Transfer_liquid (#176)

* change 9320 desk row number to 4

* Updated 9320 host address

* Updated 9320 host address

* Add **kwargs in classes: PRCXI9300Deck and PRCXI9300Container

* Removed all sample_id in prcxi_9320.json to avoid KeyError

* 9320 machine testing settings

* Typo

* Typo in base_device_node.py

* Enhance liquid handling functionality by adding support for multiple transfer modes (one-to-many, one-to-one, many-to-one) and improving parameter validation. Default channel usage is set when not specified. Adjusted mixing logic to ensure it only occurs when valid conditions are met. Updated documentation for clarity.

.conda/recipe.yaml

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

README.md

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

README_zh.md

@@ -41,9 +41,7 @@ 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 python=3.11.11
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
-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

@@ -317,6 +317,45 @@ 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: 0.10.12
+  version: 0.10.11
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

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

setup.py

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

unilabos/__init__.py

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

unilabos/app/communication.py

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

unilabos/app/main.py

@@ -159,10 +159,9 @@ def parse_args():
 def main():
     """主函数"""
     # 解析命令行参数
-    parser = parse_args()
+    args = parse_args()
-    convert_argv_dashes_to_underscores(parser)
+    convert_argv_dashes_to_underscores(args)
-    args = parser.parse_args()
+    args_dict = vars(args.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):
@@ -219,20 +218,19 @@ 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, working_dir=working_dir)
+        configure_logger(loglevel=BasicConfig.log_level)
 
-    if args.addr != parser.get_default("addr"):
+    if args_dict["addr"] == "test":
-        if args.addr == "test":
         print_status("使用测试环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-        elif args.addr == "uat":
+    elif args_dict["addr"] == "uat":
         print_status("使用uat环境地址", "info")
         HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-        elif args.addr == "local":
+    elif args_dict["addr"] == "local":
         print_status("使用本地环境地址", "info")
         HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
     else:
-            HTTPConfig.remote_addr = args.addr
+        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     # 设置BasicConfig参数
     if args_dict.get("ak", ""):
@@ -329,10 +327,6 @@ 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
-    sub_path = f"{driver_name}-{exp_type}"
+    scene = 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 = {"sub_path": sub_path, "filename": filename, "scene": "job"}
+    params = {"scene": scene, "filename": filename}
 
     try:
-        logger.info(f"[OSS] 请求预签名URL: sub_path={sub_path}, filename={filename}")
+        logger.info(f"[OSS] 请求预签名URL: scene={scene}, 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.trace("[MessageProcessor] Started")
+        logger.info("[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.trace("[QueueProcessor] Initialized")
+        logger.info("[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.trace("[QueueProcessor] Started")
+        logger.info("[QueueProcessor] Started")
 
     def stop(self) -> None:
         """停止队列处理线程"""
@@ -1314,19 +1314,3 @@ 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 = "https://uni-lab.bohrium.com/api/v1"
+    remote_addr = "http://127.0.0.1:48197/api/v1"
 
 
 # ROS配置

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -989,18 +989,6 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             else:
                 dis_vols = [float(v) for v in dis_vols]
             
-        # 统一混合次数为标量，防止数组/列表与 int 比较时报错
-        if mix_times is not None and not isinstance(mix_times, (int, float)):
-            try:
-                mix_times = mix_times[0] if len(mix_times) > 0 else None
-            except Exception:
-                try:
-                    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)

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -5,7 +5,6 @@ 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 (
@@ -857,30 +856,7 @@ class PRCXI9300Api:
 
     def _raw_request(self, payload: str) -> str:
         if self.debug:
-            # 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
+            return " "
-            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, **kwargs):
+    def __init__(self, port: str = "VIRTUAL", positions: int = 8):
         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: Optional[Deck],
+        deck: Deck,
         *args,
         **kwargs,  # 必须有kwargs
     ):
@@ -349,5 +349,5 @@ class WorkstationBase(ABC):
 
 
 class ProtocolNode(WorkstationBase):
-    def __init__(self, protocol_type: List[str], deck: Optional[PLRResource], *args, **kwargs):
+    def __init__(self, deck: Optional[PLRResource], *args, **kwargs):
         super().__init__(deck, *args, **kwargs)

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -174,6 +174,35 @@ 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: {}
@@ -591,6 +620,56 @@ bioyond_dispensing_station:
           title: DispenStationSolnPrep
           type: object
         type: DispenStationSolnPrep
+      transfer_materials_to_reaction_station:
+        feedback: {}
+        goal:
+          target_device_id: target_device_id
+          transfer_groups: transfer_groups
+        goal_default:
+          target_device_id: ''
+          transfer_groups: ''
+        handles: {}
+        placeholder_keys:
+          target_device_id: unilabos_devices
+        result: {}
+        schema:
+          description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备）
+                  type: string
+                transfer_groups:
+                  description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
+                  items:
+                    properties:
+                      materials:
+                        description: 物料名称（手动输入，系统将通过RPC查询验证）
+                        type: string
+                      target_sites:
+                        description: 目标库位（手动输入，如"A01"）
+                        type: string
+                      target_stack:
+                        description: 目标堆栈名称（手动输入，如"堆栈1左"）
+                        type: string
+                    required:
+                    - materials
+                    - target_stack
+                    - target_sites
+                    type: object
+                  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
       wait_for_multiple_orders_and_get_reports:
         feedback: {}
         goal:

unilabos/registry/devices/work_station.yaml

@@ -6036,12 +6036,7 @@ 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:get_regular_container
+    module: unilabos.resources.container:RegularContainer
     type: pylabrobot
   description: regular organic container
   handles:

unilabos/resources/container.py

@@ -22,13 +22,6 @@ 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

@@ -45,13 +45,10 @@ 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）
-    outer_host_node_id = None
+    for node in nodes:
-    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"):
@@ -61,26 +58,25 @@ 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["pose"] = {"position": {}}
+            node["position"] = {"position": {}}
             x = node.pop("x", None)
             if x is not None:
-                node["pose"]["position"]["x"] = x
+                node["position"]["position"]["x"] = x
             y = node.pop("y", None)
             if y is not None:
-                node["pose"]["position"]["y"] = y
+                node["position"]["position"]["y"] = y
             z = node.pop("z", None)
             if z is not None:
-                node["pose"]["position"]["z"] = z
+                node["position"]["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", "pose"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
                 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():
@@ -97,7 +93,7 @@ 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
@@ -284,18 +280,10 @@ 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:
@@ -594,14 +582,10 @@ 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:
-            if source is not None:
             logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
             return source
 

unilabos/ros/device_node_wrapper.py

@@ -5,7 +5,6 @@ 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")
@@ -19,11 +18,12 @@ class ROS2DeviceNodeWrapper(ROS2DeviceNode):
 
 def ros2_device_node(
     cls: Type[T],
-    device_config: Optional[ResourceDictInstance] = None,
+    device_config: Optional[Dict[str, Any]] = 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:
-        raise ValueError("device_config cannot be None")
+        device_config = {}
     if action_value_mappings is None:
         action_value_mappings = {}
     if hardware_interface is None:
@@ -82,6 +82,7 @@ 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

@@ -4,14 +4,13 @@ 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: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
+def initialize_device_from_dict(device_id, device_config) -> 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.
@@ -25,14 +24,15 @@ def initialize_device_from_dict(device_id, device_config: ResourceDictInstance)
         None
     """
     d = None
-    device_class_config = device_config.res_content.klass
+    original_device_config = copy.deepcopy(device_config)
-    uid = device_config.res_content.uuid
+    device_class_config = device_config["class"]
+    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 = lab_registry.device_type_registry[device_class_config]["class"]
+        device_class_config = device_config["class"] = 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):
@@ -41,16 +41,17 @@ def initialize_device_from_dict(device_id, device_config: ResourceDictInstance)
         DEVICE = ros2_device_node(
             DEVICE,
             status_types=device_class_config.get("status_types", {}),
-            device_config=device_config,
+            device_config=original_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.res_content.config
+                device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("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)
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
             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, ResourceDictInstance,
+    ResourceTreeInstance,
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -133,11 +133,12 @@ def init_wrapper(
     device_id: str,
     device_uuid: str,
     driver_class: type[T],
-    device_config: ResourceTreeInstance,
+    device_config: Dict[str, Any],
     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,
@@ -146,6 +147,8 @@ 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
@@ -154,6 +157,7 @@ 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)
@@ -582,7 +586,7 @@ 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().trace(f"资源更新结果: {response}")
+        self.lab_logger().debug(f"资源更新结果: {response}")
 
     async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet:
         """
@@ -1164,6 +1168,7 @@ 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
@@ -1171,36 +1176,35 @@ 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().trace(f"异步执行动作 {ACTION}")
+                        ##### self.lab_logger().info(f"异步执行动作 {ACTION}")
-                        def _handle_future_exception(fut: Future):
+                        future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
+
+                        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 _:
+                            except Exception as e:
                                 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().trace(f"同步执行动作 {ACTION}")
+                    #####    self.lab_logger().info(f"同步执行动作 {ACTION}")
                     future = self._executor.submit(ACTION, **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()
                             execution_success = True
-                        except Exception as _:
+                        except Exception as e:
                             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}"
@@ -1305,7 +1309,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         get_result_info_str(execution_error, execution_success, action_return_value),
                     )
 
-            self.lab_logger().trace(f"动作 {action_name} 完成并返回结果")
+            ##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
             return result_msg
 
         return execute_callback
@@ -1540,29 +1544,17 @@ 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, inner_trace_callback=None, **kwargs) -> Task:
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-        def _handle_future_exception(fut: Future):
+        def _handle_future_exception(fut):
             try:
-                ret = fut.result()
+                fut.result()
-                if isinstance(ret, BaseException):
-                    raise ret
             except Exception as e:
-                error(f"异步任务 {func.__name__} 获取结果失败")
+                error(f"异步任务 {func.__name__} 报错了")
                 error(traceback.format_exc())
 
-        future = rclpy.get_global_executor().create_task(ROS2DeviceNode.safe_task_wrapper(inner_trace_callback, func, **kwargs))
+        future = rclpy.get_global_executor().create_task(func(**kwargs))
         if trace_error:
             future.add_done_callback(_handle_future_exception)
         return future
@@ -1590,11 +1582,12 @@ class ROS2DeviceNode:
         device_id: str,
         device_uuid: str,
         driver_class: Type[T],
-        device_config: ResourceDictInstance,
+        device_config: Dict[str, Any],
         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,
     ):
@@ -1605,7 +1598,7 @@ 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ResourceDictInstance
+            device_config: 原始初始化的json
             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
@@ -1619,7 +1612,6 @@ 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

@@ -289,12 +289,6 @@ 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()
@@ -538,7 +532,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         try:
-            d = initialize_device_from_dict(device_id, device_config)
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -718,7 +712,7 @@ 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 f: self.goal_response_callback(item, action_id, f))
+        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -729,11 +723,9 @@ 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_future = goal_handle.get_result_async()
+        goal_handle.get_result_async().add_done_callback(
-        goal_future.add_done_callback(
+            lambda future: self.get_result_callback(item, action_id, future)
-            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"""
@@ -802,7 +794,6 @@ 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:
@@ -1157,11 +1148,12 @@ class HostNode(BaseROS2DeviceNode):
             响应对象，包含查询到的资源
         """
         try:
+            from unilabos.app.web import http_client
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
-                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+                http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
             elif "id" in data and data["id"].startswith("/"):
-                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+                http_req = http_client.resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
             response.response = json.dumps(http_req["data"])

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, ResourceDictInstance
+from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 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: List[ResourceDictInstance],
+        children: Dict[str, Any],
         *,
         driver_instance: "WorkstationBase",
         device_id: str,
@@ -81,11 +81,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
         # 初始化子设备
         self.communication_node_id_to_instance = {}
 
-        for device_config in self.children:
+        for device_id, device_config in self.children.items():
-            device_id = device_config.res_content.id
+            if device_config.get("type", "device") != "device":
-            if device_config.res_content.type != "device":
                 self.lab_logger().debug(
-                    f"[Protocol Node] Skipping type {device_config.res_content.type} {device_id} already existed, skipping."
+                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
                 )
                 continue
             try:
@@ -102,9 +101,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                 self.communication_node_id_to_instance[device_id] = d
                 continue
 
-        for device_config in self.children:
+        for device_id, device_config in self.children.items():
-            device_id = device_config.res_content.id
+            if device_config.get("type", "device") != "device":
-            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

@@ -1,11 +1,9 @@
-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:
@@ -64,6 +62,7 @@ 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")
@@ -147,16 +146,15 @@ class ResourceDictInstance(object):
         if not content.get("extra"):  # MagicCode
             content["extra"] = {}
         if "pose" not in content:
-            content["pose"] = content.pop("position", {})
+            content["pose"] = content.get("position", {})
         return ResourceDictInstance(ResourceDict.model_validate(content))
 
-    def get_plr_nested_dict(self) -> Dict[str, Any]:
+    def get_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_plr_nested_dict() for child in self.children}
+        res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
         res_dict["parent"] = self.res_content.parent_instance_name
-        res_dict["position"] = self.res_content.pose.position.model_dump()
+        res_dict["position"] = self.res_content.position.position.model_dump()
-        del res_dict["pose"]
         return res_dict
 
 
@@ -431,9 +429,9 @@ 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"}
@@ -461,9 +459,9 @@ class ResourceTreeSet(object):
                 "size_y": res.config.get("size_y", 0),
                 "size_z": res.config.get("size_z", 0),
                 "location": {
-                    "x": res.pose.position.x,
+                    "x": res.position.position.x,
-                    "y": res.pose.position.y,
+                    "y": res.position.position.y,
-                    "z": res.pose.position.z,
+                    "z": res.position.position.z,
                     "type": "Coordinate",
                 },
                 "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},

unilabos/ros/utils/driver_creator.py

@@ -9,11 +9,10 @@ import asyncio
 import inspect
 import traceback
 from abc import abstractmethod
-from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
+from typing import Type, Any, Dict, Optional, TypeVar, Generic
 
 from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-    ResourceTreeInstance
 from unilabos.utils import logger, import_manager
 from unilabos.utils.cls_creator import create_instance_from_config
 
@@ -34,7 +33,7 @@ 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: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -51,9 +50,9 @@ 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:
+            for c in self.children.values():
-                if c.res_content.type != "device":
+                if c["type"] != "device":
-                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
+                    self.resource_tracker.add_resource(c)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -95,7 +94,7 @@ 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: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化PyLabRobot设备类创建器
 
@@ -112,12 +111,12 @@ 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
@@ -143,21 +142,15 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if isinstance(data, dict):
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
-                resource: Optional[ResourceDictInstance] = None
+                if child_name in self.children:
-                for child in self.children:
+                    resource = self.children[child_name]
-                    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)
-                            res_tree = ResourceTreeInstance(resource)
+                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
-                            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:
@@ -209,12 +202,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         stack = None
 
         # 递归遍历 children 构建 name_to_uuid 映射
-        def collect_name_to_uuid(children_list: List[ResourceDictInstance], result: Dict[str, str]):
+        def collect_name_to_uuid(children_dict: Dict[str, Any], 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_list:
+            for child in children_dict.values():
-                if isinstance(child, ResourceDictInstance):
+                if isinstance(child, dict):
-                    result[child.res_content.name] = child.res_content.uuid
+                    result[child["name"]] = child["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)
@@ -320,7 +313,7 @@ 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: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化WorkstationNode设备类创建器
 
@@ -343,9 +336,9 @@ 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 child in self.children:
+            for material_id, child in self.children.items():
-                if child.res_content.type != "device":
+                if child["type"] != "device":
-                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
+                    self.resource_tracker.add_resource(self.children[material_id])
             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": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,
@@ -93,7 +93,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 430.4087301587302,
                 "y": 428,
@@ -117,7 +117,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 295.36944444444447,
                 "y": 428,
@@ -141,7 +141,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -165,7 +165,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 165.36944444444444,
                 "y": 428,
@@ -189,7 +189,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 35,
                 "y": 428,
@@ -213,7 +213,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
@@ -255,7 +255,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1195.611507936508,
                 "y": 686,
@@ -279,7 +279,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1587.703373015873,
                 "y": 1172.5,
@@ -299,7 +299,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "separator.homemade",
+            "class": "separator_controller",
             "position": {
                 "x": 1624.4027777777778,
                 "y": 665.5,
@@ -320,7 +320,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1614.404365079365,
                 "y": 948,
@@ -340,7 +340,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1915.7035714285714,
                 "y": 665.5,
@@ -360,7 +360,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1785.7035714285714,
                 "y": 665.5,
@@ -384,7 +384,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 2054.0650793650793,
                 "y": 665.5,
@@ -408,7 +408,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1630.6527777777778,
                 "y": 448.5,
@@ -432,7 +432,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "rotavap.one",
+            "class": "rotavap",
             "position": {
                 "x": 1339.7031746031746,
                 "y": 968.5,
@@ -453,7 +453,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1339.7031746031746,
                 "y": 1152,
@@ -473,7 +473,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 909.722619047619,
                 "y": 948,
@@ -493,7 +493,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 867.972619047619,
                 "y": 1152,
@@ -513,7 +513,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 742.722619047619,
                 "y": 948,
@@ -533,7 +533,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1206.722619047619,
                 "y": 948,
@@ -553,7 +553,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "container",
-            "class": "container",
+            "class": null,
             "position": {
                 "x": 1148.222619047619,
                 "y": 1152,
@@ -573,7 +573,7 @@
             "children": [],
             "parent": "YugongStation",
             "type": "device",
-            "class": "syringe_pump_with_valve.runze.SY03B-T08",
+            "class": "syringepump.runze",
             "position": {
                 "x": 1469.7031746031746,
                 "y": 968.5,

unilabos/utils/log.py

@@ -124,14 +124,11 @@ 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 = record.filename.replace(".py", "").split("\\")[-1]  # 提取文件名（不含路径和扩展名）
+        filename = os.path.basename(record.filename).rsplit(".", 1)[0]  # 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}] {record.getMessage()}{right_info}"
+        formatted_message = f"{datetime_str} [{record.levelname}] [{module_path}] [{func_line}]: {record.getMessage()}"
 
         if record.exc_info:
             exc_text = self.formatException(record.exc_info)
@@ -153,7 +150,7 @@ class ColoredFormatter(logging.Formatter):
 
 
 # 配置日志处理器
-def configure_logger(loglevel=None, working_dir=None):
+def configure_logger(loglevel=None):
     """配置日志记录器
 
     Args:
@@ -162,9 +159,8 @@ def configure_logger(loglevel=None, working_dir=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
@@ -174,8 +170,12 @@ def configure_logger(loglevel=None, working_dir=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, working_dir=None):
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(numeric_level)  # 使用与根记录器相同的级别
+    console_handler.setLevel(root_logger.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()
@@ -191,30 +191,9 @@ def configure_logger(loglevel=None, working_dir=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>0.10.12</version>
+  <version>0.10.11</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>