}
-    if device_config is None:
-        raise ValueError("device_config cannot be None")
+    assert device_config is not None, "device_config cannot be None"
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:

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, \
-    Tuple
+from typing import (
+    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
@@ -131,7 +146,7 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceTreeInstance,
+    device_config: ResourceDictInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -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()}"
@@ -263,6 +279,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         self,
         driver_instance: T,
         device_id: str,
+        registry_name: str,
         device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -284,6 +301,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """
         self.driver_instance = driver_instance
         self.device_id = device_id
+        self.registry_name = registry_name
         self.uuid = device_uuid
         self.publish_high_frequency = False
         self.callback_group = ReentrantCallbackGroup()
@@ -361,6 +379,7 @@ 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()
@@ -388,33 +407,29 @@ 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(
-                    {"name": bind_parent_id}
-                )
+                parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
                 for r in rts.root_nodes:
                     # noinspection PyUnresolvedReferences
                     r.res_content.parent_uuid = parent_resource.unilabos_uuid
             else:
                 for r in rts.root_nodes:
                     r.res_content.parent_uuid = self.uuid
-
-            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
+            rts_plr_instances = rts.to_plr_resources()
+            if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
                 # noinspection PyTypeChecker
-                container_instance: RegularContainer = rts.root_nodes[0]
+                container_instance: RegularContainer = rts_plr_instances[0]
                 found_resources = self.resource_tracker.figure_resource(
-                    {"id": container_instance.name}, try_mode=True
+                    {"name": 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 (
-                        len(found_resources) == 1
-                    ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
+                    assert 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}")
-                        found_resource.state.update(json.loads(container_instance.state))
+                        found_resource.state.update(container_instance.state)
                     elif isinstance(found_resource, dict):
                         raise ValueError("已不支持 字典 版本的RegularContainer")
                     else:
@@ -422,14 +437,16 @@ 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({
-                "action": "add",
-                "data": {
-                    "data": rts.dump(),
-                    "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
-                    "first_add": False,
-                },
-            })
+            request.command = json.dumps(
+                {
+                    "action": "add",
+                    "data": {
+                        "data": rts.dump(),
+                        "mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
+                        "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 +488,9 @@ 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 +509,15 @@ 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 +532,16 @@ 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({
-                        "action": "add",
-                        "data": {
-                            "data": rts_with_parent.dump(),
-                            "mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
-                            "first_add": False,
-                        },
-                    })
+                    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 +838,9 @@ 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 +865,10 @@ 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 +904,16 @@ 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
-                    site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
+                    sites = (
+                        original_instance.parent.sites
+                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
+                        else None
+                    )
+                    site_names = (
+                        list(original_instance.parent._ordering.keys())
+                        if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
+                        else []
+                    )
                     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 +950,7 @@ 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(
-                    f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
-                )
+                self.lab_logger().trace(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 +977,13 @@ 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 +1003,13 @@ 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":
@@ -1110,6 +1156,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     "machine_name": BasicConfig.machine_name,
                     "type": "slave",
                     "edge_device_id": self.device_id,
+                    "registry_name": self.registry_name,
                 }
             },
             ensure_ascii=False,
@@ -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]}")
-                                trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
+                                error(
+                                    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)
 
@@ -1483,11 +1538,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if isinstance(rs, list):
                                 for r in rs:
                                     res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
+                                    if res is None:
+                                        res = rs
+                                    if id(res) not in seen:
+                                        seen.add(id(res))
+                                        unique_resources.append(res)
                             else:
                                 res = self.resource_tracker.parent_resource(rs)
-                            if id(res) not in seen:
-                                seen.add(id(res))
-                                unique_resources.append(res)
+                                if res is None:
+                                    res = rs
+                                if id(res) not in seen:
+                                    seen.add(id(res))
+                                    unique_resources.append(res)
 
                         # 使用新的资源树接口
                         if unique_resources:
@@ -1539,20 +1601,37 @@ 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
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            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
@@ -1581,6 +1660,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
                                 )
                                 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:
@@ -1601,14 +1681,16 @@ 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(
-            command=json.dumps(
-                {
-                    "data": {"data": uuids_list, "with_children": True},
-                    "action": "get",
-                }
+        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
@@ -1666,6 +1748,9 @@ 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 +1760,30 @@ 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
-            args_list = default_manager._analyze_method_signature(function)["args"]
+            # 处理参数（包含 unilabos 系统参数如 sample_uuids）
+            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
@@ -1907,6 +2008,7 @@ class ROS2DeviceNode:
 
         if driver_is_ros:
             driver_params["device_id"] = device_id
+            driver_params["registry_name"] = device_config.res_content.klass
             driver_params["resource_tracker"] = self.resource_tracker
         self._driver_instance = self._driver_creator.create_instance(driver_params)
         if self._driver_instance is None:
@@ -1924,6 +2026,7 @@ class ROS2DeviceNode:
                 children=children,
                 driver_instance=self._driver_instance,  # type: ignore
                 device_id=device_id,
+                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -1935,6 +2038,7 @@ class ROS2DeviceNode:
             self._ros_node = BaseROS2DeviceNode(
                 driver_instance=self._driver_instance,
                 device_id=device_id,
+                registry_name=device_config.res_content.klass,
                 device_uuid=device_uuid,
                 status_types=status_types,
                 action_value_mappings=action_value_mappings,
@@ -1943,6 +2047,7 @@ class ROS2DeviceNode:
                 resource_tracker=self.resource_tracker,
             )
         self._ros_node: BaseROS2DeviceNode
+        # 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
         self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
         self.driver_instance._ros_node = self._ros_node  # type: ignore
         self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command  # type: ignore
@@ -1960,7 +2065,9 @@ 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/camera.py

@@ -6,12 +6,13 @@ from cv_bridge import CvBridge
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
 
 class VideoPublisher(BaseROS2DeviceNode):
-    def __init__(self, device_id='video_publisher', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+    def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
         # 初始化BaseROS2DeviceNode，使用自身作为driver_instance
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             device_uuid=device_uuid,
             status_types={},
             action_value_mappings={},

unilabos/ros/nodes/presets/controller_node.py

@@ -10,6 +10,7 @@ class ControllerNode(BaseROS2DeviceNode):
     def __init__(
         self,
         device_id: str,
+        registry_name: str,
         controller_func: Callable,
         update_rate: float,
         inputs: Dict[str, Dict[str, type | str]],
@@ -51,6 +52,7 @@ class ControllerNode(BaseROS2DeviceNode):
             self,
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types=status_types,
             action_value_mappings=action_value_mappings,
             hardware_interface=hardware_interface,

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
@@ -245,6 +248,7 @@ class HostNode(BaseROS2DeviceNode):
             self,
             driver_instance=self,
             device_id=device_id,
+            registry_name="host_node",
             device_uuid=host_node_dict["uuid"],
             status_types={},
             action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
@@ -299,7 +303,8 @@ class HostNode(BaseROS2DeviceNode):
         }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
-        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
+        )  # device_id -> action_value_mappings(本地+远程设备统一存储)
+        self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
         self._last_discovery_time = 0.0  # 上次设备发现的时间
@@ -633,6 +638,8 @@ class HostNode(BaseROS2DeviceNode):
         self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
+        self._action_value_mappings[device_id] = d._ros_node._action_value_mappings
+        # noinspection PyProtectedMember
         for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
             if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
                 "UniLabJsonCommand"
@@ -755,6 +762,7 @@ 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 +780,14 @@ class HostNode(BaseROS2DeviceNode):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
             action_id = f"/devices/{device_id}/_execute_driver_command"
-            action_kwargs = {
-                "string": json.dumps(
-                    {
-                        "function_name": action_name,
-                        "function_args": action_kwargs,
-                    }
-                )
+            json_command: Dict[str, Any] = {
+                "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:
@@ -790,21 +798,6 @@ 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().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
@@ -867,14 +860,14 @@ 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["samples"] = unilabos_samples
                         suc = return_info.get("suc", False)
                         if not suc:
                             status = "failed"
@@ -1179,6 +1172,10 @@ class HostNode(BaseROS2DeviceNode):
     def _node_info_update_callback(self, request, response):
         """
         更新节点信息回调
+
+        处理两种消息:
+        1. 首次上报(main_slave_run): 带 devices_config + registry_config,存储 action_value_mappings
+        2. 设备重注册(SYNC_SLAVE_NODE_INFO): 带 edge_device_id + registry_name,用 registry_name 索引已存储的 mappings
         """
         self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
         try:
@@ -1190,12 +1187,48 @@ class HostNode(BaseROS2DeviceNode):
                 info = info["SYNC_SLAVE_NODE_INFO"]
                 machine_name = info["machine_name"]
                 edge_device_id = info["edge_device_id"]
+                registry_name = info.get("registry_name", "")
                 self.device_machine_names[edge_device_id] = machine_name
+
+                # 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
+                if registry_name and registry_name in self._slave_registry_configs:
+                    action_mappings = self._slave_registry_configs[registry_name].get(
+                        "class", {}
+                    ).get("action_value_mappings", {})
+                    if action_mappings:
+                        self._action_value_mappings[edge_device_id] = action_mappings
+                        self.lab_logger().info(
+                            f"[Host Node] Loaded {len(action_mappings)} action mappings "
+                            f"for remote device {edge_device_id} (registry: {registry_name})"
+                        )
             else:
                 devices_config = info.pop("devices_config")
                 registry_config = info.pop("registry_config")
                 if registry_config:
                     http_client.resource_registry({"resources": registry_config})
+
+                    # 存储 slave 的 registry_config,用于后续 SYNC_SLAVE_NODE_INFO 索引
+                    for reg_name, reg_data in registry_config.items():
+                        if isinstance(reg_data, dict) and "class" in reg_data:
+                            self._slave_registry_configs[reg_name] = reg_data
+
+                # 解析 devices_config,建立 device_id -> action_value_mappings 映射
+                if devices_config:
+                    for device_tree in devices_config:
+                        for device_dict in device_tree:
+                            device_id = device_dict.get("id", "")
+                            class_name = device_dict.get("class", "")
+                            if device_id and class_name and class_name in self._slave_registry_configs:
+                                action_mappings = self._slave_registry_configs[class_name].get(
+                                    "class", {}
+                                ).get("action_value_mappings", {})
+                                if action_mappings:
+                                    self._action_value_mappings[device_id] = action_mappings
+                                    self.lab_logger().info(
+                                        f"[Host Node] Stored {len(action_mappings)} action mappings "
+                                        f"for remote device {device_id} (class: {class_name})"
+                                    )
+
             self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:

unilabos/ros/nodes/presets/joint_republisher.py

@@ -7,10 +7,11 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class JointRepublisher(BaseROS2DeviceNode):
-    def __init__(self,device_id,resource_tracker, **kwargs):
+    def __init__(self,device_id, registry_name, resource_tracker, **kwargs):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -26,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
 from unilabos.registry.registry import lab_registry
 
 class ResourceMeshManager(BaseROS2DeviceNode):
-    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
+    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
         """初始化资源网格管理器节点
         
         Args:
@@ -37,6 +37,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=self,
             device_id=device_id,
+            registry_name=registry_name,
             status_types={},
             action_value_mappings={},
             hardware_interface={},

unilabos/ros/nodes/presets/serial_node.py

@@ -7,7 +7,7 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeRe
 
 
 class ROS2SerialNode(BaseROS2DeviceNode):
-    def __init__(self, device_id, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
+    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
         # 保存属性，以便在调用父类初始化前使用
         self.port = port
         self.baudrate = baudrate
@@ -28,6 +28,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
         BaseROS2DeviceNode.__init__(
             self,
             driver_instance=self,
+            registry_name=registry_name,
             device_id=device_id,
             status_types={},
             action_value_mappings={},

unilabos/ros/nodes/presets/workstation.py

@@ -47,6 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
+        registry_name: str,
         device_uuid: str,
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
@@ -62,6 +63,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         super().__init__(
             driver_instance=driver_instance,
             device_id=device_id,
+            registry_name=registry_name,
             device_uuid=device_uuid,
             status_types=status_types,
             action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
@@ -340,6 +342,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                             plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
                             # 获取父资源
                             res = self.resource_tracker.parent_resource(plr)
+                            if res is None:
+                                res = plr
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)

unilabos/ros/utils/driver_creator.py

@@ -52,7 +52,8 @@ class DeviceClassCreator(Generic[T]):
         if self.device_instance is not None:
             for c in self.children:
                 if c.res_content.type != "device":
-                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
+                    res = ResourceTreeSet([ResourceTreeInstance(c)]).to_plr_resources()[0]
+                    self.resource_tracker.add_resource(res)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -119,7 +120,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     #     return resource, source_type
 
     def _process_resource_references(
-        self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
+        self, data: Any, processed_child_names: Optional[Dict[str, Any]], to_dict=False, states=None, prefix_path="", name_to_uuid=None
     ) -> Any:
         """
         递归处理资源引用，替换_resource_child_name对应的资源
@@ -164,6 +165,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                                 states[prefix_path] = resource_instance.serialize_all_state()
                                 return serialized
                             else:
+                                processed_child_names[child_name] = resource_instance
                                 self.resource_tracker.add_resource(resource_instance)
                                 # 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
                                 if name_to_uuid:
@@ -182,12 +184,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             result = {}
             for key, value in data.items():
                 new_prefix = f"{prefix_path}.{key}" if prefix_path else key
-                result[key] = self._process_resource_references(value, to_dict, states, new_prefix, name_to_uuid)
+                result[key] = self._process_resource_references(value, processed_child_names, to_dict, states, new_prefix, name_to_uuid)
             return result
 
         elif isinstance(data, list):
             return [
-                self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
+                self._process_resource_references(item, processed_child_names, to_dict, states, f"{prefix_path}[{i}]", name_to_uuid)
                 for i, item in enumerate(data)
             ]
 
@@ -234,7 +236,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
             # 首先处理资源引用
             states = {}
             processed_data = self._process_resource_references(
-                data, to_dict=True, states=states, name_to_uuid=name_to_uuid
+                data, {}, to_dict=True, states=states, name_to_uuid=name_to_uuid
             )
 
             try:
@@ -270,7 +272,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         arg_value = spec_args[param_name].annotation
                         data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
                         logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
-                processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
+                processed_child_names = {}
+                processed_data = self._process_resource_references(data, processed_child_names, to_dict=False, name_to_uuid=name_to_uuid)
+                for child_name, resource_instance in processed_data.items():
+                    for ind, name in enumerate([child.res_content.name for child in self.children]):
+                        if name == child_name:
+                            self.children.pop(ind)
                 self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)  # 补全变量后直接调用，调用的自身的attach_resource
             except Exception as e:
                 logger.error(f"PyLabRobot创建实例失败: {e}")
@@ -342,9 +349,10 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for child in self.children:
-                if child.res_content.type != "device":
-                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
+            # super(WorkstationNodeCreator, self).create_instance(data)的时候会attach
+            # for child in self.children:
+            #     if child.res_content.type != "device":
+            #         self.resource_tracker.add_resource(child.get_plr_nested_dict())
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -339,13 +339,8 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 500.0,
                 "type": "RegularContainer",
-                "category": "container",
-                "max_temp": 200.0,
-                "min_temp": -20.0,
-                "has_stirrer": true,
-                "has_heater": true
+                "category": "container"
             },
             "data": {
                 "liquids": [],
@@ -769,9 +764,7 @@
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container",
-                "reagent": "sodium_chloride",
-                "physical_state": "solid"
+                "category": "container"
             },
             "data": {
                 "current_mass": 500.0,
@@ -792,14 +785,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
                 "size_x": 600,
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container",
-                "reagent": "sodium_carbonate",
-                "physical_state": "solid"
+                "category": "container"
             },
             "data": {
                 "current_mass": 500.0,
@@ -820,14 +810,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
                 "size_x": 650,
                 "size_y": 250,
                 "size_z": 0,
                 "type": "RegularContainer",
-                "category": "container",
-                "reagent": "magnesium_chloride",
-                "physical_state": "solid"
+                "category": "container"
             },
             "data": {
                 "current_mass": 500.0,

unilabos/utils/decorator.py

@@ -184,6 +184,51 @@ def get_all_subscriptions(instance) -> list:
     return subscriptions
 
 
+def always_free(func: F) -> F:
+    """
+    标记动作为永久闲置(不受busy队列限制)的装饰器
+
+    被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
+    任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
+
+    Example:
+        class MyDriver:
+            @always_free
+            def query_status(self, param: str):
+                # 这个动作可以随时执行，不需要排队
+                return self._status
+
+            def transfer(self, volume: float):
+                # 这个动作会按正常排队逻辑执行
+                pass
+
+    Note:
+        - 可以与其他装饰器组合使用，@always_free 应放在最外层
+        - 仅影响 WebSocket 调度层的 busy/free 判断，不影响 ROS2 层
+    """
+
+    @wraps(func)
+    def wrapper(*args, **kwargs):
+        return func(*args, **kwargs)
+
+    wrapper._is_always_free = True  # type: ignore[attr-defined]
+
+    return wrapper  # type: ignore[return-value]
+
+
+def is_always_free(func) -> bool:
+    """
+    检查函数是否被标记为永久闲置
+
+    Args:
+        func: 被检查的函数
+
+    Returns:
+        如果函数被 @always_free 装饰则返回 True，否则返回 False
+    """
+    return getattr(func, "_is_always_free", False)
+
+
 def not_action(func: F) -> F:
     """
     标记方法为非动作的装饰器

unilabos/utils/import_manager.py

@@ -27,8 +27,9 @@ __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
+from unilabos.utils.decorator import is_not_action, is_always_free
 
 
 class ImportManager:
@@ -281,6 +282,9 @@ class ImportManager:
                         continue
                     # 其他非_开头的方法归类为action
                     method_info = self._analyze_method_signature(method)
+                    # 检查是否被 @always_free 装饰器标记
+                    if is_always_free(method):
+                        method_info["always_free"] = True
                     result["action_methods"][name] = method_info
 
         return result
@@ -338,16 +342,24 @@ class ImportManager:
                     if self._is_not_action_method(node):
                         continue
                     # 其他非_开头的方法归类为action
+                    # 检查是否被 @always_free 装饰器标记
+                    if self._is_always_free_method(node):
+                        method_info["always_free"] = True
                     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 +380,10 @@ 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
@@ -464,6 +480,13 @@ class ImportManager:
                 return True
         return False
 
+    def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
+        """检查是否是@always_free装饰的方法"""
+        for decorator in node.decorator_list:
+            if isinstance(decorator, ast.Name) and decorator.id == "always_free":
+                return True
+        return False
+
     def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
         """从setter装饰器中获取属性名"""
         for decorator in node.decorator_list:
@@ -563,6 +586,9 @@ 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

@@ -60,7 +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]
@@ -402,7 +406,6 @@ def build_protocol_graph(
 
     # 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"]
@@ -431,10 +434,7 @@ def build_protocol_graph(
         )
         slot_to_create_resource[slot] = node_id
 
-        # create_resource 之间通过 ready 串联
-        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
+        # create_resource 之间不需要 ready 连接
 
     # ==================== 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
@@ -453,7 +453,6 @@ def build_protocol_graph(
     )
 
     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
@@ -494,10 +493,7 @@ def build_protocol_graph(
             },
         )
 
-        # ready 连接：上一个节点 -> set_liquid_from_plate
-        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
+        # set_liquid_from_plate 之间不需要 ready 连接
 
         # 物料流：create_resource 的 labware -> set_liquid_from_plate 的 input_plate
         create_res_node_id = slot_to_create_resource.get(slot)
@@ -507,7 +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 = {