Update organic syn station.

update "laiyu" missing init file.

fix "laiyu" missing init file.

fix "🐛 fix"

🐛 fix: config file is overwrited by default args even if not be set.

mix

修改了mix，仿真流程报错问题

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.11
+  version: 0.10.12
 
 source:
   path: ../unilabos

README.md

@@ -39,7 +39,9 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
 
 ```bash
 # Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab python=3.11.11
+mamba activate unilab
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 ## Install Dev Uni-Lab-OS

README_zh.md

@@ -41,7 +41,9 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab python=3.11.11
+mamba activate unilab
+mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
 2. 安装开发版 Uni-Lab-OS:

docs/user_guide/installation.md

@@ -317,45 +317,6 @@ unilab --help
 
 如果所有命令都正常输出，说明开发环境配置成功！
 
-### 开发工具推荐
-
-#### IDE
-
-- **PyCharm Professional**: 强大的 Python IDE，支持远程调试
-- **VS Code**: 轻量级，配合 Python 扩展使用
-- **Vim/Emacs**: 适合终端开发
-
-#### 推荐的 VS Code 扩展
-
-- Python
-- Pylance
-- ROS
-- URDF
-- YAML
-
-#### 调试工具
-
-```bash
-# 安装调试工具
-pip install ipdb pytest pytest-cov -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-
-# 代码质量检查
-pip install black flake8 mypy -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-```
-
-### 设置 pre-commit 钩子（可选）
-
-```bash
-# 安装 pre-commit
-pip install pre-commit -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
-
-# 设置钩子
-pre-commit install
-
-# 手动运行检查
-pre-commit run --all-files
-```
-
 ---
 
 ## 验证安装

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.11
+  version: 0.10.12
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.11"
+  version: "0.10.12"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.11',
+    version='0.10.12',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.11"
+__version__ = "0.10.12"

unilabos/app/communication.py

@@ -141,7 +141,7 @@ class CommunicationClientFactory:
         """
         if cls._client_cache is None:
             cls._client_cache = cls.create_client(protocol)
-            logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
+            logger.trace(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
 
         return cls._client_cache
 

unilabos/app/main.py

@@ -159,9 +159,10 @@ def parse_args():
 def main():
     """主函数"""
     # 解析命令行参数
-    args = parse_args()
+    parser = parse_args()
-    convert_argv_dashes_to_underscores(args)
+    convert_argv_dashes_to_underscores(parser)
-    args_dict = vars(args.parse_args())
+    args = parser.parse_args()
+    args_dict = vars(args)
 
     # 环境检查 - 检查并自动安装必需的包 (可选)
     if not args_dict.get("skip_env_check", False):
@@ -218,19 +219,20 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-        configure_logger(loglevel=BasicConfig.log_level)
+    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
 
-    if args_dict["addr"] == "test":
+    if args.addr != parser.get_default("addr"):
-        print_status("使用测试环境地址", "info")
+        if args.addr == "test":
-        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+            print_status("使用测试环境地址", "info")
-    elif args_dict["addr"] == "uat":
+            HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-        print_status("使用uat环境地址", "info")
+        elif args.addr == "uat":
-        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+            print_status("使用uat环境地址", "info")
-    elif args_dict["addr"] == "local":
+            HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-        print_status("使用本地环境地址", "info")
+        elif args.addr == "local":
-        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
+            print_status("使用本地环境地址", "info")
-    else:
+            HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
-        HTTPConfig.remote_addr = args_dict.get("addr", "")
+        else:
+            HTTPConfig.remote_addr = args.addr
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -327,6 +329,10 @@ def main():
     for ind, i in enumerate(resource_edge_info[::-1]):
         source_node: ResourceDict = nodes[i["source"]]
         target_node: ResourceDict = nodes[i["target"]]
+        if "sourceHandle" not in source_node:
+            continue
+        if "targetHandle" not in target_node:
+            continue
         source_handle = i["sourceHandle"]
         target_handle = i["targetHandle"]
         source_handler_keys = [

unilabos/app/oss_upload.py

@@ -34,14 +34,14 @@ def _get_oss_token(
         client = http_client
 
     # 构造scene参数: driver_name-exp_type
-    scene = f"{driver_name}-{exp_type}"
+    sub_path = f"{driver_name}-{exp_type}"
 
     # 构造请求URL，使用client的remote_addr（已包含/api/v1/）
     url = f"{client.remote_addr}/applications/token"
-    params = {"scene": scene, "filename": filename}
+    params = {"sub_path": sub_path, "filename": filename, "scene": "job"}
 
     try:
-        logger.info(f"[OSS] 请求预签名URL: scene={scene}, filename={filename}")
+        logger.info(f"[OSS] 请求预签名URL: sub_path={sub_path}, filename={filename}")
         response = requests.get(url, params=params, headers={"Authorization": f"Lab {client.auth}"}, timeout=10)
 
         if response.status_code == 200:

unilabos/app/ws_client.py

@@ -389,7 +389,7 @@ class MessageProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="MessageProcessor")
         self.thread.start()
-        logger.info("[MessageProcessor] Started")
+        logger.trace("[MessageProcessor] Started")
 
     def stop(self) -> None:
         """停止消息处理线程"""
@@ -939,7 +939,7 @@ class QueueProcessor:
         # 事件通知机制
         self.queue_update_event = threading.Event()
 
-        logger.info("[QueueProcessor] Initialized")
+        logger.trace("[QueueProcessor] Initialized")
 
     def set_websocket_client(self, websocket_client: "WebSocketClient"):
         """设置WebSocket客户端引用"""
@@ -954,7 +954,7 @@ class QueueProcessor:
         self.is_running = True
         self.thread = threading.Thread(target=self._run, daemon=True, name="QueueProcessor")
         self.thread.start()
-        logger.info("[QueueProcessor] Started")
+        logger.trace("[QueueProcessor] Started")
 
     def stop(self) -> None:
         """停止队列处理线程"""
@@ -1314,3 +1314,19 @@ class WebSocketClient(BaseCommunicationClient):
             logger.info(f"[WebSocketClient] Job {job_log} cancelled successfully")
         else:
             logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
+
+    def publish_host_ready(self) -> None:
+        """发布host_node ready信号"""
+        if self.is_disabled or not self.is_connected():
+            logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
+            return
+
+        message = {
+            "action": "host_node_ready",
+            "data": {
+                "status": "ready",
+                "timestamp": time.time(),
+            },
+        }
+        self.message_processor.send_message(message)
+        logger.info("[WebSocketClient] Host node ready signal published")

unilabos/config/config.py

@@ -41,7 +41,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "http://127.0.0.1:48197/api/v1"
+    remote_addr = "https://uni-lab.bohrium.com/api/v1"
 
 
 # ROS配置

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -147,6 +147,9 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
+        # 如果 use_channels 为 None，使用默认值（所有通道）
+        if use_channels is None:
+            use_channels = list(range(self.channel_num))
         if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
             offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
@@ -759,7 +762,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()        
@@ -833,17 +836,19 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             spread=spread,
                         )
 
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
-                        await self.mix(
+                        # 只有在 mix_time 有效时才调用 mix
-                            targets=[targets[_]],
+                        if mix_time is not None and mix_time > 0:
-                            mix_time=mix_time,
+                            await self.mix(
-                            mix_vol=mix_vol,
+                                targets=[targets[_]],
-                            offsets=offsets if offsets else None,
+                                mix_time=mix_time,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                                mix_vol=mix_vol,
-                            mix_rate=mix_rate if mix_rate else None,
+                                offsets=offsets if offsets else None,
-                        )
+                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                        if delays is not None:
+                                mix_rate=mix_rate if mix_rate else None,
+                            )
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(targets[_])
                         await self.discard_tips()
@@ -893,18 +898,20 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None:
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
 
-                        await self.mix(
+                        # 只有在 mix_time 有效时才调用 mix
-                            targets=current_targets,
+                        if mix_time is not None and mix_time > 0:
-                            mix_time=mix_time,
+                            await self.mix(
-                            mix_vol=mix_vol,
+                                targets=current_targets,
-                            offsets=offsets if offsets else None,
+                                mix_time=mix_time,
-                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                                mix_vol=mix_vol,
-                            mix_rate=mix_rate if mix_rate else None,
+                                offsets=offsets if offsets else None,
-                        )
+                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                        if delays is not None:
+                                mix_rate=mix_rate if mix_rate else None,
+                            )
+                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()
@@ -942,60 +949,158 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        """Transfer liquid from each *source* well/plate to the corresponding *target*.
+        """Transfer liquid with automatic mode detection.
+
+        Supports three transfer modes:
+        1. One-to-many (1 source -> N targets): Distribute from one source to multiple targets
+        2. One-to-one (N sources -> N targets): Standard transfer, each source to corresponding target
+        3. Many-to-one (N sources -> 1 target): Combine multiple sources into one target
 
         Parameters
         ----------
         asp_vols, dis_vols
-            Single volume (µL) or list matching the number of transfers.
+            Single volume (µL) or list. Automatically expanded based on transfer mode.
         sources, targets
-            Same‑length sequences of containers (wells or plates). In 96‑well mode
+            Containers (wells or plates). Length determines transfer mode:
-            each must contain exactly one plate.
+            - len(sources) == 1, len(targets) > 1: One-to-many mode
+            - len(sources) == len(targets): One-to-one mode
+            - len(sources) > 1, len(targets) == 1: Many-to-one mode
         tip_racks
             One or more TipRacks providing fresh tips.
         is_96_well
             Set *True* to use the 96‑channel head.
         """
-
+        
-
+        # 确保 use_channels 有默认值
+        if use_channels is None:
+            use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
+        
         if is_96_well:
             pass  # This mode is not verified.
         else:
-            if len(asp_vols) != len(targets):
+            # 转换体积参数为列表
-                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+            if isinstance(asp_vols, (int, float)):
+                asp_vols = [float(asp_vols)]
+            else:
+                asp_vols = [float(v) for v in asp_vols]
+            
+            if isinstance(dis_vols, (int, float)):
+                dis_vols = [float(dis_vols)]
+            else:
+                dis_vols = [float(v) for v in dis_vols]
 
-            # 首先应该对任务分组，然后每次1个/8个进行操作处理
+        # 统一混合次数为标量，防止数组/列表与 int 比较时报错
-            if len(use_channels) == 1:
+        if mix_times is not None and not isinstance(mix_times, (int, float)):
-                for _ in range(len(targets)):
+            try:
-                    tip = []
+                mix_times = mix_times[0] if len(mix_times) > 0 else None
-                    for ___ in range(len(use_channels)):
+            except Exception:
-                        tip.extend(next(self.current_tip))
+                try:
-                    await self.pick_up_tips(tip)
+                    mix_times = next(iter(mix_times))
+                except Exception:
+                    pass
+        if mix_times is not None:
+            mix_times = int(mix_times)
+            
+            # 识别传输模式
+            num_sources = len(sources)
+            num_targets = len(targets)
+            
+            if num_sources == 1 and num_targets > 1:
+                # 模式1: 一对多 (1 source -> N targets)
+                await self._transfer_one_to_many(
+                    sources[0], targets, tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            elif num_sources > 1 and num_targets == 1:
+                # 模式2: 多对一 (N sources -> 1 target)
+                await self._transfer_many_to_one(
+                    sources, targets[0], tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            elif num_sources == num_targets:
+                # 模式3: 一对一 (N sources -> N targets) - 原有逻辑
+                await self._transfer_one_to_one(
+                    sources, targets, tip_racks, use_channels,
+                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
+                    offsets, touch_tip, liquid_height, blow_out_air_volume,
+                    spread, mix_stage, mix_times, mix_vol, mix_rate,
+                    mix_liquid_height, delays
+                )
+            else:
+                raise ValueError(
+                    f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
+                    "Supported modes: 1->N, N->1, or N->N."
+                )
 
-                    await self.aspirate(
+    async def _transfer_one_to_one(
-                        resources=[sources[_]],
+        self,
-                        vols=[asp_vols[_]],
+        sources: Sequence[Container],
-                        use_channels=use_channels,
+        targets: Sequence[Container],
-                        flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
+        tip_racks: Sequence[TipRack],
-                        offsets=[offsets[0]] if offsets else None,
+        use_channels: List[int],
-                        liquid_height=[liquid_height[0]] if liquid_height else None,
+        asp_vols: List[float],
-                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
+        dis_vols: List[float],
-                        spread=spread,
+        asp_flow_rates: Optional[List[Optional[float]]],
-                    )
+        dis_flow_rates: Optional[List[Optional[float]]],
-                    if delays is not None:
+        offsets: Optional[List[Coordinate]],
-                        await self.custom_delay(seconds=delays[0])
+        touch_tip: bool,
-                    await self.dispense(
+        liquid_height: Optional[List[Optional[float]]],
-                        resources=[targets[_]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
-                        vols=[dis_vols[_]],
+        spread: Literal["wide", "tight", "custom"],
-                        use_channels=use_channels,
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
-                        flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
+        mix_times: Optional[int],
-                        offsets=[offsets[1]] if offsets else None,
+        mix_vol: Optional[int],
-                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
+        mix_rate: Optional[int],
-                        liquid_height=[liquid_height[1]] if liquid_height else None,
+        mix_liquid_height: Optional[float],
-                        spread=spread,
+        delays: Optional[List[int]],
-                    )
+    ):
-                    if delays is not None:
+        """一对一传输模式：N sources -> N targets"""
-                        await self.custom_delay(seconds=delays[1])
+        # 验证参数长度
+        if len(asp_vols) != len(targets):
+            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
+        if len(dis_vols) != len(targets):
+            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+        if len(sources) != len(targets):
+            raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
+
+        if len(use_channels) == 1:
+            for _ in range(len(targets)):
+                tip = []
+                for ___ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.aspirate(
+                    resources=[sources[_]],
+                    vols=[asp_vols[_]],
+                    use_channels=use_channels,
+                    flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
+                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
+                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
+                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
+                    spread=spread,
+                )
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                await self.dispense(
+                    resources=[targets[_]],
+                    vols=[dis_vols[_]],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
+                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
+                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
+                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
+                    spread=spread,
+                )
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                     await self.mix(
                         targets=[targets[_]],
                         mix_time=mix_times,
@@ -1004,63 +1109,60 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
                     )
-                    if delays is not None:
+                if delays is not None and len(delays) > 1:
-                        await self.custom_delay(seconds=delays[1])
+                    await self.custom_delay(seconds=delays[1])
-                    await self.touch_tip(targets[_])
+                await self.touch_tip(targets[_])
-                    await self.discard_tips()
+                await self.discard_tips(use_channels=use_channels)
 
-            elif len(use_channels) == 8:
+        elif len(use_channels) == 8:
-                # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
+            if len(targets) % 8 != 0:
-                if len(targets) % 8 != 0:
+                raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
-                    raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
 
-                # 8个8个来取任务序列
+            for i in range(0, len(targets), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                current_targets = targets[i:i + 8]
+                current_reagent_sources = sources[i:i + 8]
+                current_asp_vols = asp_vols[i:i + 8]
+                current_dis_vols = dis_vols[i:i + 8]
+                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
+                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
 
-                for i in range(0, len(targets), 8):
+                await self.aspirate(
-                    # 取出8个任务
+                    resources=current_reagent_sources,
-                    tip = []
+                    vols=current_asp_vols,
-                    for _ in range(len(use_channels)):
+                    use_channels=use_channels,
-                        tip.extend(next(self.current_tip))
+                    flow_rates=current_asp_flow_rates,
-                    await self.pick_up_tips(tip)
+                    offsets=current_asp_offset,
-                    current_targets = targets[i:i + 8]
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
-                    current_reagent_sources = sources[i:i + 8]
+                    liquid_height=current_asp_liquid_height,
-                    current_asp_vols = asp_vols[i:i + 8]
+                    spread=spread,
-                    current_dis_vols = dis_vols[i:i + 8]
+                )
-                    current_asp_flow_rates = asp_flow_rates[i:i + 8]
-                    current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                    current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
-                    current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                    current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
-                    current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                    current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
 
-                    await self.aspirate(
+                if delays is not None:
-                        resources=current_reagent_sources,
+                    await self.custom_delay(seconds=delays[0])
-                        vols=current_asp_vols,
+                await self.dispense(
-                        use_channels=use_channels,
+                    resources=current_targets,
-                        flow_rates=current_asp_flow_rates,
+                    vols=current_dis_vols,
-                        offsets=current_asp_offset,
+                    use_channels=use_channels,
-                        blow_out_air_volume=current_asp_blow_out_air_volume,
+                    flow_rates=current_dis_flow_rates,
-                        liquid_height=current_asp_liquid_height,
+                    offsets=current_dis_offset,
-                        spread=spread,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
-                    )
+                    liquid_height=current_dis_liquid_height,
-
+                    spread=spread,
-                    if delays is not None:
+                )
-                        await self.custom_delay(seconds=delays[0])
+                if delays is not None and len(delays) > 1:
-                    await self.dispense(
+                    await self.custom_delay(seconds=delays[1])
-                        resources=current_targets,
-                        vols=current_dis_vols,
-                        use_channels=use_channels,
-                        flow_rates=current_dis_flow_rates,
-                        offsets=current_dis_offset,
-                        blow_out_air_volume=current_dis_blow_out_air_volume,
-                        liquid_height=current_dis_liquid_height,
-                        spread=spread,
-                    )
-                    if delays is not None:
-                        await self.custom_delay(seconds=delays[1])
 
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                     await self.mix(
                         targets=current_targets,
                         mix_time=mix_times,
@@ -1069,10 +1171,363 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
                     )
-                    if delays is not None:
+                if delays is not None and len(delays) > 1:
-                        await self.custom_delay(seconds=delays[1])
+                    await self.custom_delay(seconds=delays[1])
+                await self.touch_tip(current_targets)
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
+    async def _transfer_one_to_many(
+        self,
+        source: Container,
+        targets: Sequence[Container],
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        asp_flow_rates: Optional[List[Optional[float]]],
+        dis_flow_rates: Optional[List[Optional[float]]],
+        offsets: Optional[List[Coordinate]],
+        touch_tip: bool,
+        liquid_height: Optional[List[Optional[float]]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
+        spread: Literal["wide", "tight", "custom"],
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
+        mix_times: Optional[int],
+        mix_vol: Optional[int],
+        mix_rate: Optional[int],
+        mix_liquid_height: Optional[float],
+        delays: Optional[List[int]],
+    ):
+        """一对多传输模式：1 source -> N targets"""
+        # 验证和扩展体积参数
+        if len(asp_vols) == 1:
+            # 如果只提供一个吸液体积，计算总吸液体积（所有分液体积之和）
+            total_asp_vol = sum(dis_vols)
+            asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol
+        else:
+            raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.")
+        
+        if len(dis_vols) != len(targets):
+            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
+
+        if len(use_channels) == 1:
+            # 单通道模式：一次吸液，多次分液
+            tip = []
+            for _ in range(len(use_channels)):
+                tip.extend(next(self.current_tip))
+            await self.pick_up_tips(tip)
+
+            # 从源容器吸液（总体积）
+            await self.aspirate(
+                resources=[source],
+                vols=[asp_vol],
+                use_channels=use_channels,
+                flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
+                offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
+                liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
+                blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
+                spread=spread,
+            )
+            
+            if delays is not None:
+                await self.custom_delay(seconds=delays[0])
+            
+            # 分多次分液到不同的目标容器
+            for idx, target in enumerate(targets):
+                await self.dispense(
+                    resources=[target],
+                    vols=[dis_vols[idx]],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
+                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
+                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
+                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
+                    spread=spread,
+                )
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=[target],
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets[idx:idx+1] if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                if touch_tip:
+                    await self.touch_tip([target])
+            
+            await self.discard_tips(use_channels=use_channels)
+        
+        elif len(use_channels) == 8:
+            # 8通道模式：需要确保目标数量是8的倍数
+            if len(targets) % 8 != 0:
+                raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.")
+            
+            # 每次处理8个目标
+            for i in range(0, len(targets), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                
+                current_targets = targets[i:i + 8]
+                current_dis_vols = dis_vols[i:i + 8]
+                
+                # 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
+                current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
+                current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
+                current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
+                
+                # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
+                await self.aspirate(
+                    resources=[source] * 8,  # 8个通道都从同一个源
+                    vols=current_dis_vols,  # 每个通道的吸液体积等于对应的分液体积
+                    use_channels=use_channels,
+                    flow_rates=current_asp_flow_rates,
+                    offsets=current_asp_offset,
+                    liquid_height=current_asp_liquid_height,
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到8个目标
+                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
+                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                
+                await self.dispense(
+                    resources=current_targets,
+                    vols=current_dis_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_dis_flow_rates,
+                    offsets=current_dis_offset,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    liquid_height=current_dis_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                    await self.mix(
+                        targets=current_targets,
+                        mix_time=mix_times,
+                        mix_vol=mix_vol,
+                        offsets=offsets if offsets else None,
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                
+                if touch_tip:
                     await self.touch_tip(current_targets)
-                    await self.discard_tips([0,1,2,3,4,5,6,7])
+                
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+
+    async def _transfer_many_to_one(
+        self,
+        sources: Sequence[Container],
+        target: Container,
+        tip_racks: Sequence[TipRack],
+        use_channels: List[int],
+        asp_vols: List[float],
+        dis_vols: List[float],
+        asp_flow_rates: Optional[List[Optional[float]]],
+        dis_flow_rates: Optional[List[Optional[float]]],
+        offsets: Optional[List[Coordinate]],
+        touch_tip: bool,
+        liquid_height: Optional[List[Optional[float]]],
+        blow_out_air_volume: Optional[List[Optional[float]]],
+        spread: Literal["wide", "tight", "custom"],
+        mix_stage: Optional[Literal["none", "before", "after", "both"]],
+        mix_times: Optional[int],
+        mix_vol: Optional[int],
+        mix_rate: Optional[int],
+        mix_liquid_height: Optional[float],
+        delays: Optional[List[int]],
+    ):
+        """多对一传输模式：N sources -> 1 target（汇总/混合）"""
+        # 验证和扩展体积参数
+        if len(asp_vols) != len(sources):
+            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
+        
+        # 支持两种模式：
+        # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
+        # 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
+        if len(dis_vols) == 1:
+            # 模式1：使用单个分液体积
+            total_dis_vol = sum(asp_vols)
+            dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol
+            use_proportional_mixing = False
+        elif len(dis_vols) == len(asp_vols):
+            # 模式2：按不同比例混合
+            use_proportional_mixing = True
+        else:
+            raise ValueError(
+                f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} "
+                f"(matching `asp_vols`). Got length {len(dis_vols)}."
+            )
+
+        if len(use_channels) == 1:
+            # 单通道模式：多次吸液，一次分液
+            # 先混合前（如果需要）
+            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
+                # 注意：在吸液前混合源容器通常不常见，这里跳过
+                pass
+            
+            # 从每个源容器吸液并分液到目标容器
+            for idx, source in enumerate(sources):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+
+                await self.aspirate(
+                    resources=[source],
+                    vols=[asp_vols[idx]],
+                    use_channels=use_channels,
+                    flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
+                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
+                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
+                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到目标容器
+                if use_proportional_mixing:
+                    # 按不同比例混合：使用对应的 dis_vols
+                    dis_vol = dis_vols[idx]
+                    dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
+                    dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
+                    dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
+                    dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
+                else:
+                    # 标准模式：分液体积等于吸液体积
+                    dis_vol = asp_vols[idx]
+                    dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
+                    dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
+                    dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
+                    dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
+                
+                await self.dispense(
+                    resources=[target],
+                    vols=[dis_vol],
+                    use_channels=use_channels,
+                    flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None,
+                    offsets=[dis_offset] if dis_offset is not None else None,
+                    blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None,
+                    liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                await self.discard_tips(use_channels=use_channels)
+            
+            # 最后在目标容器中混合（如果需要）
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
+            
+            if touch_tip:
+                await self.touch_tip([target])
+        
+        elif len(use_channels) == 8:
+            # 8通道模式：需要确保源数量是8的倍数
+            if len(sources) % 8 != 0:
+                raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
+            
+            # 每次处理8个源
+            for i in range(0, len(sources), 8):
+                tip = []
+                for _ in range(len(use_channels)):
+                    tip.extend(next(self.current_tip))
+                await self.pick_up_tips(tip)
+                
+                current_sources = sources[i:i + 8]
+                current_asp_vols = asp_vols[i:i + 8]
+                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
+                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
+                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                
+                # 从8个源容器吸液
+                await self.aspirate(
+                    resources=current_sources,
+                    vols=current_asp_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_asp_flow_rates,
+                    offsets=current_asp_offset,
+                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    liquid_height=current_asp_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None:
+                    await self.custom_delay(seconds=delays[0])
+                
+                # 分液到目标容器（每个通道分液到同一个目标）
+                if use_proportional_mixing:
+                    # 按比例混合：使用对应的 dis_vols
+                    current_dis_vols = dis_vols[i:i + 8]
+                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
+                    current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                    current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                    current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                else:
+                    # 标准模式：每个通道分液体积等于其吸液体积
+                    current_dis_vols = current_asp_vols
+                    current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
+                    current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
+                    current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
+                    current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
+                
+                await self.dispense(
+                    resources=[target] * 8,  # 8个通道都分到同一个目标
+                    vols=current_dis_vols,
+                    use_channels=use_channels,
+                    flow_rates=current_dis_flow_rates,
+                    offsets=current_dis_offset,
+                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    liquid_height=current_dis_liquid_height,
+                    spread=spread,
+                )
+                
+                if delays is not None and len(delays) > 1:
+                    await self.custom_delay(seconds=delays[1])
+                
+                await self.discard_tips([0,1,2,3,4,5,6,7])
+            
+            # 最后在目标容器中混合（如果需要）
+            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                await self.mix(
+                    targets=[target],
+                    mix_time=mix_times,
+                    mix_vol=mix_vol,
+                    offsets=offsets[0:1] if offsets else None,
+                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    mix_rate=mix_rate if mix_rate else None,
+                )
+            
+            if touch_tip:
+                await self.touch_tip([target])
 
     # except Exception as e:
     #     traceback.print_exc()

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -5,6 +5,7 @@ import json
 import os
 import socket
 import time
+import uuid
 from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal
 
 from pylabrobot.liquid_handling import (
@@ -856,7 +857,30 @@ class PRCXI9300Api:
 
     def _raw_request(self, payload: str) -> str:
         if self.debug:
-            return " "
+            # 调试/仿真模式下直接返回可解析的模拟 JSON，避免后续 json.loads 报错
+            try:
+                req = json.loads(payload)
+                method = req.get("MethodName")
+            except Exception:
+                method = None
+
+            data: Any = True
+            if method in {"AddSolution"}:
+                data = str(uuid.uuid4())
+            elif method in {"AddWorkTabletMatrix", "AddWorkTabletMatrix2"}:
+                data = {"Success": True, "Message": "debug mock"}
+            elif method in {"GetErrorCode"}:
+                data = ""
+            elif method in {"RemoveErrorCodet", "Reset", "Start", "LoadSolution", "Pause", "Resume", "Stop"}:
+                data = True
+            elif method in {"GetStepStateList", "GetStepStatus", "GetStepState"}:
+                data = []
+            elif method in {"GetLocation"}:
+                data = {"X": 0, "Y": 0, "Z": 0}
+            elif method in {"GetResetStatus"}:
+                data = False
+
+            return json.dumps({"Success": True, "Msg": "debug mock", "Data": data})
         with contextlib.closing(socket.socket()) as sock:
             sock.settimeout(self.timeout)
             sock.connect((self.host, self.port))

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -7,7 +7,7 @@ class VirtualMultiwayValve:
     """
     虚拟九通阀门 - 0号位连接transfer pump，1-8号位连接其他设备 🔄
     """
-    def __init__(self, port: str = "VIRTUAL", positions: int = 8):
+    def __init__(self, port: str = "VIRTUAL", positions: int = 8, **kwargs):
         self.port = port
         self.max_positions = positions  # 1-8号位
         self.total_positions = positions + 1  # 0-8号位，共9个位置

unilabos/devices/workstation/workstation_base.py

@@ -147,7 +147,7 @@ class WorkstationBase(ABC):
 
     def __init__(
         self,
-        deck: Deck,
+        deck: Optional[Deck],
         *args,
         **kwargs,  # 必须有kwargs
     ):
@@ -349,5 +349,5 @@ class WorkstationBase(ABC):
 
 
 class ProtocolNode(WorkstationBase):
-    def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
+    def __init__(self, protocol_type: List[str], deck: Optional[PLRResource], *args, **kwargs):
         super().__init__(deck, *args, **kwargs)

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -174,35 +174,6 @@ bioyond_dispensing_station:
           title: query_resource_by_name参数
           type: object
         type: UniLabJsonCommand
-      auto-transfer_materials_to_reaction_station:
-        feedback: {}
-        goal: {}
-        goal_default:
-          target_device_id: null
-          transfer_groups: null
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                target_device_id:
-                  type: string
-                transfer_groups:
-                  type: array
-              required:
-              - target_device_id
-              - transfer_groups
-              type: object
-            result: {}
-          required:
-          - goal
-          title: transfer_materials_to_reaction_station参数
-          type: object
-        type: UniLabJsonCommand
       auto-workflow_sample_locations:
         feedback: {}
         goal: {}

unilabos/registry/devices/work_station.yaml

@@ -6036,7 +6036,12 @@ workstation:
       properties:
         deck:
           type: string
+        protocol_type:
+          items:
+            type: string
+          type: array
       required:
+      - protocol_type
       - deck
       type: object
     data:

unilabos/registry/resources/organic/container.yaml

@@ -2,7 +2,7 @@ container:
   category:
   - container
   class:
-    module: unilabos.resources.container:RegularContainer
+    module: unilabos.resources.container:get_regular_container
     type: pylabrobot
   description: regular organic container
   handles:

unilabos/resources/container.py

@@ -22,6 +22,13 @@ class RegularContainer(Container):
 
     def load_state(self, state: Dict[str, Any]):
         self.state = state
+
+
+def get_regular_container(name="container"):
+    r = RegularContainer(name=name)
+    r.category = "container"
+    return RegularContainer(name=name)
+
 #
 # class RegularContainer(object):
 #     # 第一个参数必须是id传入

unilabos/resources/graphio.py

@@ -45,10 +45,13 @@ def canonicalize_nodes_data(
     print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
-    for node in nodes:
+    outer_host_node_id = None
+    for idx, node in enumerate(nodes):
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
+        if node["id"] == "host_node":
+            outer_host_node_id = idx
         if not isinstance(node.get("config"), dict):
             node["config"] = {}
         if not node.get("type"):
@@ -58,25 +61,26 @@ def canonicalize_nodes_data(
             node["name"] = node.get("id")
             print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
         if not isinstance(node.get("position"), dict):
-            node["position"] = {"position": {}}
+            node["pose"] = {"position": {}}
             x = node.pop("x", None)
             if x is not None:
-                node["position"]["position"]["x"] = x
+                node["pose"]["position"]["x"] = x
             y = node.pop("y", None)
             if y is not None:
-                node["position"]["position"]["y"] = y
+                node["pose"]["position"]["y"] = y
             z = node.pop("z", None)
             if z is not None:
-                node["position"]["position"]["z"] = z
+                node["pose"]["position"]["z"] = z
         if "sample_id" in node:
             sample_id = node.pop("sample_id")
             if sample_id:
                 logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
         for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]:
                 v = node.pop(k)
                 node["config"][k] = v
-
+    if outer_host_node_id is not None:
+        nodes.pop(outer_host_node_id)
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
@@ -93,7 +97,7 @@ def canonicalize_nodes_data(
 
     for node in nodes:
         try:
-            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            # print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
             # 使用标准化方法
             resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
             known_nodes[node["id"]] = resource_instance
@@ -280,10 +284,18 @@ 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")
+        else:
+            typ = edge.get("type")
+            if typ == "communication":
+                continue
         if target in port:
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
+        else:
+            typ = edge.get("type")
+            if typ == "communication":
+                continue
         edge["id"] = f"reactflow__edge-{source}-{edge['sourceHandle']}-{target}-{edge['targetHandle']}"
         for key in ["source_port", "target_port"]:
             if key in edge:
@@ -582,11 +594,15 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tip_rack": "tip_rack",
             "warehouse": "warehouse",
             "container": "container",
+            "tube": "tube",
+            "bottle_carrier": "bottle_carrier",
+            "plate_adapter": "plate_adapter",
         }
         if source in replace_info:
             return replace_info[source]
         else:
-            logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
+            if source is not None:
+                logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
             return source
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:

unilabos/ros/device_node_wrapper.py

@@ -5,6 +5,7 @@ from unilabos.ros.msgs.message_converter import (
     get_action_type,
 )
 from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 
 # 定义泛型类型变量
 T = TypeVar("T")
@@ -18,12 +19,11 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
-    device_config: Optional[Dict[str, Any]] = None,
+    device_config: Optional[ResourceDictInstance] = None,
     status_types: Optional[Dict[str, Any]] = None,
     action_value_mappings: Optional[Dict[str, Any]] = None,
     hardware_interface: Optional[Dict[str, Any]] = None,
     print_publish: bool = False,
-    children: Optional[Dict[str, Any]] = None,
 ) -> Type[ROS2DeviceNodeWrapper]:
     """Create a ROS2 Node class for a device class with properties and actions.
 
@@ -45,7 +45,7 @@ def ros2_device_node(
     if status_types is None:
         status_types = {}
     if device_config is None:
-        device_config = {}
+        raise ValueError("device_config cannot be None")
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -82,7 +82,6 @@ def ros2_device_node(
                 action_value_mappings=action_value_mappings,
                 hardware_interface=hardware_interface,
                 print_publish=print_publish,
-                children=children,
                 *args,
                 **kwargs,
             ),

unilabos/ros/initialize_device.py

@@ -4,13 +4,14 @@ from typing import Optional
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
+from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager
 
 
 
-def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
+def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
     """Initializes a device based on its configuration.
 
     This function dynamically imports the appropriate device class and creates an instance of it using the provided device configuration.
@@ -24,15 +25,14 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         None
     """
     d = None
-    original_device_config = copy.deepcopy(device_config)
+    device_class_config = device_config.res_content.klass
-    device_class_config = device_config["class"]
+    uid = device_config.res_content.uuid
-    uid = device_config["uuid"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
         if len(device_class_config) == 0:
             raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
         if device_class_config not in lab_registry.device_type_registry:
             raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
-        device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
+        device_class_config = lab_registry.device_type_registry[device_class_config]["class"]
     elif isinstance(device_class_config, dict):
         raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
     if isinstance(device_class_config, dict):
@@ -41,17 +41,16 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
-            device_config=original_device_config,
+            device_config=device_config,
             action_value_mappings=device_class_config.get("action_value_mappings", {}),
             hardware_interface=device_class_config.get(
                 "hardware_interface",
                 {"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
-            ),
+            )
-            children=device_config.get("children", {})
         )
         try:
             d = DEVICE(
-                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.res_content.config
             )
         except DeviceInitError as ex:
             return d

unilabos/ros/main_slave_run.py

@@ -192,7 +192,7 @@ def slave(
     for device_config in devices_config.root_nodes:
         device_id = device_config.res_content.id
         if device_config.res_content.type == "device":
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            d = initialize_device_from_dict(device_id, device_config)
             if d is not None:
                 devices_instances[device_id] = d
                 logger.info(f"Device {device_id} initialized.")

unilabos/ros/nodes/base_device_node.py

@@ -48,7 +48,7 @@ from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos.ros.nodes.resource_tracker import (
     DeviceNodeResourceTracker,
     ResourceTreeSet,
-    ResourceTreeInstance,
+    ResourceTreeInstance, ResourceDictInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -133,12 +133,11 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: Dict[str, Any],
+    device_config: ResourceTreeInstance,
     status_types: Dict[str, Any],
     action_value_mappings: Dict[str, Any],
     hardware_interface: Dict[str, Any],
     print_publish: bool,
-    children: Optional[list] = None,
     driver_params: Optional[Dict[str, Any]] = None,
     driver_is_ros: bool = False,
     *args,
@@ -147,8 +146,6 @@ def init_wrapper(
     """初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
     if driver_params is None:
         driver_params = kwargs.copy()
-    if children is None:
-        children = []
     kwargs["device_id"] = device_id
     kwargs["device_uuid"] = device_uuid
     kwargs["driver_class"] = driver_class
@@ -157,7 +154,6 @@ def init_wrapper(
     kwargs["status_types"] = status_types
     kwargs["action_value_mappings"] = action_value_mappings
     kwargs["hardware_interface"] = hardware_interface
-    kwargs["children"] = children
     kwargs["print_publish"] = print_publish
     kwargs["driver_is_ros"] = driver_is_ros
     super(type(self), self).__init__(*args, **kwargs)
@@ -586,7 +582,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         except Exception as e:
             self.lab_logger().error(f"更新资源uuid失败: {e}")
             self.lab_logger().error(traceback.format_exc())
-        self.lab_logger().debug(f"资源更新结果: {response}")
+        self.lab_logger().trace(f"资源更新结果: {response}")
 
     async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet:
         """
@@ -1144,7 +1140,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             queried_resources = []
                             for resource_data in resource_inputs:
                                 plr_resource = await self.get_resource_with_dir(
-                                    resource_ids=resource_data["id"], with_children=True
+                                    resource_id=resource_data["id"], with_children=True
                                 )
                                 queried_resources.append(plr_resource)
 
@@ -1168,7 +1164,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             execution_error = traceback.format_exc()
                             break
 
-            ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
             time_overall = 100
             future = None
@@ -1176,35 +1171,36 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 # 将阻塞操作放入线程池执行
                 if asyncio.iscoroutinefunction(ACTION):
                     try:
-                        ##### self.lab_logger().info(f"异步执行动作 {ACTION}")
+                        self.lab_logger().trace(f"异步执行动作 {ACTION}")
-                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
+                        def _handle_future_exception(fut: Future):
-
-                        def _handle_future_exception(fut):
                             nonlocal execution_error, execution_success, action_return_value
                             try:
                                 action_return_value = fut.result()
+                                if isinstance(action_return_value, BaseException):
+                                    raise action_return_value
                                 execution_success = True
-                            except Exception as e:
+                            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：{action_kwargs}"
                                 )
 
+                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
                         future.add_done_callback(_handle_future_exception)
                     except Exception as e:
                         execution_error = traceback.format_exc()
                         execution_success = False
                         self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                 else:
-                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
+                    self.lab_logger().trace(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **action_kwargs)
 
-                    def _handle_future_exception(fut):
+                    def _handle_future_exception(fut: Future):
                         nonlocal execution_error, execution_success, action_return_value
                         try:
                             action_return_value = fut.result()
                             execution_success = True
-                        except Exception as e:
+                        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：{action_kwargs}"
@@ -1309,7 +1305,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         get_result_info_str(execution_error, execution_success, action_return_value),
                     )
 
-            ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
+            self.lab_logger().trace(f"动作 {action_name} 完成并返回结果")
             return result_msg
 
         return execute_callback
@@ -1544,17 +1540,29 @@ class ROS2DeviceNode:
     这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
     它不继承设备类，而是通过代理模式访问设备类的属性和方法。
     """
+    @staticmethod
+    async def safe_task_wrapper(trace_callback, func, **kwargs):
+        try:
+            if callable(trace_callback):
+                trace_callback(await func(**kwargs))
+            return await func(**kwargs)
+        except Exception as e:
+            if callable(trace_callback):
+                trace_callback(e)
+            return e
 
     @classmethod
-    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
+    def run_async_func(cls, func, trace_error=True, inner_trace_callback=None, **kwargs) -> Task:
-        def _handle_future_exception(fut):
+        def _handle_future_exception(fut: Future):
             try:
-                fut.result()
+                ret = fut.result()
+                if isinstance(ret, BaseException):
+                    raise ret
             except Exception as e:
-                error(f"异步任务 {func.__name__} 报错了")
+                error(f"异步任务 {func.__name__} 获取结果失败")
                 error(traceback.format_exc())
 
-        future = rclpy.get_global_executor().create_task(func(**kwargs))
+        future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
         if trace_error:
             future.add_done_callback(_handle_future_exception)
         return future
@@ -1582,12 +1590,11 @@ class ROS2DeviceNode:
         device_id: str,
         device_uuid: str,
         driver_class: Type[T],
-        device_config: Dict[str, Any],
+        device_config: ResourceDictInstance,
         driver_params: Dict[str, Any],
         status_types: Dict[str, Any],
         action_value_mappings: Dict[str, Any],
         hardware_interface: Dict[str, Any],
-        children: Dict[str, Any],
         print_publish: bool = True,
         driver_is_ros: bool = False,
     ):
@@ -1598,7 +1605,7 @@ class ROS2DeviceNode:
             device_id: 设备标识符
             device_uuid: 设备uuid
             driver_class: 设备类
-            device_config: 原始初始化的json
+            device_config: 原始初始化的ResourceDictInstance
             driver_params: driver初始化的参数
             status_types: 状态类型映射
             action_value_mappings: 动作值映射
@@ -1612,6 +1619,7 @@ class ROS2DeviceNode:
         self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
         self._driver_class = driver_class
         self.device_config = device_config
+        children: List[ResourceDictInstance] = device_config.children
         self.driver_is_ros = driver_is_ros
         self.driver_is_workstation = False
         self.resource_tracker = DeviceNodeResourceTracker()

unilabos/ros/nodes/presets/host_node.py

@@ -289,6 +289,12 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+        # 发送host_node ready信号到所有桥接器
+        for bridge in self.bridges:
+            if hasattr(bridge, "publish_host_ready"):
+                bridge.publish_host_ready()
+                self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
+
     def _send_re_register(self, sclient):
         sclient.wait_for_service()
         request = SerialCommand.Request()
@@ -532,7 +538,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         try:
-            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
+            d = initialize_device_from_dict(device_id, device_config)
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -712,7 +718,7 @@ class HostNode(BaseROS2DeviceNode):
             feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
+        future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -723,9 +729,11 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
         self._goals[item.job_id] = goal_handle
-        goal_handle.get_result_async().add_done_callback(
+        goal_future = goal_handle.get_result_async()
-            lambda future: self.get_result_callback(item, action_id, future)
+        goal_future.add_done_callback(
+            lambda f: self.get_result_callback(item, action_id, f)
         )
+        goal_future.result()
 
     def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
         """反馈回调"""
@@ -794,6 +802,7 @@ class HostNode(BaseROS2DeviceNode):
             # 存储结果供 HTTP API 查询
             try:
                 from unilabos.app.web.controller import store_job_result
+
                 if goal_status == GoalStatus.STATUS_CANCELED:
                     store_job_result(job_id, status, return_info, {})
                 else:

unilabos/ros/nodes/presets/workstation.py

@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
 from unilabos.utils.type_check import get_result_info_str
 
 if TYPE_CHECKING:
@@ -47,7 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
     def __init__(
         self,
         protocol_type: List[str],
-        children: Dict[str, Any],
+        children: List[ResourceDictInstance],
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
@@ -81,10 +81,11 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         # 初始化子设备
         self.communication_node_id_to_instance = {}
 
-        for device_id, device_config in self.children.items():
+        for device_config in self.children:
-            if device_config.get("type", "device") != "device":
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 self.lab_logger().debug(
-                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                    f"[Protocol Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
                 )
                 continue
             try:
@@ -101,8 +102,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 self.communication_node_id_to_instance[device_id] = d
                 continue
 
-        for device_id, device_config in self.children.items():
+        for device_config in self.children:
-            if device_config.get("type", "device") != "device":
+            device_id = device_config.res_content.id
+            if device_config.res_content.type != "device":
                 continue
             # 设置硬件接口代理
             if device_id not in self.sub_devices:

unilabos/ros/nodes/resource_tracker.py

@@ -1,9 +1,11 @@
+import inspect
 import traceback
 import uuid
 from pydantic import BaseModel, field_serializer, field_validator
 from pydantic import Field
 from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
 
+from unilabos.resources.plr_additional_res_reg import register
 from unilabos.utils.log import logger
 
 if TYPE_CHECKING:
@@ -62,7 +64,6 @@ class ResourceDict(BaseModel):
     parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
     type: Union[Literal["device"], str] = Field(description="Resource type")
     klass: str = Field(alias="class", description="Resource class name")
-    position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
     config: Dict[str, Any] = Field(description="Resource configuration")
     data: Dict[str, Any] = Field(description="Resource data")
@@ -146,15 +147,16 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "pose" not in content:
-            content["pose"] = content.get("position", {})
+            content["pose"] = content.pop("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
 
-    def get_nested_dict(self) -> Dict[str, Any]:
+    def get_plr_nested_dict(self) -> Dict[str, Any]:
         """获取资源实例的嵌套字典表示"""
         res_dict = self.res_content.model_dump(by_alias=True)
-        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
-        res_dict["position"] = self.res_content.position.position.model_dump()
+        res_dict["position"] = self.res_content.pose.position.model_dump()
+        del res_dict["pose"]
         return res_dict
 
 
@@ -429,9 +431,9 @@ class ResourceTreeSet(object):
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
+        register()
         from pylabrobot.resources import Resource as PLRResource
         from pylabrobot.utils.object_parsing import find_subclass
-        import inspect
 
         # 类型映射
         TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
@@ -459,9 +461,9 @@ class ResourceTreeSet(object):
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
                 "location": {
-                    "x": res.position.position.x,
+                    "x": res.pose.position.x,
-                    "y": res.position.position.y,
+                    "y": res.pose.position.y,
-                    "z": res.position.position.z,
+                    "z": res.pose.position.z,
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},

unilabos/ros/utils/driver_creator.py

@@ -9,10 +9,11 @@ import asyncio
 import inspect
 import traceback
 from abc import abstractmethod
-from typing import Type, Any, Dict, Optional, TypeVar, Generic
+from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
 
 from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+    ResourceTreeInstance
 from unilabos.utils import logger, import_manager
 from unilabos.utils.cls_creator import create_instance_from_config
 
@@ -33,7 +34,7 @@ class DeviceClassCreator(Generic[T]):
     这个类提供了从任意类创建实例的通用方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -50,9 +51,9 @@ class DeviceClassCreator(Generic[T]):
         附加资源到设备类实例
         """
         if self.device_instance is not None:
-            for c in self.children.values():
+            for c in self.children:
-                if c["type"] != "device":
+                if c.res_content.type != "device":
-                    self.resource_tracker.add_resource(c)
+                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -94,7 +95,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     这个类提供了针对PyLabRobot设备类的实例创建方法，特别处理deserialize方法。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化PyLabRobot设备类创建器
 
@@ -111,12 +112,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     def attach_resource(self):
         pass  # 只能增加实例化物料，原来默认物料仅为字典查询
 
-    def _process_resource_mapping(self, resource, source_type):
+    # def _process_resource_mapping(self, resource, source_type):
-        if source_type == dict:
+    #     if source_type == dict:
-            from pylabrobot.resources.resource import Resource
+    #         from pylabrobot.resources.resource import Resource
-
+    #
-            return nested_dict_to_list(resource), Resource
+    #         return nested_dict_to_list(resource), Resource
-        return resource, source_type
+    #     return resource, source_type
 
     def _process_resource_references(
         self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
@@ -142,15 +143,21 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if isinstance(data, dict):
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
-                if child_name in self.children:
+                resource: Optional[ResourceDictInstance] = None
-                    resource = self.children[child_name]
+                for child in self.children:
+                    if child.res_content.name == child_name:
+                        resource = child
+                if resource is not None:
                     if "_resource_type" in data:
                         type_path = data["_resource_type"]
                         try:
-                            target_type = import_manager.get_class(type_path)
+                            # target_type = import_manager.get_class(type_path)
-                            contain_model = not issubclass(target_type, Deck)
+                            # contain_model = not issubclass(target_type, Deck)
-                            resource, target_type = self._process_resource_mapping(resource, target_type)
+                            # resource, target_type = self._process_resource_mapping(resource, target_type)
-                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
+                            res_tree = ResourceTreeInstance(resource)
+                            res_tree_set = ResourceTreeSet([res_tree])
+                            resource_instance: Resource = res_tree_set.to_plr_resources()[0]
+                            # resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -202,12 +209,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         stack = None
 
         # 递归遍历 children 构建 name_to_uuid 映射
-        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
+        def collect_name_to_uuid(children_list: List[ResourceDictInstance], result: Dict[str, str]):
             """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
-            for child in children_dict.values():
+            for child in children_list:
-                if isinstance(child, dict):
+                if isinstance(child, ResourceDictInstance):
-                    result[child["name"]] = child["uuid"]
+                    result[child.res_content.name] = child.res_content.uuid
-                    collect_name_to_uuid(child["children"], result)
+                    collect_name_to_uuid(child.children, result)
 
         name_to_uuid = {}
         collect_name_to_uuid(self.children, name_to_uuid)
@@ -313,7 +320,7 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
     这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
-    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化WorkstationNode设备类创建器
 
@@ -336,9 +343,9 @@ 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 material_id, child in self.children.items():
+            for child in self.children:
-                if child["type"] != "device":
+                if child.res_content.type != "device":
-                    self.resource_tracker.add_resource(self.children[material_id])
+                    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/Grignard_flow_batchreact_single_pumpvalve.json

@@ -69,7 +69,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringepump.runze",
+            "class": "syringe_pump_with_valve.runze.SY03B-T08",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,
@@ -93,7 +93,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 430.4087301587302,
                 "y": 428,
@@ -117,7 +117,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 295.36944444444447,
                 "y": 428,
@@ -141,7 +141,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -165,7 +165,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -189,7 +189,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 35,
                 "y": 428,
@@ -213,7 +213,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
@@ -255,7 +255,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringepump.runze",
+            "class": "syringe_pump_with_valve.runze.SY03B-T08",
             "position": {
                 "x": 1195.611507936508,
                 "y": 686,
@@ -279,7 +279,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1587.703373015873,
                 "y": 1172.5,
@@ -299,7 +299,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "separator_controller",
+            "class": "separator.homemade",
             "position": {
                 "x": 1624.4027777777778,
                 "y": 665.5,
@@ -320,7 +320,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1614.404365079365,
                 "y": 948,
@@ -340,7 +340,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1915.7035714285714,
                 "y": 665.5,
@@ -360,7 +360,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1785.7035714285714,
                 "y": 665.5,
@@ -384,7 +384,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 2054.0650793650793,
                 "y": 665.5,
@@ -408,7 +408,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringepump.runze",
+            "class": "syringe_pump_with_valve.runze.SY03B-T08",
             "position": {
                 "x": 1630.6527777777778,
                 "y": 448.5,
@@ -432,7 +432,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "rotavap",
+            "class": "rotavap.one",
             "position": {
                 "x": 1339.7031746031746,
                 "y": 968.5,
@@ -453,7 +453,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1339.7031746031746,
                 "y": 1152,
@@ -473,7 +473,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 909.722619047619,
                 "y": 948,
@@ -493,7 +493,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 867.972619047619,
                 "y": 1152,
@@ -513,7 +513,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 742.722619047619,
                 "y": 948,
@@ -533,7 +533,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1206.722619047619,
                 "y": 948,
@@ -553,7 +553,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1148.222619047619,
                 "y": 1152,
@@ -573,7 +573,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringepump.runze",
+            "class": "syringe_pump_with_valve.runze.SY03B-T08",
             "position": {
                 "x": 1469.7031746031746,
                 "y": 968.5,

unilabos/utils/log.py

@@ -124,11 +124,14 @@ class ColoredFormatter(logging.Formatter):
     def _format_basic(self, record):
         """基本格式化，不包含颜色"""
         datetime_str = datetime.fromtimestamp(record.created).strftime("%y-%m-%d [%H:%M:%S,%f")[:-3] + "]"
-        filename = os.path.basename(record.filename).rsplit(".", 1)[0]  # 提取文件名（不含路径和扩展名）
+        filename = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
+        if "/" in filename:
+            filename = filename.split("/")[-1]
         module_path = f"{record.name}.{filename}"
         func_line = f"{record.funcName}:{record.lineno}"
+        right_info = f" [{func_line}] [{module_path}]"
 
-        formatted_message = f"{datetime_str} [{record.levelname}] [{module_path}] [{func_line}]: {record.getMessage()}"
+        formatted_message = f"{datetime_str} [{record.levelname}] {record.getMessage()}{right_info}"
 
         if record.exc_info:
             exc_text = self.formatException(record.exc_info)
@@ -150,7 +153,7 @@ class ColoredFormatter(logging.Formatter):
 
 
 # 配置日志处理器
-def configure_logger(loglevel=None):
+def configure_logger(loglevel=None, working_dir=None):
     """配置日志记录器
 
     Args:
@@ -159,8 +162,9 @@ def configure_logger(loglevel=None):
     """
     # 获取根日志记录器
     root_logger = logging.getLogger()
-
+    root_logger.setLevel(TRACE_LEVEL)
     # 设置日志级别
+    numeric_level = logging.DEBUG
     if loglevel is not None:
         if isinstance(loglevel, str):
             # 将字符串转换为logging级别
@@ -170,12 +174,8 @@ def configure_logger(loglevel=None):
                 numeric_level = getattr(logging, loglevel.upper(), None)
                 if not isinstance(numeric_level, int):
                     print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-                    numeric_level = logging.DEBUG
         else:
             numeric_level = loglevel
-        root_logger.setLevel(numeric_level)
-    else:
-        root_logger.setLevel(logging.DEBUG)  # 默认级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -183,7 +183,7 @@ def configure_logger(loglevel=None):
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(root_logger.level)  # 使用与根记录器相同的级别
+    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()
@@ -191,9 +191,30 @@ def configure_logger(loglevel=None):
 
     # 添加处理器到根日志记录器
     root_logger.addHandler(console_handler)
+
+    # 如果指定了工作目录，添加文件处理器
+    if working_dir is not None:
+        logs_dir = os.path.join(working_dir, "logs")
+        os.makedirs(logs_dir, exist_ok=True)
+
+        # 生成日志文件名：日期 时间.log
+        log_filename = datetime.now().strftime("%Y-%m-%d %H-%M-%S") + ".log"
+        log_filepath = os.path.join(logs_dir, log_filename)
+
+        # 创建文件处理器
+        file_handler = logging.FileHandler(log_filepath, encoding="utf-8")
+        file_handler.setLevel(TRACE_LEVEL)
+
+        # 使用不带颜色的格式化器
+        file_formatter = ColoredFormatter(use_colors=False)
+        file_handler.setFormatter(file_formatter)
+
+        root_logger.addHandler(file_handler)
+
     logging.getLogger("asyncio").setLevel(logging.INFO)
     logging.getLogger("urllib3").setLevel(logging.INFO)
 
+
 # 配置日志系统
 configure_logger()
 

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.11</version>
+  <version>0.10.12</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>