Merge branch 'dev' into feat/samples

unilabos/app/main.py

@@ -171,12 +171,6 @@ def parse_args():
         action="store_true",
         help="Disable sending update feedback to server",
     )
-    parser.add_argument(
-        "--test_mode",
-        action="store_true",
-        default=False,
-        help="Test mode: all actions simulate execution and return mock results without running real hardware",
-    )
     # workflow upload subcommand
     workflow_parser = subparsers.add_parser(
         "workflow_upload",
@@ -210,12 +204,6 @@ def parse_args():
         default=False,
         help="Whether to publish the workflow (default: False)",
     )
-    workflow_parser.add_argument(
-        "--description",
-        type=str,
-        default="",
-        help="Workflow description, used when publishing the workflow",
-    )
     return parser
 
 
@@ -243,60 +231,52 @@ def main():
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
 
-    # === 解析 working_dir ===
-    # 规则1: working_dir 传入 → 检测 unilabos_data 子目录，已是则不修改
-    # 规则2: 仅 config_path 传入 → 用其父目录作为 working_dir
-    # 规则4: 两者都传入 → 各用各的，但 working_dir 仍做 unilabos_data 子目录检测
-    raw_working_dir = args_dict.get("working_dir")
-    if raw_working_dir:
-        working_dir = os.path.abspath(raw_working_dir)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(os.path.abspath(config_path))
-    else:
+    if check_mode:
+        args_dict["working_dir"] = os.path.abspath(os.getcwd())
+    # 当 skip_env_check 时，默认使用当前目录作为 working_dir
+    if skip_env_check and not args_dict.get("working_dir") and not config_path:
         working_dir = os.path.abspath(os.getcwd())
-
-    # unilabos_data 子目录自动检测
-    if os.path.basename(working_dir) != "unilabos_data":
-        unilabos_data_sub = os.path.join(working_dir, "unilabos_data")
-        if os.path.isdir(unilabos_data_sub):
-            working_dir = unilabos_data_sub
-        elif not raw_working_dir and not (config_path and os.path.exists(config_path)):
-            # 未显式指定路径，默认使用 cwd/unilabos_data
-            working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-
-    # === 解析 config_path ===
-    if config_path and not os.path.exists(config_path):
-        # config_path 传入但不存在，尝试在 working_dir 中查找
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
-            print_status(f"在工作目录中发现配置文件: {config_path}", "info")
-        else:
-            print_status(
-                f"配置文件 {config_path} 不存在，工作目录 {working_dir} 中也未找到 local_config.py，"
-                f"请通过 --config 传入 local_config.py 文件路径",
-                "error",
-            )
-            os._exit(1)
-    elif not config_path:
-        # 规则3: 未传入 config_path，尝试 working_dir/local_config.py
-        candidate = os.path.join(working_dir, "local_config.py")
-        if os.path.exists(candidate):
-            config_path = candidate
+        print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
+        # 检查当前目录是否有 local_config.py
+        local_config_in_cwd = os.path.join(working_dir, "local_config.py")
+        if os.path.exists(local_config_in_cwd):
+            config_path = local_config_in_cwd
             print_status(f"发现本地配置文件: {config_path}", "info")
         else:
             print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-            print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-            if check_mode or input() != "n":
-                os.makedirs(working_dir, exist_ok=True)
-                config_path = os.path.join(working_dir, "local_config.py")
-                shutil.copy(
-                    os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"),
-                    config_path,
+    elif os.getcwd().endswith("unilabos_data"):
+        working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir", "")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
                 )
-                print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-            else:
                 os._exit(1)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not skip_env_check and not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+        if input() != "n":
+            os.makedirs(working_dir, exist_ok=True)
+            config_path = os.path.join(working_dir, "local_config.py")
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
+            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
+        else:
+            os._exit(1)
 
     # 加载配置文件 (check_mode 跳过)
     print_status(f"当前工作目录为 {working_dir}", "info")
@@ -308,9 +288,7 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    file_path = configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
-    if file_path is not None:
-        logger.info(f"[LOG_FILE] {file_path}")
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
@@ -354,9 +332,6 @@ def main():
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
-    BasicConfig.test_mode = args_dict.get("test_mode", False)
-    if BasicConfig.test_mode:
-        print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
     BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])

unilabos/app/register.py

@@ -38,9 +38,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(devices_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 设备注册异常: {e}")
 
@@ -51,9 +51,9 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
             response = http_client.resource_registry({"resources": list(resources_to_register.values())})
             cost_time = time.time() - start_time
             if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
             else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
         except Exception as e:
             logger.error(f"[UniLab Register] 资源注册异常: {e}")
 

unilabos/app/web/client.py

@@ -343,10 +343,9 @@ class HTTPClient:
         edges: List[Dict[str, Any]],
         tags: Optional[List[str]] = None,
         published: bool = False,
-        description: str = "",
     ) -> Dict[str, Any]:
         """
-        导入工作流到服务器，如果 published 为 True，则额外发起发布请求
+        导入工作流到服务器
 
         Args:
             name: 工作流名称（顶层）
@@ -356,7 +355,6 @@ class HTTPClient:
             edges: 工作流边列表
             tags: 工作流标签列表，默认为空列表
             published: 是否发布工作流，默认为False
-            description: 工作流描述，发布时使用
 
         Returns:
             Dict: API响应数据，包含 code 和 data (uuid, name)
@@ -369,6 +367,7 @@ class HTTPClient:
                 "nodes": nodes,
                 "edges": edges,
                 "tags": tags if tags is not None else [],
+                "published": published,
             },
         }
         # 保存请求到文件
@@ -389,51 +388,11 @@ class HTTPClient:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"导入工作流失败: {response.text}")
-                return res
-            # 导入成功后，如果需要发布则额外发起发布请求
-            if published:
-                imported_uuid = res.get("data", {}).get("uuid", workflow_uuid)
-                publish_res = self.workflow_publish(imported_uuid, description)
-                res["publish_result"] = publish_res
             return res
         else:
             logger.error(f"导入工作流失败: {response.status_code}, {response.text}")
             return {"code": response.status_code, "message": response.text}
 
-    def workflow_publish(self, workflow_uuid: str, description: str = "") -> Dict[str, Any]:
-        """
-        发布工作流
-
-        Args:
-            workflow_uuid: 工作流UUID
-            description: 工作流描述
-
-        Returns:
-            Dict: API响应数据
-        """
-        payload = {
-            "uuid": workflow_uuid,
-            "description": description,
-            "published": True,
-        }
-        logger.info(f"正在发布工作流: {workflow_uuid}")
-        response = requests.patch(
-            f"{self.remote_addr}/lab/workflow/owner",
-            json=payload,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=60,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"发布工作流失败: {response.text}")
-            else:
-                logger.info(f"工作流发布成功: {workflow_uuid}")
-            return res
-        else:
-            logger.error(f"发布工作流失败: {response.status_code}, {response.text}")
-            return {"code": response.status_code, "message": response.text}
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/ws_client.py

@@ -76,7 +76,6 @@ 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"""
@@ -128,15 +127,6 @@ 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
@@ -186,15 +176,11 @@ class DeviceActionManager:
                 logger.error(f"[DeviceActionManager] Job {job_log} is not in READY status, current: {job_info.status}")
                 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
+            # 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
@@ -217,13 +203,6 @@ 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]
@@ -255,14 +234,9 @@ class DeviceActionManager:
             return None
 
     def get_active_jobs(self) -> List[JobInfo]:
-        """获取所有正在执行的任务(含active_jobs和always_free的STARTED job)"""
+        """获取所有正在执行的任务"""
         with self.lock:
-            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
+            return list(self.active_jobs.values())
 
     def get_queued_jobs(self) -> List[JobInfo]:
         """获取所有排队中的任务"""
@@ -287,14 +261,6 @@ 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
@@ -368,18 +334,13 @@ class DeviceActionManager:
         timeout_jobs = []
 
         with self.lock:
-            # 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)
+            # 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)
             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 ready_candidates:
+            for job_info in self.active_jobs.values():
                 if job_info.is_ready_timeout():
                     timeout_jobs.append(job_info)
                     job_log = format_job_log(
@@ -647,24 +608,6 @@ 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", "")
@@ -679,9 +622,6 @@ 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,
@@ -691,7 +631,6 @@ 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
@@ -1184,11 +1123,6 @@ class QueueProcessor:
         logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
 
         for job_info in queued_jobs:
-            # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
-            # 此时不应再发送 busy/need_more，否则会覆盖已发出的 free=True 通知
-            if job_info.status != JobStatus.QUEUE:
-                continue
-
             message = {
                 "action": "report_action_state",
                 "data": {

unilabos/config/config.py

@@ -23,7 +23,6 @@ class BasicConfig:
     disable_browser = False  # 禁止浏览器自动打开
     port = 8002  # 本地HTTP服务
     check_mode = False  # CI 检查模式，用于验证 registry 导入和文件一致性
-    test_mode = False  # 测试模式，所有动作不实际执行，返回模拟结果
     # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
     log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
 
@@ -146,5 +145,5 @@ def load_config(config_path=None):
             traceback.print_exc()
             exit(1)
     else:
-        config_path = os.path.join(os.path.dirname(__file__), "example_config.py")
+        config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
         load_config(config_path)

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -21,7 +21,7 @@ from pylabrobot.resources import (
     ResourceHolder,
     Lid,
     Trash,
-    Tip, TubeRack,
+    Tip,
 )
 from typing_extensions import TypedDict
 
@@ -696,13 +696,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
         如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
         """
-        assert issubclass(plate.__class__, Plate) or issubclass(plate.__class__, TubeRack) , f"plate must be a Plate, now: {type(plate)}"
-        plate: Union[Plate, TubeRack]
+        assert issubclass(plate.__class__, Plate), "plate must be a Plate"
+        plate: Plate = cast(Plate, cast(Resource, plate))
         # 根据 well_names 获取对应的 Well 对象
-        if issubclass(plate.__class__, Plate):
-            wells = [plate.get_well(name) for name in well_names]
-        elif issubclass(plate.__class__, TubeRack):
-            wells = [plate.get_tube(name) for name in well_names]
+        wells = [plate.get_well(name) for name in well_names]
         res_volumes = []
 
         # 如果 liquid_names 和 volumes 都为空，直接返回

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -91,7 +91,7 @@ class PRCXI9300Deck(Deck):
     """
 
     def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
-        super().__init__(size_x, size_y, size_z, name)
+        super().__init__(name, size_x, size_y, size_z)
         self.slots = [None] * 16  # PRCXI 9300/9320 最大有 16 个槽位
         self.slot_locations = [Coordinate(0, 0, 0)] * 16
 
@@ -248,15 +248,14 @@ class PRCXI9300TipRack(TipRack):
         if ordered_items is not None:
             items = ordered_items
         elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
-            first_val = next(iter(ordering.values()), None) if ordering else None
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象
                 items = None
+                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用
@@ -398,15 +397,14 @@ class PRCXI9300TubeRack(TubeRack):
             items_to_pass = ordered_items
             ordering_param = None
         elif ordering is not None:
-            # 检查 ordering 中的值类型来决定如何处理：
-            # - 字符串值（从 JSON 反序列化）: 只用键创建 ordering_param
-            # - None 值（从第二次往返序列化）: 同样只用键创建 ordering_param
-            # - 对象值（已经是实际的 Resource 对象）: 直接作为 ordered_items 使用
-            first_val = next(iter(ordering.values()), None) if ordering else None
-            if not ordering or first_val is None or isinstance(first_val, str):
-                # ordering 的值是字符串或 None，只使用键（位置信息）创建新的 OrderedDict
+            # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况）
+            # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象
+            # 我们只传递位置信息（键），不传递值，使用 ordering 参数
+            if ordering and isinstance(next(iter(ordering.values()), None), str):
+                # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict
                 # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象
                 items_to_pass = None
+                # 使用 ordering 参数，只包含位置信息（键）
                 ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
             else:
                 # ordering 的值已经是对象，可以直接使用

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -19,11 +19,10 @@ 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", registry_name: str = "lh_joint_publisher", **kwargs):
+    def __init__(self,resources_config:list, resource_tracker, rate=50, device_id: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/workbench.py

@@ -22,7 +22,7 @@ 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, always_free
+from unilabos.utils.decorator import not_action
 from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
 
 
@@ -123,8 +123,8 @@ class VirtualWorkbench:
     _ros_node: BaseROS2DeviceNode
 
     # 配置常量
-    ARM_OPERATION_TIME: float = 2  # 机械臂操作时间(秒)
-    HEATING_TIME: float = 60.0  # 加热时间(秒)
+    ARM_OPERATION_TIME: float = 3.0  # 机械臂操作时间(秒)
+    HEATING_TIME: float = 10.0  # 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):
@@ -141,9 +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", 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))
+        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))
 
         # 机械臂状态和锁 (使用threading.Lock)
         self._arm_lock = Lock()
@@ -431,7 +431,6 @@ class VirtualWorkbench:
                     sample_uuid, content in sample_uuids.items()]
             }
 
-    @always_free
     def start_heating(
         self,
         sample_uuids: SampleUUIDsType,
@@ -502,21 +501,10 @@ class VirtualWorkbench:
 
         self._update_data_status(f"加热台{station_id}开始加热{material_id}")
 
-        # 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
+        # 模拟加热过程 (10秒)
         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:
@@ -524,11 +512,6 @@ 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
 

unilabos/registry/device_comms/communication_devices.yaml

@@ -96,13 +96,10 @@ serial:
           type: string
         port:
           type: string
-        registry_name:
-          type: string
         resource_tracker:
           type: object
       required:
       - device_id
-      - registry_name
       - port
       type: object
     data:

unilabos/registry/devices/camera.yaml

@@ -67,9 +67,6 @@ camera:
         period:
           default: 0.1
           type: number
-        registry_name:
-          default: ''
-          type: string
         resource_tracker:
           type: object
       required: []

unilabos/registry/devices/virtual_device.yaml

@@ -6090,7 +6090,6 @@ virtual_workbench:
           type: object
         type: UniLabJsonCommand
       auto-start_heating:
-        always_free: true
         feedback: {}
         goal: {}
         goal_default:

unilabos/registry/registry.py

@@ -5,7 +5,6 @@ import sys
 import inspect
 import importlib
 import threading
-import traceback
 from concurrent.futures import ThreadPoolExecutor, as_completed
 from pathlib import Path
 from typing import Any, Dict, List, Union, Tuple
@@ -89,14 +88,6 @@ class Registry:
         )
         test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
 
-        test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {})
-        test_resource_schema = self._generate_unilab_json_command_schema(
-            test_resource_method_info.get("args", []),
-            "test_resource",
-            test_resource_method_info.get("return_annotation"),
-        )
-        test_resource_schema["description"] = "用于测试物料、设备和样本。"
-
         self.device_type_registry.update(
             {
                 "host_node": {
@@ -198,7 +189,32 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": test_resource_schema,
+                                "schema": {
+                                    "description": "",
+                                    "properties": {
+                                        "feedback": {},
+                                        "goal": {
+                                            "properties": {
+                                                "resource": ros_message_to_json_schema(Resource, "resource"),
+                                                "resources": {
+                                                    "items": {
+                                                        "properties": ros_message_to_json_schema(
+                                                            Resource, "resources"
+                                                        ),
+                                                        "type": "object",
+                                                    },
+                                                    "type": "array",
+                                                },
+                                                "device": {"type": "string"},
+                                                "devices": {"items": {"type": "string"}, "type": "array"},
+                                            },
+                                            "type": "object",
+                                        },
+                                        "result": {},
+                                    },
+                                    "title": "test_resource",
+                                    "type": "object",
+                                },
                                 "placeholder_keys": {
                                     "device": "unilabos_devices",
                                     "devices": "unilabos_devices",
@@ -822,7 +838,6 @@ 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"]
@@ -928,7 +943,6 @@ class Registry:
                     if is_valid:
                         results.append((file, data, device_ids))
                 except Exception as e:
-                    traceback.print_exc()
                     logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
 
         # 线程安全地更新注册表

unilabos/resources/resource_tracker.py

@@ -38,52 +38,24 @@ class LabSample(TypedDict):
     extra: Dict[str, Any]
 
 
-class ResourceDictPositionSizeType(TypedDict):
-    depth: float
-    width: float
-    height: float
-
-
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x
     height: float = Field(description="Height", default=0.0)  # y
 
 
-class ResourceDictPositionScaleType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionScale(BaseModel):
     x: float = Field(description="x scale", default=0.0)
     y: float = Field(description="y scale", default=0.0)
     z: float = Field(description="z scale", default=0.0)
 
 
-class ResourceDictPositionObjectType(TypedDict):
-    x: float
-    y: float
-    z: float
-
-
 class ResourceDictPositionObject(BaseModel):
     x: float = Field(description="X coordinate", default=0.0)
     y: float = Field(description="Y coordinate", default=0.0)
     z: float = Field(description="Z coordinate", default=0.0)
 
 
-class ResourceDictPositionType(TypedDict):
-    size: ResourceDictPositionSizeType
-    scale: ResourceDictPositionScaleType
-    layout: Literal["2d", "x-y", "z-y", "x-z"]
-    position: ResourceDictPositionObjectType
-    position3d: ResourceDictPositionObjectType
-    rotation: ResourceDictPositionObjectType
-    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"]
-
-
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
@@ -102,24 +74,6 @@ class ResourceDictPosition(BaseModel):
     )
 
 
-class ResourceDictType(TypedDict):
-    id: str
-    uuid: str
-    name: str
-    description: str
-    resource_schema: Dict[str, Any]
-    model: Dict[str, Any]
-    icon: str
-    parent_uuid: Optional[str]
-    parent: Optional["ResourceDictType"]
-    type: Union[Literal["device"], str]
-    klass: str
-    pose: ResourceDictPositionType
-    config: Dict[str, Any]
-    data: Dict[str, Any]
-    extra: Dict[str, Any]
-
-
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")

unilabos/ros/device_node_wrapper.py

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

@@ -146,7 +146,7 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceDictInstance,
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
@@ -279,7 +279,6 @@ 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],
@@ -301,7 +300,6 @@ 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()
@@ -418,9 +416,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
                 # noinspection PyTypeChecker
                 container_instance: RegularContainer = rts_plr_instances[0]
-                found_resources = self.resource_tracker.figure_resource(
-                    {"name": container_instance.name}, try_mode=True
-                )
+                found_resources = self.resource_tracker.figure_resource({"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")
@@ -460,7 +456,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             }
             res.response = json.dumps(final_response)
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
-            if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node":
+            if hasattr(self.driver_instance, "create_resource"):
                 create_resource_func = getattr(self.driver_instance, "create_resource")
                 try:
                     ret = create_resource_func(
@@ -1156,7 +1152,6 @@ 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,
@@ -1631,7 +1626,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             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}")
+                        self.lab_logger().debug(
+                            f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
+                        )
                     continue
 
                 # 处理单个 ResourceSlot
@@ -2008,7 +2005,6 @@ 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:
@@ -2026,7 +2022,6 @@ 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,
@@ -2038,7 +2033,6 @@ 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,
@@ -2047,7 +2041,6 @@ 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

unilabos/ros/nodes/presets/camera.py

@@ -6,13 +6,12 @@ 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', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
+    def __init__(self, device_id='video_publisher', 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

@@ -10,7 +10,6 @@ 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]],
@@ -52,7 +51,6 @@ 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

@@ -35,7 +35,7 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeInstance,
     RETURN_UNILABOS_SAMPLES,
     JSON_UNILABOS_PARAM,
-    PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample,
+    PARAM_SAMPLE_UUIDS,
 )
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -51,7 +51,6 @@ 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.config.config import BasicConfig
 
 if TYPE_CHECKING:
     from unilabos.app.ws_client import QueueItem
@@ -64,8 +63,7 @@ class DeviceActionStatus:
 
 class TestResourceReturn(TypedDict):
     resources: List[List[ResourceDict]]
-    devices: List[Dict[str, Any]]
-    unilabos_samples: List[LabSample]
+    devices: List[DeviceSlot]
 
 
 class TestLatencyReturn(TypedDict):
@@ -250,7 +248,6 @@ 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"],
@@ -305,8 +302,7 @@ class HostNode(BaseROS2DeviceNode):
         }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = (
             {}
-        )  # 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)
+        )  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         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
@@ -640,8 +636,6 @@ 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"
@@ -778,17 +772,6 @@ class HostNode(BaseROS2DeviceNode):
         u = uuid.UUID(item.job_id)
         device_id = item.device_id
         action_name = item.action_name
-
-        if BasicConfig.test_mode:
-            action_id = f"/devices/{device_id}/{action_name}"
-            self.lab_logger().info(
-                f"[TEST MODE] 模拟执行: {action_id} (job={item.job_id[:8]}), 参数: {str(action_kwargs)[:500]}"
-            )
-            # 根据注册表 handles 构建模拟返回值
-            mock_return = self._build_test_mode_return(device_id, action_name, action_kwargs)
-            self._handle_test_mode_result(item, action_id, mock_return)
-            return
-
         if action_type.startswith("UniLabJsonCommand"):
             if action_name.startswith("auto-"):
                 action_name = action_name[5:]
@@ -826,51 +809,6 @@ class HostNode(BaseROS2DeviceNode):
         )
         future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
-    def _build_test_mode_return(
-        self, device_id: str, action_name: str, action_kwargs: Dict[str, Any]
-    ) -> Dict[str, Any]:
-        """
-        根据注册表 handles 的 output 定义构建测试模式的模拟返回值
-
-        根据 data_key 中 @flatten 的层数决定嵌套数组层数，叶子值为空字典。
-        例如: "vessel" → {}, "plate.@flatten" → [{}], "a.@flatten.@flatten" → [[{}]]
-        """
-        mock_return: Dict[str, Any] = {"test_mode": True, "action_name": action_name}
-        action_mappings = self._action_value_mappings.get(device_id, {})
-        action_mapping = action_mappings.get(action_name, {})
-        handles = action_mapping.get("handles", {})
-        if isinstance(handles, dict):
-            for output_handle in handles.get("output", []):
-                data_key = output_handle.get("data_key", "")
-                handler_key = output_handle.get("handler_key", "")
-                # 根据 @flatten 层数构建嵌套数组，叶子为空字典
-                flatten_count = data_key.count("@flatten")
-                value: Any = {}
-                for _ in range(flatten_count):
-                    value = [value]
-                mock_return[handler_key] = value
-        return mock_return
-
-    def _handle_test_mode_result(
-        self, item: "QueueItem", action_id: str, mock_return: Dict[str, Any]
-    ) -> None:
-        """
-        测试模式下直接构建结果并走正常的结果回调流程（跳过 ROS）
-        """
-        job_id = item.job_id
-        status = "success"
-        return_info = serialize_result_info("", True, mock_return)
-
-        self.lab_logger().info(f"[TEST MODE] Result for {action_id} ({job_id[:8]}): {status}")
-
-        from unilabos.app.web.controller import store_job_result
-        store_job_result(job_id, status, return_info, mock_return)
-
-        # 发布状态到桥接器
-        for bridge in self.bridges:
-            if hasattr(bridge, "publish_job_status"):
-                bridge.publish_job_status(mock_return, item, status, return_info)
-
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
         goal_handle = future.result()
@@ -1230,10 +1168,6 @@ 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:
@@ -1245,48 +1179,12 @@ 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:
@@ -1583,7 +1481,6 @@ class HostNode(BaseROS2DeviceNode):
 
     def test_resource(
         self,
-        sample_uuids: SampleUUIDsType,
         resource: ResourceSlot = None,
         resources: List[ResourceSlot] = None,
         device: DeviceSlot = None,
@@ -1598,7 +1495,6 @@ class HostNode(BaseROS2DeviceNode):
         return {
             "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
-            "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 handle_pong_response(self, pong_data: dict):

unilabos/ros/nodes/presets/joint_republisher.py

@@ -7,11 +7,10 @@ from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class JointRepublisher(BaseROS2DeviceNode):
-    def __init__(self,device_id, registry_name, resource_tracker, **kwargs):
+    def __init__(self,device_id,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", registry_name: str = "", rate=50, **kwargs):
+    def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
         """初始化资源网格管理器节点
         
         Args:
@@ -37,7 +37,6 @@ 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, registry_name, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
+    def __init__(self, device_id, 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
@@ -28,7 +28,6 @@ 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

@@ -47,7 +47,6 @@ 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],
@@ -63,7 +62,6 @@ 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},

unilabos/test/experiments/comprehensive_protocol/comprehensive_station.json

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

unilabos/utils/decorator.py

@@ -184,51 +184,6 @@ 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

@@ -29,7 +29,7 @@ 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, is_always_free
+from unilabos.utils.decorator import is_not_action
 
 
 class ImportManager:
@@ -282,9 +282,6 @@ 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
@@ -342,9 +339,6 @@ 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
 
@@ -480,13 +474,6 @@ 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:

unilabos/utils/log.py

@@ -193,7 +193,6 @@ def configure_logger(loglevel=None, working_dir=None):
     root_logger.addHandler(console_handler)
 
     # 如果指定了工作目录，添加文件处理器
-    log_filepath = None
     if working_dir is not None:
         logs_dir = os.path.join(working_dir, "logs")
         os.makedirs(logs_dir, exist_ok=True)
@@ -214,7 +213,6 @@ def configure_logger(loglevel=None, working_dir=None):
 
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
-    return log_filepath
 
 
 

unilabos/workflow/common.py

@@ -362,16 +362,14 @@ def build_protocol_graph(
     protocol_steps: List[Dict[str, Any]],
     workstation_name: str,
     action_resource_mapping: Optional[Dict[str, str]] = None,
-    labware_defs: Optional[List[Dict[str, Any]]] = None,
 ) -> WorkflowGraph:
     """统一的协议图构建函数，根据设备类型自动选择构建逻辑
 
     Args:
-        labware_info: reagent 信息字典，格式为 {name: {slot, well}, ...}，用于 set_liquid 和 well 查找
+        labware_info: labware 信息字典，格式为 {name: {slot, well, labware, ...}, ...}
         protocol_steps: 协议步骤列表
         workstation_name: 工作站名称
         action_resource_mapping: action 到 resource_name 的映射字典，可选
-        labware_defs: labware 定义列表，格式为 [{"name": "...", "slot": "1", "type": "lab_xxx"}, ...]
     """
     G = WorkflowGraph()
     resource_last_writer = {}  # reagent_name -> "node_id:port"
@@ -379,7 +377,18 @@ def build_protocol_graph(
 
     protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
 
-    # ==================== 第一步：按 slot 创建 create_resource 节点 ====================
+    # ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
+    # 收集所有唯一的 slot
+    slots_info = {}  # slot -> {labware, res_id}
+    for labware_id, item in labware_info.items():
+        slot = str(item.get("slot", ""))
+        if slot and slot not in slots_info:
+            res_id = f"plate_slot_{slot}"
+            slots_info[slot] = {
+                "labware": item.get("labware", ""),
+                "res_id": res_id,
+            }
+
     # 创建 Group 节点，包含所有 create_resource 节点
     group_node_id = str(uuid.uuid4())
     G.add_node(
@@ -395,35 +404,29 @@ def build_protocol_graph(
         param=None,
     )
 
-    # 直接使用 JSON 中的 labware 定义，每个 slot 一条记录，type 即 class_name
+    # 为每个唯一的 slot 创建 create_resource 节点
     res_index = 0
-    for lw in (labware_defs or []):
-        slot = str(lw.get("slot", ""))
-        if not slot or slot in slot_to_create_resource:
-            continue  # 跳过空 slot 或已处理的 slot
-
-        lw_name = lw.get("name", f"slot {slot}")
-        lw_type = lw.get("type", CREATE_RESOURCE_DEFAULTS["class_name"])
-        res_id = f"plate_slot_{slot}"
+    for slot, info in slots_info.items():
+        node_id = str(uuid.uuid4())
+        res_id = info["res_id"]
 
         res_index += 1
-        node_id = str(uuid.uuid4())
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=lw_name,
-            description=f"Create {lw_name}",
+            name=f"Plate {res_index}",
+            description=f"Create plate on slot {slot}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
             device_name=DEVICE_NAME_HOST,
             type=NODE_TYPE_DEFAULT,
-            parent_uuid=group_node_id,
-            minimized=True,
+            parent_uuid=group_node_id,  # 指向 Group 节点
+            minimized=True,  # 折叠显示
             param={
                 "res_id": res_id,
                 "device_id": CREATE_RESOURCE_DEFAULTS["device_id"],
-                "class_name": lw_type,
+                "class_name": CREATE_RESOURCE_DEFAULTS["class_name"],
                 "parent": CREATE_RESOURCE_DEFAULTS["parent_template"].format(slot=slot),
                 "bind_locations": {"x": 0.0, "y": 0.0, "z": 0.0},
                 "slot_on_deck": slot,
@@ -431,6 +434,8 @@ def build_protocol_graph(
         )
         slot_to_create_resource[slot] = 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
     set_liquid_group_id = str(uuid.uuid4())

unilabos/workflow/convert_from_json.py

@@ -1,20 +1,16 @@
 """
 JSON 工作流转换模块
 
-将 workflow/reagent/labware 格式的 JSON 转换为统一工作流格式。
+将 workflow/reagent 格式的 JSON 转换为统一工作流格式。
 
 输入格式:
 {
-    "labware": [
-        {"name": "...", "slot": "1", "type": "lab_xxx"},
-        ...
-    ],
     "workflow": [
         {"action": "...", "action_args": {...}},
         ...
     ],
     "reagent": {
-        "reagent_name": {"slot": int, "well": [...]},
+        "reagent_name": {"slot": int, "well": [...], "labware": "..."},
         ...
     }
 }
@@ -249,18 +245,18 @@ def convert_from_json(
     if "workflow" not in json_data or "reagent" not in json_data:
         raise ValueError(
             "不支持的 JSON 格式。请使用标准格式:\n"
-            '{"labware": [...], "workflow": [...], "reagent": {...}}'
+            '{"workflow": [{"action": "...", "action_args": {...}}, ...], '
+            '"reagent": {"name": {"slot": int, "well": [...], "labware": "..."}, ...}}'
         )
 
     # 提取数据
     workflow = json_data["workflow"]
     reagent = json_data["reagent"]
-    labware_defs = json_data.get("labware", [])  # 新的 labware 定义列表
 
     # 规范化步骤数据
     protocol_steps = normalize_workflow_steps(workflow)
 
-    # reagent 已经是字典格式，用于 set_liquid 和 well 数量查找
+    # reagent 已经是字典格式，直接使用
     labware_info = reagent
 
     # 构建工作流图
@@ -269,7 +265,6 @@ def convert_from_json(
         protocol_steps=protocol_steps,
         workstation_name=workstation_name,
         action_resource_mapping=ACTION_RESOURCE_MAPPING,
-        labware_defs=labware_defs,
     )
 
     # 校验句柄配置

unilabos/workflow/wf_utils.py

@@ -41,7 +41,6 @@ def upload_workflow(
     workflow_name: Optional[str] = None,
     tags: Optional[List[str]] = None,
     published: bool = False,
-    description: str = "",
 ) -> Dict[str, Any]:
     """
     上传工作流到服务器
@@ -57,7 +56,6 @@ def upload_workflow(
         workflow_name: 工作流名称，如果不提供则从文件中读取或使用文件名
         tags: 工作流标签列表，默认为空列表
         published: 是否发布工作流，默认为False
-        description: 工作流描述，发布时使用
 
     Returns:
         Dict: API响应数据
@@ -77,14 +75,6 @@ def upload_workflow(
         print_status(f"工作流文件JSON解析失败: {e}", "error")
         return {"code": -1, "message": f"JSON解析失败: {e}"}
 
-    # 从 JSON 文件中提取 description 和 tags（作为 fallback）
-    if not description and "description" in workflow_data:
-        description = workflow_data["description"]
-        print_status(f"从文件中读取 description", "info")
-    if not tags and "tags" in workflow_data:
-        tags = workflow_data["tags"]
-        print_status(f"从文件中读取 tags: {tags}", "info")
-
     # 自动检测并转换格式
     if not _is_node_link_format(workflow_data):
         try:
@@ -106,7 +96,6 @@ def upload_workflow(
     print_status(f"  - 节点数量: {len(nodes)}", "info")
     print_status(f"  - 边数量: {len(edges)}", "info")
     print_status(f"  - 标签: {tags or []}", "info")
-    print_status(f"  - 描述: {description[:50]}{'...' if len(description) > 50 else ''}", "info")
     print_status(f"  - 发布状态: {published}", "info")
 
     # 调用 http_client 上传
@@ -118,7 +107,6 @@ def upload_workflow(
         edges=edges,
         tags=tags,
         published=published,
-        description=description,
     )
 
     if result.get("code") == 0:
@@ -143,9 +131,8 @@ def handle_workflow_upload_command(args_dict: Dict[str, Any]) -> None:
     workflow_name = args_dict.get("workflow_name")
     tags = args_dict.get("tags", [])
     published = args_dict.get("published", False)
-    description = args_dict.get("description", "")
 
     if workflow_file:
-        upload_workflow(workflow_file, workflow_name, tags, published, description)
+        upload_workflow(workflow_file, workflow_name, tags, published)
     else:
         print_status("未指定工作流文件路径，请使用 -f/--workflow_file 参数", "error")