Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

.conda/recipe.yaml

@@ -1,69 +1,90 @@
 package:
   name: unilabos
-  version: 0.10.1
+  version: 0.10.4
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
 
 build:
-  noarch: python
-  number: 0
+  python:
+    entry_points:
+     - unilab = unilabos.app.main:main
+     - unilab-register = unilabos.app.register:main
   script:
-    - python -m pip install paho-mqtt opentrons_shared_data
-    - python -m pip install  git+https://github.com/Xuwznln/pylabrobot.git
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
+    - call %PYTHON% -m pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../setup.py $SRC_DIR
+    - $PYTHON -m pip install $SRC_DIR
+
 
 requirements:
   host:
-    - python >=3.11
-    - pip
-    - setuptools
+  - python ==3.11.11
+  - pip
+  - setuptools
   run:
-    - conda-forge::python =3.11.11
-    - compilers
-    - cmake
+  - conda-forge::python ==3.11.11
+  - compilers
+  - cmake
+  - zstd
+  - ninja
+  - if: unix
+    then:
     - make
-    - ninja
-    - sphinx
-    - sphinx_rtd_theme
-    - numpy
-    - scipy
-    - pandas
-    - networkx
-    - matplotlib
-    - pint
-    - pyserial
-    - pyusb
-    - pylibftdi
-    - pymodbus
-    - python-can
-    - pyvisa
-    - opencv
-    - pydantic
-    - fastapi
-    - uvicorn
-    - gradio
-    - flask
-    - websocket
-    - ipython
-    - jupyter
-    - jupyros
-    - colcon-common-extensions
-    - robostack-staging::ros-humble-desktop-full
-    - robostack-staging::ros-humble-control-msgs
-    - robostack-staging::ros-humble-sensor-msgs
-    - robostack-staging::ros-humble-trajectory-msgs
-    - ros-humble-navigation2
-    - ros-humble-ros2-control
-    - ros-humble-robot-state-publisher
-    - ros-humble-joint-state-publisher
-    - ros-humble-rosbridge-server
-    - ros-humble-cv-bridge
-    - ros-humble-tf2
-    - ros-humble-moveit
-    - ros-humble-moveit-servo
-    - ros-humble-simulation
-    - ros-humble-tf-transformations
-    - transforms3d
-    - uni-lab::ros-humble-unilabos-msgs
+  - sphinx
+  - sphinx_rtd_theme
+  - numpy
+  - scipy
+  - pandas
+  - networkx
+  - matplotlib
+  - pint
+  - pyserial
+  - pyusb
+  - pylibftdi
+  - pymodbus
+  - python-can
+  - pyvisa
+  - opencv
+  - pydantic
+  - fastapi
+  - uvicorn
+  - gradio
+  - flask
+  - websocket
+  - ipython
+  - jupyter
+  - jupyros
+  - colcon-common-extensions
+  - robostack-staging::ros-humble-desktop-full
+  - robostack-staging::ros-humble-control-msgs
+  - robostack-staging::ros-humble-sensor-msgs
+  - robostack-staging::ros-humble-trajectory-msgs
+  - ros-humble-navigation2
+  - ros-humble-ros2-control
+  - ros-humble-robot-state-publisher
+  - ros-humble-joint-state-publisher
+  - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
+  - ros-humble-tf2
+  - ros-humble-moveit
+  - ros-humble-moveit-servo
+  - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
+  - uni-lab::ros-humble-unilabos-msgs
 
 about:
   repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: GPL-3.0
+  license: GPL-3.0-only
   description: "Uni-Lab-OS"

.conda/recipe_new.yaml

@@ -1,23 +0,0 @@
-package:
-  name: unilabos
-  version: "0.10.1"
-
-source:
-  path: ../..
-
-build:
-  noarch: python
-  script: |
-    {{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv
-#    {{ PYTHON }} clean_build_dir.py
-
-requirements:
-  host:
-    - python
-    - pip
-  run:
-    - python
-
-test:
-  imports:
-    - unilabos

.conda/scripts/post-link.bat

@@ -0,0 +1,9 @@
+@echo off
+setlocal enabledelayedexpansion
+
+REM upgrade pip
+"%PREFIX%\python.exe" -m pip install --upgrade pip
+
+REM install extra deps
+"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
+"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -0,0 +1,9 @@
+#!/usr/bin/env bash
+set -euxo pipefail
+
+# make sure pip is available
+"$PREFIX/bin/python" -m pip install --upgrade pip
+
+# install extra deps
+"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
+"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.github/workflows/deploy-docs.yml

@@ -0,0 +1,98 @@
+name: Deploy Docs
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: '要部署文档的分支'
+        required: false
+        default: 'main'
+        type: string
+      deploy_to_pages:
+        description: '是否部署到 GitHub Pages'
+        required: false
+        default: true
+        type: boolean
+
+# 设置 GITHUB_TOKEN 权限以部署到 GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# 只允许一个并发部署，跳过正在进行和最新排队之间的运行
+# 但是不取消正在进行的运行，因为我们希望允许这些生产部署完成
+concurrency:
+  group: 'pages'
+  cancel-in-progress: false
+
+jobs:
+  # Build documentation
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.inputs.branch || github.ref }}
+
+      - name: Setup Python environment
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install system dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y pandoc
+
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          # Install package in development mode to get version info
+          pip install -e .
+          # Install documentation dependencies
+          pip install -r docs/requirements.txt
+
+      - name: Setup Pages
+        id: pages
+        uses: actions/configure-pages@v4
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+
+      - name: Build Sphinx documentation
+        run: |
+          cd docs
+          # Clean previous builds
+          rm -rf _build
+          # Build HTML documentation
+          python -m sphinx -b html . _build/html -v
+
+      - name: Check build results
+        run: |
+          echo "Documentation build completed, checking output directory:"
+          ls -la docs/_build/html/
+          echo "Checking for index.html:"
+          test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
+
+      - name: Upload build artifacts
+        uses: actions/upload-pages-artifact@v3
+        if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+        with:
+          path: docs/_build/html
+
+  # Deploy to GitHub Pages
+  deploy:
+    if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    needs: build
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4

.github/workflows/multi-platform-build.yml

@@ -2,16 +2,21 @@ name: Multi-Platform Conda Build
 
 on:
   push:
-    branches: [ main, dev ]
-    tags: [ 'v*' ]
+    branches: [main, dev]
+    tags: ['v*']
   pull_request:
-    branches: [ main, dev ]
+    branches: [main, dev]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'osx-arm64'
+      upload_to_anaconda:
+        description: '是否上传到Anaconda.org'
+        required: false
+        default: false
+        type: boolean
 
 jobs:
   build:
@@ -19,18 +24,18 @@ jobs:
       fail-fast: false
       matrix:
         include:
-        - os: ubuntu-latest
-          platform: linux-64
-          env_file: unilabos-linux-64.yaml
-        - os: macos-13 # Intel
-          platform: osx-64
-          env_file: unilabos-osx-64.yaml
-        - os: macos-latest # ARM64
-          platform: osx-arm64
-          env_file: unilabos-osx-arm64.yaml
-        - os: windows-latest
-          platform: win-64
-          env_file: unilabos-win64.yaml
+          - os: ubuntu-latest
+            platform: linux-64
+            env_file: unilabos-linux-64.yaml
+          - os: macos-13 # Intel
+            platform: osx-64
+            env_file: unilabos-osx-64.yaml
+          - os: macos-latest # ARM64
+            platform: osx-arm64
+            env_file: unilabos-osx-arm64.yaml
+          - os: windows-latest
+            platform: win-64
+            env_file: unilabos-win64.yaml
 
     runs-on: ${{ matrix.os }}
 
@@ -39,94 +44,88 @@ jobs:
         shell: bash -l {0}
 
     steps:
-    - uses: actions/checkout@v4
-      with:
-        fetch-depth: 0
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
 
-    - name: Check if platform should be built
-      id: should_build
-      run: |
-        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-          echo "should_build=true" >> $GITHUB_OUTPUT
-        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-          echo "should_build=true" >> $GITHUB_OUTPUT
-        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-          echo "should_build=true" >> $GITHUB_OUTPUT
-        else
-          echo "should_build=false" >> $GITHUB_OUTPUT
-        fi
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_build=false" >> $GITHUB_OUTPUT
+          fi
 
-    - name: Setup Miniconda
-      if: steps.should_build.outputs.should_build == 'true'
-      uses: conda-incubator/setup-miniconda@v3
-      with:
-        miniconda-version: "latest"
-        channels: conda-forge,robostack-staging,defaults
-        channel-priority: strict
-        activate-environment: build-env
-        auto-activate-base: false
-        auto-update-conda: false
-        show-channel-urls: true
+      - name: Setup Miniconda
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniconda-version: 'latest'
+          channels: conda-forge,robostack-staging,defaults
+          channel-priority: strict
+          activate-environment: build-env
+          auto-activate-base: false
+          auto-update-conda: false
+          show-channel-urls: true
 
-    - name: Install boa and build tools
-      if: steps.should_build.outputs.should_build == 'true'
-      run: |
-        conda install -c conda-forge boa conda-build
+      - name: Install rattler-build and anaconda-client
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda install -c conda-forge rattler-build anaconda-client
 
-    - name: Show environment info
-      if: steps.should_build.outputs.should_build == 'true'
-      run: |
-        conda info
-        conda list | grep -E "(boa|conda-build)"
-        echo "Platform: ${{ matrix.platform }}"
-        echo "OS: ${{ matrix.os }}"
+      - name: Show environment info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda info
+          conda list | grep -E "(rattler-build|anaconda-client)"
+          echo "Platform: ${{ matrix.platform }}"
+          echo "OS: ${{ matrix.os }}"
 
-    - name: Build conda package
-      if: steps.should_build.outputs.should_build == 'true'
-      run: |
-        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
-          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
-        else
-          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
-        fi
+      - name: Build conda package
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          else
+            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          fi
 
-    - name: List built packages
-      if: steps.should_build.outputs.should_build == 'true'
-      run: |
-        echo "Built packages in conda-bld:"
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
-        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
-        echo "CONDA_PREFIX: $CONDA_PREFIX"
-        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
+      - name: List built packages
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Built packages in output directory:"
+          find ./output -name "*.conda" | head -10
+          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+          ls -la ./output/noarch/ || echo "noarch directory not found"
+          echo "Output directory structure:"
+          find ./output -type f -name "*.conda"
 
-    - name: Prepare artifacts for upload
-      if: steps.should_build.outputs.should_build == 'true'
-      run: |
-        mkdir -p ${{ runner.temp }}/conda-packages
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
-        echo "Copied files to temp directory:"
-        ls -la ${{ runner.temp }}/conda-packages/
+      - name: Prepare artifacts for upload
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          mkdir -p conda-packages-temp
+          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
+          echo "Copied files to temp directory:"
+          ls -la conda-packages-temp/
 
-    - name: Upload conda package artifacts
-      if: steps.should_build.outputs.should_build == 'true'
-      uses: actions/upload-artifact@v4
-      with:
-        name: conda-package-${{ matrix.platform }}
-        path: ${{ runner.temp }}/conda-packages
-        if-no-files-found: warn
-        retention-days: 30
+      - name: Upload conda package artifacts
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: actions/upload-artifact@v4
+        with:
+          name: conda-package-${{ matrix.platform }}
+          path: conda-packages-temp
+          if-no-files-found: warn
+          retention-days: 30
 
-    - name: Create release assets (on tags)
-      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
-      run: |
-        mkdir -p release-assets
-        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
-
-    - name: Upload to release
-      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
-      uses: softprops/action-gh-release@v1
-      with:
-        files: release-assets/*
-        draft: false
-        prerelease: false
+      - name: Upload to Anaconda.org (unilab organization)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          for package in $(find ./output -name "*.conda"); do
+            echo "Uploading $package to unilab organization..."
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done

.github/workflows/unilabos-conda-build.yml

@@ -0,0 +1,124 @@
+name: UniLabOS Conda Build
+
+on:
+  push:
+    branches: [main, dev]
+    tags: ['v*']
+  pull_request:
+    branches: [main, dev]
+  workflow_dispatch:
+    inputs:
+      platforms:
+        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
+        required: false
+        default: 'linux-64'
+      upload_to_anaconda:
+        description: '是否上传到Anaconda.org'
+        required: false
+        default: false
+        type: boolean
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            platform: linux-64
+          - os: macos-13 # Intel
+            platform: osx-64
+          - os: macos-latest # ARM64
+            platform: osx-arm64
+          - os: windows-latest
+            platform: win-64
+
+    runs-on: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+            echo "should_build=true" >> $GITHUB_OUTPUT
+          else
+            echo "should_build=false" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Setup Miniconda
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          miniconda-version: 'latest'
+          channels: conda-forge,robostack-staging,uni-lab,defaults
+          channel-priority: strict
+          activate-environment: build-env
+          auto-activate-base: false
+          auto-update-conda: false
+          show-channel-urls: true
+
+      - name: Install rattler-build and anaconda-client
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda install -c conda-forge rattler-build anaconda-client
+
+      - name: Show environment info
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          conda info
+          conda list | grep -E "(rattler-build|anaconda-client)"
+          echo "Platform: ${{ matrix.platform }}"
+          echo "OS: ${{ matrix.os }}"
+          echo "Building UniLabOS package"
+
+      - name: Build conda package
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
+
+      - name: List built packages
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Built packages in output directory:"
+          find ./output -name "*.conda" | head -10
+          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+          ls -la ./output/noarch/ || echo "noarch directory not found"
+          echo "Output directory structure:"
+          find ./output -type f -name "*.conda"
+
+      - name: Prepare artifacts for upload
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          mkdir -p conda-packages-temp
+          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
+          echo "Copied files to temp directory:"
+          ls -la conda-packages-temp/
+
+      - name: Upload conda package artifacts
+        if: steps.should_build.outputs.should_build == 'true'
+        uses: actions/upload-artifact@v4
+        with:
+          name: conda-package-unilabos-${{ matrix.platform }}
+          path: conda-packages-temp
+          if-no-files-found: warn
+          retention-days: 30
+
+      - name: Upload to Anaconda.org (uni-lab organization)
+        if: github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          for package in $(find ./output -name "*.conda"); do
+            echo "Uploading $package to uni-lab organization..."
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done

MANIFEST.in

@@ -1,5 +1,5 @@
 recursive-include unilabos/registry *.yaml
-recursive-include unilabos/app/static *
-recursive-include unilabos/app/templates *
+recursive-include unilabos/app/web/static *
+recursive-include unilabos/app/web/templates *
 recursive-include unilabos/device_mesh/devices *
 recursive-include unilabos/device_mesh/resources *

README.md

@@ -5,6 +5,7 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
+
 **English** | [中文](README_zh.md)
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -30,24 +31,18 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## Quick Start
 
-1. Configure Conda Environment
-
 Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
-
-# Or update existing environment
-# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
-conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-2. Install Uni-Lab-OS:
+## Install Dev Uni-Lab-OS
 
 ```bash
 # Clone the repository
@@ -60,7 +55,7 @@ pip install .
 
 3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## Message Format
 
@@ -80,4 +75,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -5,6 +5,7 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
+
 [English](README.md) | **中文**
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -12,7 +13,7 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
 ## 🏆 比赛
 
@@ -30,24 +31,20 @@ Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
 
 ## 快速开始
 
-1. 配置Conda环境
+1. 配置 Conda 环境
 
 Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
 
 ```bash
 # 创建新环境
-mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
-
-# 或更新现有环境
-# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
-conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-2. 安装 Uni-Lab-OS:
+2. 安装开发版 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库
@@ -60,7 +57,7 @@ pip install .
 
 3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
 
 ## 消息格式
 
@@ -80,4 +77,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

docs/requirements.txt

@@ -0,0 +1,13 @@
+# Sphinx文档构建依赖
+sphinx>=7.0.0
+sphinx-rtd-theme>=2.0.0
+myst-parser>=2.0.0
+
+# 用于支持Jupyter notebook文档
+myst-nb>=1.0.0
+
+# 用于代码复制按钮
+sphinx-copybutton>=0.5.0
+
+# 用于自动摘要生成
+sphinx-autobuild>=2024.2.4

recipes/msgs/bld_ament_cmake.bat

@@ -1,6 +1,7 @@
 :: Generated by vinca http://github.com/RoboStack/vinca.
 :: DO NOT EDIT!
-setlocal EnableDelayedExpansion
+@echo off
+setlocal enabledelayedexpansion
 
 set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
 
@@ -16,9 +17,11 @@ pushd build
 
 :: try to fix long paths issues by using default generator
 set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
-set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
 
 set PYTHON="%PREFIX%\python.exe"
+set PYTHON=%PYTHON:\=/%
+set SP_DIR="..\Lib\site-packages"
+set SP_DIR=%SP_DIR:\=/%
 
 cmake ^
     -G "%CMAKE_GENERATOR%" ^
@@ -32,10 +35,10 @@ cmake ^
     -DBUILD_SHARED_LIBS=ON ^
     -DBUILD_TESTING=OFF ^
     -DCMAKE_OBJECT_PATH_MAX=255 ^
-    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR% ^
     --compile-no-warning-as-error ^
-    %SRC_DIR%\%PKG_NAME%\src\work
+    %SRC_DIR%\src
 if errorlevel 1 exit 1
 
-cmake --build . --config Release --target install
-if errorlevel 1 exit 1
+cmake --build . --config Release --target install -j8
+if errorlevel 1 exit 1

recipes/msgs/build_ament_cmake.sh

@@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
 export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
 echo "Using Python ${ROS_PYTHON_VERSION}"
 # Fix up SP_DIR which for some reason might contain a path to a wrong Python version
-FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
+FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
 echo "Using site-package dir ${FIXED_SP_DIR}"
 
 # see https://github.com/conda-forge/cross-python-feedstock/issues/24
@@ -56,7 +56,6 @@ cmake \
     -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
-    -DPython3_FIND_STRATEGY=LOCATION \
     -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
     -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
@@ -66,6 +65,6 @@ cmake \
     -DBUILD_TESTING=OFF \
     -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
     --compile-no-warning-as-error \
-    $SRC_DIR/$PKG_NAME/src/work
+    $SRC_DIR/src
 
-cmake --build . --config Release --target install
+cmake --build . --config Release --target install -j8

recipes/msgs/recipe.yaml

@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.10.4
+source:
+  path: ../../unilabos_msgs
+  target_directory: src
+
+build:
+  script:
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
+    - call %SRC_DIR%\bld_ament_cmake.bat
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
+    - bash $SRC_DIR/build_ament_cmake.sh
+
+about:
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  license: BSD-3-Clause
+  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
+
+requirements:
+  build:
+  - ${{ compiler('cxx') }}
+  - ${{ compiler('c') }}
+  - python ==3.11.11
+  - numpy
+  - if: build_platform != target_platform
+    then:
+    - pkg-config
+    - cross-python_${{ target_platform }}
+  - if: linux and x86_64
+    then:
+    - sysroot_linux-64 ==2.17
+  - ninja
+  - setuptools
+  - cython
+  - cmake
+  - if: unix
+    then:
+    - make
+    - coreutils
+  - if: osx
+    then:
+    - tapi
+  - if: win
+    then:
+    - vs2022_win-64
+  host:
+  - numpy
+  - pip
+  - if: build_platform == target_platform
+    then:
+    - pkg-config
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-ament-cmake
+  - robostack-staging::ros-humble-ament-lint-auto
+  - robostack-staging::ros-humble-ament-lint-common
+  - robostack-staging::ros-humble-ros-environment
+  - robostack-staging::ros-humble-ros-workspace
+  - robostack-staging::ros-humble-rosidl-default-generators
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros2-distro-mutex=0.6
+  run:
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-ros-workspace
+  - robostack-staging::ros-humble-rosidl-default-runtime
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros2-distro-mutex=0.6
+  - if: osx and x86_64
+    then:
+    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,61 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.1
-source:
-  path: ../../unilabos_msgs
-  folder: ros-humble-unilabos-msgs/src/work
-
-build:
-  script:
-    sel(win): bld_ament_cmake.bat
-    sel(unix): build_ament_cmake.sh
-  number: 5
-about:
-  home: https://www.ros.org/
-  license: BSD-3-Clause
-  summary: |
-    Robot Operating System
-
-extra:
-  recipe-maintainers:
-    - ros-forge
-
-requirements:
-  build:
-    - "{{ compiler('cxx') }}"
-    - "{{ compiler('c') }}"
-    - sel(linux64): sysroot_linux-64 2.17
-    - ninja
-    - setuptools
-    - sel(unix): make
-    - sel(unix): coreutils
-    - sel(osx): tapi
-    - sel(build_platform != target_platform): pkg-config
-    - cmake
-    - cython
-    - sel(win): vs2022_win-64
-    - sel(build_platform != target_platform): python
-    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
-    - sel(build_platform != target_platform): numpy
-  host:
-    - numpy
-    - pip
-    - sel(build_platform == target_platform): pkg-config
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ament-cmake
-    - robostack-staging::ros-humble-ament-lint-auto
-    - robostack-staging::ros-humble-ament-lint-common
-    - robostack-staging::ros-humble-ros-environment
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-generators
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-  run:
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-runtime
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.1"
+  version: "0.10.4"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.1',
+    version='0.10.4',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -49,7 +49,6 @@
             "config": {
                 "protocol_type": [
                     "AddProtocol",
-                    "TransferProtocol",
                     "StartStirProtocol",
                     "StopStirProtocol",
                     "StirProtocol",
@@ -171,12 +170,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "DMF"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "DMF"
+                "liquids": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -192,12 +194,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "ethyl_acetate"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "ethyl_acetate"
+                "liquids": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -213,12 +218,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "hexane"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "hexane"
+                "liquids": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -234,12 +242,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "methanol"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "methanol"
+                "liquids": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -255,12 +266,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "water"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "water"
+                "liquids": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -320,15 +334,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
+                "max_volume": 500.0,
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
                 "has_heater": true
             },
             "data": {
-                "current_volume": 0.0,
-                "current_temp": 25.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -405,10 +419,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -424,10 +439,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -633,10 +649,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -652,10 +669,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -671,10 +689,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -713,7 +732,7 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
+                "max_volume": 500.0,
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },
@@ -1077,7 +1096,7 @@
             "target": "solid_dispenser_1",
             "type": "resource",
             "port": {
-                "solid_reagent_bottle_1": "top",
+                "solid_reagent_bottle_1": "bottom",
                 "solid_dispenser_1": "SolidIn"
             }
         },
@@ -1087,7 +1106,7 @@
             "target": "solid_dispenser_1",
             "type": "resource",
             "port": {
-                "solid_reagent_bottle_2": "top",
+                "solid_reagent_bottle_2": "bottom",
                 "solid_dispenser_1": "SolidIn"
             }
         },
@@ -1097,7 +1116,7 @@
             "target": "solid_dispenser_1",
             "type": "resource",
             "port": {
-                "solid_reagent_bottle_3": "top",
+                "solid_reagent_bottle_3": "bottom",
                 "solid_dispenser_1": "SolidIn"
             }
         }

test/experiments/mock_reactor.json

@@ -14,8 +14,8 @@
             "type": "device",
             "class": "workstation",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {

test/experiments/plr_test_converted.json

@@ -1,8 +1,8 @@
 {
     "nodes": [
         {
-            "id": "PLR_STATION",
-            "name": "PLR_LH_TEST",
+            "id": "liquid_handler",
+            "name": "liquid_handler",
             "parent": null,
             "type": "device",
             "class": "liquid_handler",
@@ -37,7 +37,7 @@
                 "tip_rack",
                 "plate_well"
             ],
-            "parent": "PLR_STATION",
+            "parent": "liquid_handler",
             "type": "deck",
             "class": "OTDeck",
             "position": {
@@ -9650,7 +9650,7 @@
             "children": [],
             "parent": null,
             "type": "device",
-            "class": "moveit.arm_slider",
+            "class": "robotic_arm.SCARA_with_slider.virtual",
             "position": {
                 "x": -500,
                 "y": 1000,

test/experiments/test_moveit.json

@@ -8,7 +8,7 @@
             "children": [],
             "parent": null,
             "type": "device",
-            "class": "moveit.arm_slider",
+            "class": "robotic_arm.SCARA_with_slider.virtual",
             "position": {
                 "x": -500,
                 "y": 1000,

test/experiments/workshop.json

@@ -0,0 +1,949 @@
+{
+    "nodes": [
+        {
+            "id": "simple_station",
+            "name": "愚公常量合成工作站",
+            "children": [
+                "serial_pump",
+                "pump_reagents",
+                "pump_workup",
+                "flask_CH2Cl2",
+                "waste_workup",
+                "separator_controller",
+                "flask_separator",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol"]
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "serial_pump",
+            "name": "serial_pump",
+            "children": [],
+            "parent": "simple_station",
+            "type": "device",
+            "class": "serial",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "COM7",
+                "baudrate": 9600
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "pump_reagents",
+            "name": "pump_reagents",
+            "children": [],
+            "parent": "simple_station",
+            "type": "device",
+            "class": "syringepump.runze",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "/devices/PumpBackbone/Serial/serialwrite",
+                "address": "1",
+                "max_volume": 25.0
+            },
+            "data": {
+                "max_velocity": 1.0,
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+            "port": {
+                "pump_column": "1",
+                "pump_ext": "8"
+            }
+        }
+    ]
+}

unilabos/app/main.py

@@ -24,7 +24,7 @@ from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 def load_config_from_file(config_path, override_labid=None):
     if config_path is None:
-        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
+        config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
@@ -43,10 +43,11 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
     for i, arg in enumerate(sys.argv):
         for option_string in option_strings:
             if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
+                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
                 sys.argv[i] = new_arg
                 break
 
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -94,6 +95,11 @@ def parse_args():
         action="store_true",
         help="启动unilab时同时报送注册表信息",
     )
+    parser.add_argument(
+        "--use_remote_resource",
+        action="store_true",
+        help="启动unilab时使用远程资源启动",
+    )
     parser.add_argument(
         "--config",
         type=str,
@@ -126,7 +132,17 @@ def parse_args():
         "--labid",
         type=str,
         default="",
-        help="实验室唯一ID，也可通过环境变量 UNILABOS.MQCONFIG.LABID 设置或传入--config设置",
+        help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
+    )
+    parser.add_argument(
+        "--skip_env_check",
+        action="store_true",
+        help="跳过启动时的环境依赖检查",
+    )
+    parser.add_argument(
+        "--direct_end",
+        action="store_true",
+        help="直接结束任务",
     )
     return parser
 
@@ -138,35 +154,70 @@ def main():
     convert_argv_dashes_to_underscores(args)
     args_dict = vars(args.parse_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):
+        from unilabos.utils.environment_check import check_environment
+
+        print_status("正在进行环境依赖检查...", "info")
+        if not check_environment(auto_install=True):
+            print_status("环境检查失败，程序退出", "error")
+            os._exit(1)
+    else:
+        print_status("跳过环境依赖检查", "warning")
+
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-    if not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
-        print_status(f"当前未指定config路径，非第一次使用请通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前文件路径 {working_dir} 作为工作目录？ (Y/n)", "info")
+    if os.getcwd().endswith("unilabos_data"):
+        working_dir = os.path.abspath(os.getcwd())
+    else:
+        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+    if args_dict.get("working_dir"):
+        working_dir = args_dict.get("working_dir")
+        if config_path and not os.path.exists(config_path):
+            config_path = os.path.join(working_dir, "local_config.py")
+            if not os.path.exists(config_path):
+                print_status(
+                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
+                    "error",
+                )
+                os._exit(1)
+    elif config_path and os.path.exists(config_path):
+        working_dir = os.path.dirname(config_path)
+    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
+        config_path = os.path.join(working_dir, "local_config.py")
+    elif not config_path and (
+        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
+    ):
+        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
+        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
         if input() != "n":
             os.makedirs(working_dir, exist_ok=True)
             config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
+            shutil.copy(
+                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
+            )
             print_status(f"已创建 local_config.py 路径： {config_path}", "info")
             print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
             os._exit(1)
         else:
             os._exit(1)
-    else:
-        working_dir = args_dict.get("working_dir") or os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-        if working_dir:
-            if config_path and not os.path.exists(config_path):
-                config_path = os.path.join(working_dir, "local_config.py")
-                if not os.path.exists(config_path):
-                    print_status(f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", "error")
-                    os._exit(1)
-            print_status(f"当前工作目录为 {working_dir}", "info")
     # 加载配置文件
+    print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path, args_dict["labid"])
 
+    if args_dict["use_remote_resource"]:
+        print_status("使用远程资源启动", "info")
+        from unilabos.app.web import http_client
+        res = http_client.resource_get("host_node", False)
+        if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
+            print_status("远程资源已存在，使用云端物料！", "info")
+            args_dict["graph"] = None
+        else:
+            print_status("远程资源不存在，本地将进行首次上报！", "info")
+
     # 设置BasicConfig参数
     BasicConfig.working_dir = working_dir
+    BasicConfig.direct_end = args_dict.get("direct_end", False)
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
@@ -192,7 +243,7 @@ def main():
     print_unilab_banner(args_dict)
 
     # 注册表
-    build_registry(args_dict["registry_path"])
+    build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
     if args_dict["graph"] is None:
         request_startup_json = http_client.request_startup_json()
         if not request_startup_json:
@@ -204,10 +255,11 @@ def main():
             print_status("联网获取设备加载文件成功", "info")
         graph, data = read_node_link_json(request_startup_json)
     else:
-        if args_dict["graph"].endswith(".json"):
-            graph, data = read_node_link_json(args_dict["graph"])
+        file_path = args_dict["graph"]
+        if file_path.endswith(".json"):
+            graph, data = read_node_link_json(file_path)
         else:
-            graph, data = read_graphml(args_dict["graph"])
+            graph, data = read_graphml(file_path)
     import unilabos.resources.graphio as graph_res
 
     graph_res.physical_setup_graph = graph

unilabos/app/mq.py

@@ -166,7 +166,7 @@ class MQTTClient:
         status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.info(f"Device {device_id} status published: address: {address}, {status}")
+        # logger.info(f"Device {device_id} status published: address: {address}, {status}")
 
     def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:

unilabos/app/register.py

@@ -18,6 +18,11 @@ def register_devices_and_resources(mqtt_client, lab_registry):
         mqtt_client.publish_registry(device_info["id"], device_info, False)
         logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
+    # # 注册资源信息
+    # for resource_info in lab_registry.obtain_registry_resource_info():
+    #     mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+    #     logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+
     # 注册资源信息 - 使用HTTP方式
     from unilabos.app.web.client import http_client
 
@@ -64,7 +69,7 @@ def main():
     args = parser.parse_args()
     load_config_from_file(args.config)
     # 构建注册表
-    build_registry(args.registry, args.complete_registry)
+    build_registry(args.registry, args.complete_registry, True)
     from unilabos.app.mq import mqtt_client
 
     # 连接mqtt

unilabos/app/web/client.py

@@ -4,11 +4,12 @@ HTTP客户端模块
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 import json
+import os
 from typing import List, Dict, Any, Optional
 
 import requests
 from unilabos.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
 from unilabos.utils import logger
 
 
@@ -189,7 +190,7 @@ class HTTPClient:
             logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
         else:
             try:
-                with open("startup_config.json", "w", encoding="utf-8") as f:
+                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
                     f.write(response.text)
                 target_dict = json.loads(response.text)
                 if "data" in target_dict:

unilabos/compile/__init__.py

@@ -15,7 +15,6 @@ from .heatchill_protocol import (
     generate_heat_chill_to_temp_protocol  # 保留导入，但不注册为协议
 )
 from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
-from .transfer_protocol import generate_transfer_protocol
 from .clean_vessel_protocol import generate_clean_vessel_protocol
 from .dissolve_protocol import generate_dissolve_protocol
 from .filter_through_protocol import generate_filter_through_protocol
@@ -54,6 +53,5 @@ action_protocol_generators = {
     StartStirProtocol: generate_start_stir_protocol,
     StirProtocol: generate_stir_protocol,
     StopStirProtocol: generate_stop_stir_protocol,
-    TransferProtocol: generate_transfer_protocol,
     WashSolidProtocol: generate_wash_solid_protocol,
 }

unilabos/compile/add_protocol.py

@@ -1,313 +1,24 @@
+from functools import partial
+
 import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Union
+
+from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
+from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"[ADD] {message}", flush=True)
     logger.info(f"[ADD] {message}")
 
-def parse_volume_input(volume_input: Union[str, float]) -> float:
-    """
-    解析体积输入，支持带单位的字符串
-    
-    Args:
-        volume_input: 体积输入（如 "2.7 mL", "2.67 mL", "?", 10.0）
-    
-    Returns:
-        float: 体积（毫升）
-    """
-    if isinstance(volume_input, (int, float)):
-        debug_print(f"📏 体积输入为数值: {volume_input}")
-        return float(volume_input)
-    
-    if not volume_input or not str(volume_input).strip():
-        debug_print(f"⚠️ 体积输入为空，返回0.0mL")
-        return 0.0
-    
-    volume_str = str(volume_input).lower().strip()
-    debug_print(f"🔍 解析体积输入: '{volume_str}'")
-    
-    # 处理未知体积
-    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_volume = 10.0  # 默认10mL
-        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
-        return default_volume
-    
-    # 移除空格并提取数字和单位
-    volume_clean = re.sub(r'\s+', '', volume_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值10mL")
-        return 10.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'ml'  # 默认单位为毫升
-    
-    # 转换为毫升
-    if unit in ['l', 'liter']:
-        volume = value * 1000.0  # L -> mL
-        debug_print(f"🔄 体积转换: {value}L → {volume}mL")
-    elif unit in ['μl', 'ul', 'microliter']:
-        volume = value / 1000.0  # μL -> mL
-        debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
-    else:  # ml, milliliter 或默认
-        volume = value  # 已经是mL
-        debug_print(f"✅ 体积已为mL: {volume}mL")
-    
-    return volume
-
-def parse_mass_input(mass_input: Union[str, float]) -> float:
-    """
-    解析质量输入，支持带单位的字符串
-    
-    Args:
-        mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
-    
-    Returns:
-        float: 质量（克）
-    """
-    if isinstance(mass_input, (int, float)):
-        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
-        return float(mass_input)
-    
-    if not mass_input or not str(mass_input).strip():
-        debug_print(f"⚠️ 质量输入为空，返回0.0g")
-        return 0.0
-    
-    mass_str = str(mass_input).lower().strip()
-    debug_print(f"🔍 解析质量输入: '{mass_str}'")
-    
-    # 移除空格并提取数字和单位
-    mass_clean = re.sub(r'\s+', '', mass_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 'g'  # 默认单位为克
-    
-    # 转换为克
-    if unit in ['mg', 'milligram']:
-        mass = value / 1000.0  # mg -> g
-        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
-    elif unit in ['kg', 'kilogram']:
-        mass = value * 1000.0  # kg -> g
-        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
-    else:  # g, gram 或默认
-        mass = value  # 已经是g
-        debug_print(f"✅ 质量已为g: {mass}g")
-    
-    return mass
-
-def parse_time_input(time_input: Union[str, float]) -> float:
-    """
-    解析时间输入，支持带单位的字符串
-    
-    Args:
-        time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if isinstance(time_input, (int, float)):
-        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
-        return float(time_input)
-    
-    if not time_input or not str(time_input).strip():
-        debug_print(f"⚠️ 时间输入为空，返回0秒")
-        return 0.0
-    
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间输入: '{time_str}'")
-    
-    # 处理未知时间
-    if time_str in ['?', 'unknown', 'tbd']:
-        default_time = 60.0  # 默认1分钟
-        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
-        return default_time
-    
-    # 移除空格并提取数字和单位
-    time_clean = re.sub(r'\s+', '', time_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
-    
-    if not match:
-        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
-        return 0.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 's'  # 默认单位为秒
-    
-    # 转换为秒
-    if unit in ['min', 'minute']:
-        time_sec = value * 60.0  # min -> s
-        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
-    elif unit in ['h', 'hr', 'hour']:
-        time_sec = value * 3600.0  # h -> s
-        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
-    elif unit in ['d', 'day']:
-        time_sec = value * 86400.0  # d -> s
-        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
-    else:  # s, sec, second 或默认
-        time_sec = value  # 已经是s
-        debug_print(f"✅ 时间已为秒: {time_sec}秒")
-    
-    return time_sec
-
-def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
-    """增强版试剂容器查找，支持固体和液体"""
-    debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
-    
-    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
-    debug_print(f"📋 方法1: 搜索reagent字段...")
-    for node in G.nodes():
-        node_data = G.nodes[node].get('data', {})
-        node_type = G.nodes[node].get('type', '')
-        config_data = G.nodes[node].get('config', {})
-        
-        # 只搜索容器类型的节点
-        if node_type == 'container':
-            reagent_name = node_data.get('reagent_name', '').lower()
-            config_reagent = config_data.get('reagent', '').lower()
-            
-            # 精确匹配
-            if reagent_name == reagent.lower() or config_reagent == reagent.lower():
-                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
-                return node
-            
-            # 模糊匹配
-            if (reagent.lower() in reagent_name and reagent_name) or \
-               (reagent.lower() in config_reagent and config_reagent):
-                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
-                return node
-    
-    # 🔧 方法2：常见的容器命名规则
-    debug_print(f"📋 方法2: 使用命名规则查找...")
-    reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
-    possible_names = [
-        reagent_clean,
-        f"flask_{reagent_clean}",
-        f"bottle_{reagent_clean}",
-        f"vessel_{reagent_clean}", 
-        f"{reagent_clean}_flask",
-        f"{reagent_clean}_bottle",
-        f"reagent_{reagent_clean}",
-        f"reagent_bottle_{reagent_clean}",
-        f"solid_reagent_bottle_{reagent_clean}",
-        f"reagent_bottle_1",  # 通用试剂瓶
-        f"reagent_bottle_2",
-        f"reagent_bottle_3"
-    ]
-    
-    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
-    
-    for name in possible_names:
-        if name in G.nodes():
-            node_type = G.nodes[name].get('type', '')
-            if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
-                return name
-    
-    # 🔧 方法3：节点名称模糊匹配
-    debug_print(f"📋 方法3: 节点名称模糊匹配...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if node_data.get('type') == 'container':
-            # 检查节点名称是否包含试剂名称
-            if reagent_clean in node_id.lower():
-                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
-                return node_id
-            
-            # 检查液体类型匹配
-            vessel_data = node_data.get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    if liquid_type.lower() == reagent.lower():
-                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
-                        return node_id
-    
-    # 🔧 方法4：使用第一个试剂瓶作为备选
-    debug_print(f"📋 方法4: 查找备选试剂瓶...")
-    for node_id in G.nodes():
-        node_data = G.nodes[node_id]
-        if (node_data.get('type') == 'container' and 
-            ('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
-            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
-            return node_id
-    
-    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
-    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
-
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
-    """查找连接到指定容器的搅拌器"""
-    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
-    
-    stirrer_nodes = []
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'stirrer' in node_class:
-            stirrer_nodes.append(node)
-            debug_print(f"📋 发现搅拌器: {node}")
-    
-    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
-    
-    # 查找连接到容器的搅拌器
-    for stirrer in stirrer_nodes:
-        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
-            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
-            return stirrer
-    
-    # 返回第一个搅拌器
-    if stirrer_nodes:
-        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
-        return stirrer_nodes[0]
-    
-    debug_print(f"❌ 未找到任何搅拌器")
-    return ""
-
-def find_solid_dispenser(G: nx.DiGraph) -> str:
-    """查找固体加样器"""
-    debug_print(f"🔍 查找固体加样器...")
-    
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '').lower()
-        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
-            debug_print(f"✅ 找到固体加样器: {node} 🥄")
-            return node
-    
-    debug_print(f"❌ 未找到固体加样器")
-    return ""
 
 # 🆕 创建进度日志动作
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志"""
-    full_message = f"{emoji} {message}"
-    debug_print(full_message)
-    logger.info(full_message)
-    print(f"[ACTION] {full_message}", flush=True)
-    
-    return {
-        "action_name": "wait",
-        "action_kwargs": {
-            "time": 0.1,
-            "log_message": full_message
-        }
-    }
+create_action_log = partial(action_log, prefix="[ADD]")
 
 def generate_add_protocol(
     G: nx.DiGraph,
@@ -346,16 +57,7 @@ def generate_add_protocol(
     """
 
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     # 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
     if "data" in vessel and "liquid_volume" in vessel["data"]:
@@ -406,12 +108,7 @@ def generate_add_protocol(
     final_time = parse_time_input(time)
     
     debug_print(f"📊 解析结果:")
-    debug_print(f"  📏 体积: {final_volume}mL")
-    debug_print(f"  ⚖️ 质量: {final_mass}g")
-    debug_print(f"  ⏱️ 时间: {final_time}s")
-    debug_print(f"  🧬 摩尔: '{mol}'")
-    debug_print(f"  🎯 事件: '{event}'")
-    debug_print(f"  ⚡ 速率: '{rate_spec}'")
+    debug_print(f"  体积: {final_volume}mL, 质量: {final_mass}g, 时间: {final_time}s, 摩尔: '{mol}', 事件: '{event}', 速率: '{rate_spec}'")
     
     # === 判断添加类型 ===
     debug_print("🔍 步骤3: 判断添加类型...")

unilabos/compile/adjustph_protocol.py

@@ -1,31 +1,15 @@
 import networkx as nx
 import logging
 from typing import List, Dict, Any, Union
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"[ADJUST_PH] {message}", flush=True)
     logger.info(f"[ADJUST_PH] {message}")
 
-# 🆕 创建进度日志动作
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志"""
-    full_message = f"{emoji} {message}"
-    debug_print(full_message)
-    logger.info(full_message)
-    print(f"[ACTION] {full_message}", flush=True)
-    
-    return {
-        "action_name": "wait",
-        "action_kwargs": {
-            "time": 0.1,
-            "log_message": full_message
-        }
-    }
-
 def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     """
     查找酸碱试剂容器，支持多种匹配模式
@@ -235,16 +219,7 @@ def generate_adjust_ph_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     if not vessel_id:
         debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")

unilabos/compile/clean_vessel_protocol.py

@@ -1,101 +1,9 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .pump_protocol import generate_pump_protocol
 
 
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """
-    查找溶剂容器，支持多种匹配模式：
-    1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
-    2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
-    """
-    print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
-    
-    # 第一步：通过容器名称匹配
-    possible_names = [
-        f"flask_{solvent}",           # flask_water, flask_ethanol
-        f"bottle_{solvent}",          # bottle_water, bottle_ethanol  
-        f"vessel_{solvent}",          # vessel_water, vessel_ethanol
-        f"{solvent}_flask",           # water_flask, ethanol_flask
-        f"{solvent}_bottle",          # water_bottle, ethanol_bottle
-        f"{solvent}",                 # 直接用溶剂名
-        f"solvent_{solvent}",         # solvent_water, solvent_ethanol
-        f"reagent_bottle_{solvent}",  # reagent_bottle_DMF
-    ]
-    
-    # 尝试名称匹配
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
-            return vessel_name
-    
-    # 第二步：通过模糊名称匹配（名称中包含溶剂名）
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            # 检查节点ID或名称中是否包含溶剂名
-            node_name = G.nodes[node_id].get('name', '').lower()
-            if (solvent.lower() in node_id.lower() or 
-                solvent.lower() in node_name):
-                print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
-                return node_id
-    
-    # 第三步：通过液体类型匹配
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    # 支持两种格式的液体类型字段
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    reagent_name = vessel_data.get('reagent_name', '')
-                    config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
-                    
-                    # 检查多个可能的字段
-                    if (liquid_type.lower() == solvent.lower() or 
-                        reagent_name.lower() == solvent.lower() or
-                        config_reagent.lower() == solvent.lower()):
-                        print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
-                        print(f"  - liquid_type: {liquid_type}")
-                        print(f"  - reagent_name: {reagent_name}")
-                        print(f"  - config.reagent: {config_reagent}")
-                        return node_id
-    
-    # 第四步：列出所有可用的容器信息帮助调试
-    available_containers = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            config_data = G.nodes[node_id].get('config', {})
-            liquids = vessel_data.get('liquid', [])
-            
-            container_info = {
-                'id': node_id,
-                'name': G.nodes[node_id].get('name', ''),
-                'liquid_types': [],
-                'reagent_name': vessel_data.get('reagent_name', ''),
-                'config_reagent': config_data.get('reagent', '')
-            }
-            
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    if liquid_type:
-                        container_info['liquid_types'].append(liquid_type)
-            
-            available_containers.append(container_info)
-    
-    print(f"CLEAN_VESSEL: 可用容器列表:")
-    for container in available_containers:
-        print(f"  - {container['id']}: {container['name']}")
-        print(f"    液体类型: {container['liquid_types']}")
-        print(f"    试剂名称: {container['reagent_name']}")
-        print(f"    配置试剂: {container['config_reagent']}")
-    
-    raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
-
-
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
     """
     增强版溶剂容器查找，支持各种匹配方式的别名函数
@@ -181,16 +89,7 @@ def generate_clean_vessel_protocol(
         clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     action_sequence = []
     

unilabos/compile/dissolve_protocol.py

@@ -1,31 +1,22 @@
+from functools import partial
+
 import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Union
+
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"[DISSOLVE] {message}", flush=True)
     logger.info(f"[DISSOLVE] {message}")
 
 # 🆕 创建进度日志动作
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志"""
-    full_message = f"{emoji} {message}"
-    debug_print(full_message)
-    logger.info(full_message)
-    print(f"[ACTION] {full_message}", flush=True)
-    
-    return {
-        "action_name": "wait",
-        "action_kwargs": {
-            "time": 0.1,
-            "log_message": full_message
-        }
-    }
+create_action_log = partial(action_log, prefix="[DISSOLVE]")
 
 def parse_volume_input(volume_input: Union[str, float]) -> float:
     """
@@ -446,7 +437,7 @@ def generate_dissolve_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    vessel_id, vessel_data = get_vessel(vessel)
     
     debug_print("=" * 60)
     debug_print("🧪 开始生成溶解协议")

unilabos/compile/dry_protocol.py

@@ -1,6 +1,8 @@
 import networkx as nx
 from typing import List, Dict, Any
 
+from unilabos.compile.utils.vessel_parser import get_vessel
+
 
 def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
     """
@@ -63,7 +65,7 @@ def generate_dry_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    vessel_id, vessel_data = get_vessel(vessel)
     
     action_sequence = []
     

unilabos/compile/evacuateandrefill_protocol.py

@@ -1,8 +1,12 @@
+from functools import partial
+
 import networkx as nx
 import logging
 import uuid
 import sys
 from typing import List, Dict, Any, Optional
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
 
 # 设置日志
@@ -21,48 +25,17 @@ def debug_print(message):
     try:
         # 确保消息是字符串格式
         safe_message = str(message)
-        print(f"[抽真空充气] {safe_message}", flush=True)
         logger.info(f"[抽真空充气] {safe_message}")
     except UnicodeEncodeError:
         # 如果编码失败，尝试替换不支持的字符
         safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
-        print(f"[抽真空充气] {safe_message}", flush=True)
         logger.info(f"[抽真空充气] {safe_message}")
     except Exception as e:
         # 最后的安全措施
         fallback_message = f"日志输出错误: {repr(message)}"
-        print(f"[抽真空充气] {fallback_message}", flush=True)
         logger.info(f"[抽真空充气] {fallback_message}")
 
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志 - 支持中文和emoji"""
-    try:
-        full_message = f"{emoji} {message}"
-        debug_print(full_message)
-        logger.info(full_message)
-        
-        return {
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": full_message,
-                "progress_message": full_message
-            }
-        }
-    except Exception as e:
-        # 如果emoji有问题，使用纯文本
-        safe_message = f"[日志] {message}"
-        debug_print(safe_message)
-        logger.info(safe_message)
-        
-        return {
-            "action_name": "wait", 
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": safe_message,
-                "progress_message": safe_message
-            }
-        }
+create_action_log = partial(action_log, prefix="[抽真空充气]")
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
     """
@@ -288,16 +261,7 @@ def generate_evacuateandrefill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     # 硬编码重复次数为 3
     repeats = 3

unilabos/compile/evaporate_protocol.py

@@ -2,75 +2,15 @@ from typing import List, Dict, Any, Optional, Union
 import networkx as nx
 import logging
 import re
+from .utils.vessel_parser import get_vessel
+from .utils.unit_parser import parse_time_input
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🧪 [EVAPORATE] {message}", flush=True)
     logger.info(f"[EVAPORATE] {message}")
 
-def parse_time_input(time_input: Union[str, float]) -> float:
-    """
-    解析时间输入，支持带单位的字符串
-    
-    Args:
-        time_input: 时间输入（如 "3 min", "180", "0.5 h" 等）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if isinstance(time_input, (int, float)):
-        debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
-        return float(time_input)  # 🔧 确保返回float
-    
-    if not time_input or not str(time_input).strip():
-        debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
-        return 180.0  # 默认3分钟
-    
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间输入: '{time_str}' 📝")
-    
-    # 处理未知时间
-    if time_str in ['?', 'unknown', 'tbd']:
-        default_time = 180.0  # 默认3分钟
-        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (3分钟) 🤷‍♀️")
-        return default_time
-    
-    # 移除空格并提取数字和单位
-    time_clean = re.sub(r'\s+', '', time_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
-    
-    if not match:
-        # 如果无法解析，尝试直接转换为数字（默认秒）
-        try:
-            value = float(time_str)
-            debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
-            return float(value)  # 🔧 确保返回float
-        except ValueError:
-            debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
-            return 180.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 's'  # 默认单位为秒
-    
-    # 转换为秒
-    if unit in ['min', 'minute']:
-        time_sec = value * 60.0  # min -> s
-        debug_print(f"🕐 时间转换: {value} 分钟 → {time_sec}s ⏰")
-    elif unit in ['h', 'hr', 'hour']:
-        time_sec = value * 3600.0  # h -> s
-        debug_print(f"🕐 时间转换: {value} 小时 → {time_sec}s ({time_sec/60:.1f}分钟) ⏰")
-    elif unit in ['d', 'day']:
-        time_sec = value * 86400.0  # d -> s
-        debug_print(f"🕐 时间转换: {value} 天 → {time_sec}s ({time_sec/3600:.1f}小时) ⏰")
-    else:  # s, sec, second 或默认
-        time_sec = value  # 已经是s
-        debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
-    
-    return float(time_sec)  # 🔧 确保返回float
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
@@ -201,16 +141,7 @@ def generate_evaporate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     debug_print("🌟" * 20)
     debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")

unilabos/compile/filter_protocol.py

@@ -1,13 +1,13 @@
 from typing import List, Dict, Any, Optional
 import networkx as nx
 import logging
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🧪 [FILTER] {message}", flush=True)
     logger.info(f"[FILTER] {message}")
 
 def find_filter_device(G: nx.DiGraph) -> str:
@@ -51,7 +51,7 @@ def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") ->
 def generate_filter_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    filtrate_vessel: str = "",
+    filtrate_vessel: dict = {"id": "waste"},
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
@@ -68,16 +68,8 @@ def generate_filter_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
+    filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
     
     debug_print("🌊" * 20)
     debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
@@ -111,7 +103,7 @@ def generate_filter_protocol(
     # 验证可选参数
     debug_print("  🔍 验证可选参数...")
     if filtrate_vessel:
-        validate_vessel(G, filtrate_vessel, "滤液容器")
+        validate_vessel(G, filtrate_vessel_id, "滤液容器")
         debug_print("  🌊 模式: 过滤并收集滤液 💧")
     else:
         debug_print("  🧱 模式: 过滤并收集固体 🔬")
@@ -168,8 +160,8 @@ def generate_filter_protocol(
             # 使用pump protocol转移液体到过滤器
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel=vessel_id,  # 🔧 使用 vessel_id
-                to_vessel=filter_device,
+                from_vessel={"id": vessel_id},  # 🔧 使用 vessel_id
+                to_vessel={"id": filter_device},
                 volume=0.0,  # 转移所有液体
                 amount="",
                 time=0.0,
@@ -220,8 +212,8 @@ def generate_filter_protocol(
     # 构建过滤动作参数
     debug_print("  ⚙️ 构建过滤参数...")
     filter_kwargs = {
-        "vessel": filter_device,  # 过滤器设备
-        "filtrate_vessel": filtrate_vessel,  # 滤液容器（可能为空）
+        "vessel": {"id": filter_device},  # 过滤器设备
+        "filtrate_vessel": {"id": filtrate_vessel_id},  # 滤液容器（可能为空）
         "stir": kwargs.get("stir", False),
         "stir_speed": kwargs.get("stir_speed", 0.0),
         "temp": kwargs.get("temp", 25.0),
@@ -252,8 +244,8 @@ def generate_filter_protocol(
     # === 收集滤液（如果需要）===
     debug_print("📍 步骤5: 收集滤液... 💧")
     
-    if filtrate_vessel:
-        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel} 💧")
+    if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
+        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
         
         try:
             debug_print("  🔄 开始执行收集操作...")
@@ -282,20 +274,20 @@ def generate_filter_protocol(
                 debug_print("  🔧 更新滤液容器体积...")
                 
                 # 更新filtrate_vessel在图中的体积（如果它是节点）
-                if filtrate_vessel in G.nodes():
-                    if 'data' not in G.nodes[filtrate_vessel]:
-                        G.nodes[filtrate_vessel]['data'] = {}
+                if filtrate_vessel_id in G.nodes():
+                    if 'data' not in G.nodes[filtrate_vessel_id]:
+                        G.nodes[filtrate_vessel_id]['data'] = {}
                     
-                    current_filtrate_volume = G.nodes[filtrate_vessel]['data'].get('liquid_volume', 0.0)
+                    current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
                     if isinstance(current_filtrate_volume, list):
                         if len(current_filtrate_volume) > 0:
-                            G.nodes[filtrate_vessel]['data']['liquid_volume'][0] += expected_filtrate_volume
+                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'][0] += expected_filtrate_volume
                         else:
-                            G.nodes[filtrate_vessel]['data']['liquid_volume'] = [expected_filtrate_volume]
+                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
                     else:
-                        G.nodes[filtrate_vessel]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
+                        G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
                     
-                    debug_print(f"  📊 滤液容器 {filtrate_vessel} 体积增加 {expected_filtrate_volume:.2f}mL")
+                    debug_print(f"  📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
                 
             else:
                 debug_print("  ⚠️ 收集协议返回空序列 🤔")
@@ -360,7 +352,7 @@ def generate_filter_protocol(
     debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
     debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
     debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
-    debug_print(f"💧 滤液容器: {filtrate_vessel or '无（保留固体）'} 🧱")
+    debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
     debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
     if original_liquid_volume > 0:
         debug_print(f"📊 体积变化统计:")
@@ -372,4 +364,3 @@ def generate_filter_protocol(
     debug_print("🎊" * 20)
     
     return action_sequence
-

unilabos/compile/heatchill_protocol.py

@@ -2,81 +2,15 @@ from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 import re
+from .utils.vessel_parser import get_vessel
+from .utils.unit_parser import parse_time_input
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🌡️ [HEATCHILL] {message}", flush=True)
     logger.info(f"[HEATCHILL] {message}")
 
-def parse_time_input(time_input: Union[str, float, int]) -> float:
-    """
-    解析时间输入（统一函数）
-    
-    Args:
-        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if not time_input:
-        return 300.0
-    
-    # 🔢 处理数值输入
-    if isinstance(time_input, (int, float)):
-        result = float(time_input)
-        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
-        return result
-    
-    # 📝 处理字符串输入
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间: '{time_str}'")
-    
-    # ❓ 特殊值处理
-    special_times = {
-        '?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
-        'overnight': 43200.0, 'several hours': 10800.0, 
-        'few hours': 7200.0, 'long time': 3600.0, 'short time': 300.0
-    }
-    
-    if time_str in special_times:
-        result = special_times[time_str]
-        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
-        return result
-    
-    # 🔢 纯数字处理
-    try:
-        result = float(time_str)
-        debug_print(f"⏰ 纯数字: {time_str} → {result}s")
-        return result
-    except ValueError:
-        pass
-    
-    # 📐 正则表达式解析
-    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
-    match = re.match(pattern, time_str)
-    
-    if not match:
-        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 300s")
-        return 300.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or 's'
-    
-    # 📏 单位转换
-    unit_multipliers = {
-        's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
-        'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
-        'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
-        'd': 86400.0, 'day': 86400.0, 'days': 86400.0
-    }
-    
-    multiplier = unit_multipliers.get(unit, 1.0)
-    result = value * multiplier
-    
-    debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
-    return result
 
 def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
     """
@@ -217,16 +151,7 @@ def generate_heat_chill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     debug_print("🌡️" * 20)
     debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
@@ -295,7 +220,7 @@ def generate_heat_chill_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "vessel": vessel,
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -329,7 +254,7 @@ def generate_heat_chill_to_temp_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成加热到指定温度的协议（简化版）"""
-    vessel_id = vessel["id"]
+    vessel_id, _ = get_vessel(vessel)
     debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
     return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
 
@@ -343,7 +268,7 @@ def generate_heat_chill_start_protocol(
     """生成开始加热操作的协议序列"""
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    vessel_id, _ = get_vessel(vessel)
     
     debug_print("🔥 开始生成启动加热协议 ✨")
     debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
@@ -361,7 +286,6 @@ def generate_heat_chill_start_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "temp": temp,
             "purpose": purpose or f"开始加热到 {temp}°C"
         }
@@ -378,7 +302,7 @@ def generate_heat_chill_stop_protocol(
     """生成停止加热操作的协议序列"""
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id = vessel["id"]
+    vessel_id, _ = get_vessel(vessel)
     
     debug_print("🛑 开始生成停止加热协议 ✨")
     debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
@@ -396,10 +320,8 @@ def generate_heat_chill_stop_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": vessel_id  # 🔧 使用 vessel_id
         }
     }]
     
     debug_print(f"✅ 停止加热协议生成完成 🎯")
     return action_sequence
-

unilabos/compile/hydrogenate_protocol.py

@@ -1,5 +1,6 @@
 import networkx as nx
 from typing import List, Dict, Any, Optional
+from .utils.vessel_parser import get_vessel
 
 
 def parse_temperature(temp_str: str) -> float:
@@ -170,16 +171,7 @@ def generate_hydrogenate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     action_sequence = []
     

unilabos/compile/recrystallize_protocol.py

@@ -2,91 +2,17 @@ import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Tuple, Union
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
+from .utils.unit_parser import parse_volume_input
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"💎 [RECRYSTALLIZE] {message}", flush=True)
     logger.info(f"[RECRYSTALLIZE] {message}")
 
 
-def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
-    """
-    解析带单位的体积输入
-    
-    Args:
-        volume_input: 体积输入（如 "100 mL", "2.5 L", "500", "?", 100.0）
-        default_unit: 默认单位（默认为毫升）
-    
-    Returns:
-        float: 体积（毫升）
-    """
-    if not volume_input:
-        debug_print("⚠️ 体积输入为空，返回 0.0mL 📦")
-        return 0.0
-    
-    # 处理数值输入
-    if isinstance(volume_input, (int, float)):
-        result = float(volume_input)
-        debug_print(f"🔢 数值体积输入: {volume_input} → {result}mL（默认单位）💧")
-        return result
-    
-    # 处理字符串输入
-    volume_str = str(volume_input).lower().strip()
-    debug_print(f"🔍 解析体积字符串: '{volume_str}' 📝")
-    
-    # 处理特殊值
-    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_volume = 50.0  # 50mL默认值
-        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
-        return default_volume
-    
-    # 如果是纯数字，使用默认单位
-    try:
-        value = float(volume_str)
-        if default_unit.lower() in ["ml", "milliliter"]:
-            result = value
-        elif default_unit.lower() in ["l", "liter"]:
-            result = value * 1000.0
-        elif default_unit.lower() in ["μl", "ul", "microliter"]:
-            result = value / 1000.0
-        else:
-            result = value  # 默认mL
-        debug_print(f"🔢 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）📏")
-        return result
-    except ValueError:
-        pass
-    
-    # 移除空格并提取数字和单位
-    volume_clean = re.sub(r'\s+', '', volume_str)
-    
-    # 匹配数字和单位的正则表达式
-    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
-    
-    if not match:
-        debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL 🎯")
-        return 50.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or default_unit.lower()
-    
-    # 转换为毫升
-    if unit in ['l', 'liter']:
-        volume = value * 1000.0  # L -> mL
-        debug_print(f"📏 升转毫升: {value}L → {volume}mL 💧")
-    elif unit in ['μl', 'ul', 'microliter']:
-        volume = value / 1000.0  # μL -> mL
-        debug_print(f"📏 微升转毫升: {value}μL → {volume}mL 💧")
-    else:  # ml, milliliter 或默认
-        volume = value  # 已经是mL
-        debug_print(f"📏 毫升单位: {value}mL → {volume}mL 💧")
-    
-    debug_print(f"✅ 体积解析完成: '{volume_str}' → {volume}mL ✨")
-    return volume
-
-
 def parse_ratio(ratio_str: str) -> Tuple[float, float]:
     """
     解析比例字符串，支持多种格式
@@ -136,131 +62,6 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
         return 1.0, 1.0
 
 
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """
-    查找溶剂容器
-    
-    Args:
-        G: 网络图
-        solvent: 溶剂名称
-    
-    Returns:
-        str: 溶剂容器ID
-    """
-    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
-    
-    # 构建可能的容器名称
-    possible_names = [
-        f"flask_{solvent}",
-        f"bottle_{solvent}",
-        f"reagent_{solvent}",
-        f"reagent_bottle_{solvent}",
-        f"{solvent}_flask",
-        f"{solvent}_bottle",
-        f"{solvent}",
-        f"vessel_{solvent}",
-    ]
-    
-    debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
-    
-    # 第一步：通过容器名称匹配
-    debug_print("  🎯 步骤1: 精确名称匹配...")
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
-            return vessel_name
-    
-    # 第二步：通过模糊匹配（节点ID和名称）
-    debug_print("  🔍 步骤2: 模糊名称匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            node_name = G.nodes[node_id].get('name', '').lower()
-            
-            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
-                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
-                return node_id
-    
-    # 第三步：通过配置中的试剂信息匹配
-    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            # 检查 config 中的 reagent 字段
-            node_config = G.nodes[node_id].get('config', {})
-            config_reagent = node_config.get('reagent', '').lower()
-            
-            if config_reagent and solvent.lower() == config_reagent:
-                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
-                return node_id
-    
-    # 第四步：通过数据中的试剂信息匹配
-    debug_print("  🧪 步骤4: 数据试剂信息匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            
-            # 检查 data 中的 reagent_name 字段
-            reagent_name = vessel_data.get('reagent_name', '').lower()
-            if reagent_name and solvent.lower() == reagent_name:
-                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
-                return node_id
-            
-            # 检查 data 中的液体信息
-            liquids = vessel_data.get('liquid', [])
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
-                    
-                    if solvent.lower() in liquid_type:
-                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
-                        return node_id
-    
-    # 第五步：部分匹配（如果前面都没找到）
-    debug_print("  🔍 步骤5: 部分匹配...")
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            node_config = G.nodes[node_id].get('config', {})
-            node_data = G.nodes[node_id].get('data', {})
-            node_name = G.nodes[node_id].get('name', '').lower()
-            
-            config_reagent = node_config.get('reagent', '').lower()
-            data_reagent = node_data.get('reagent_name', '').lower()
-            
-            # 检查是否包含溶剂名称
-            if (solvent.lower() in config_reagent or 
-                solvent.lower() in data_reagent or 
-                solvent.lower() in node_name or
-                solvent.lower() in node_id.lower()):
-                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
-                debug_print(f"    - 节点名称: {node_name}")
-                debug_print(f"    - 配置试剂: {config_reagent}")
-                debug_print(f"    - 数据试剂: {data_reagent}")
-                return node_id
-    
-    # 调试信息：列出所有容器
-    debug_print("  🔎 调试信息：列出所有容器...")
-    container_list = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            node_config = G.nodes[node_id].get('config', {})
-            node_data = G.nodes[node_id].get('data', {})
-            node_name = G.nodes[node_id].get('name', '')
-            
-            container_info = {
-                'id': node_id,
-                'name': node_name,
-                'config_reagent': node_config.get('reagent', ''),
-                'data_reagent': node_data.get('reagent_name', '')
-            }
-            container_list.append(container_info)
-            debug_print(f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
-    
-    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
-    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
-    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
-    
-    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
-
-
 def generate_recrystallize_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
@@ -287,16 +88,7 @@ def generate_recrystallize_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    # 统一处理vessel参数
-    if isinstance(vessel, dict):
-        if "id" not in vessel:
-            vessel_id = list(vessel.values())[0].get("id", "")
-        else:
-            vessel_id = vessel.get("id", "")
-        vessel_data = vessel.get("data", {})
-    else:
-        vessel_id = str(vessel)
-        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
+    vessel_id, vessel_data = get_vessel(vessel)
     
     action_sequence = []
     
@@ -330,7 +122,7 @@ def generate_recrystallize_protocol(
     
     # 2. 解析体积（支持单位）
     debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
-    final_volume = parse_volume_with_units(volume, "mL")
+    final_volume = parse_volume_input(volume, "mL")
     debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
     
     # 3. 解析比例
@@ -582,7 +374,7 @@ def test_recrystallize_protocol():
     debug_print("💧 测试体积解析...")
     test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
     for vol in test_volumes:
-        parsed = parse_volume_with_units(vol)
+        parsed = parse_volume_input(vol)
         debug_print(f"  📊 体积 '{vol}' -> {parsed}mL")
     
     # 测试比例解析

unilabos/compile/run_column_protocol.py

@@ -2,13 +2,13 @@ from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 import re
+from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🏛️ [RUN_COLUMN] {message}", flush=True)
     logger.info(f"[RUN_COLUMN] {message}")
 
 def parse_percentage(pct_str: str) -> float:
@@ -404,9 +404,9 @@ def generate_run_column_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
-    
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
+
     debug_print("🏛️" * 20)
     debug_print("🚀 开始生成柱层析协议（支持vessel字典和体积运算）✨")
     debug_print(f"📝 输入参数:")
@@ -773,8 +773,8 @@ def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vesse
                                     column: str, start_ratio: str = "10:90", 
                                     end_ratio: str = "50:50") -> List[Dict[str, Any]]:
     """梯度洗脱柱层析（中等比例）"""
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
     debug_print(f"📈 梯度柱层析: {from_vessel_id} → {to_vessel_id} ({start_ratio} → {end_ratio})")
     # 使用中间比例作为近似
     return generate_run_column_protocol(G, from_vessel, to_vessel, column, ratio="30:70")
@@ -782,8 +782,8 @@ def generate_gradient_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vesse
 def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                  column: str) -> List[Dict[str, Any]]:
     """极性化合物柱层析（高极性溶剂比例）"""
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
     debug_print(f"⚡ 极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
     return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="70:30")
@@ -791,8 +791,8 @@ def generate_polar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel:
 def generate_nonpolar_column_protocol(G: nx.DiGraph, from_vessel: dict, to_vessel: dict, 
                                     column: str) -> List[Dict[str, Any]]:
     """非极性化合物柱层析（低极性溶剂比例）"""
-    from_vessel_id = from_vessel["id"]
-    to_vessel_id = to_vessel["id"]
+    from_vessel_id, _ = get_vessel(from_vessel)
+    to_vessel_id, _ = get_vessel(to_vessel)
     debug_print(f"🛢️ 非极性化合物柱层析: {from_vessel_id} → {to_vessel_id}")
     return generate_run_column_protocol(G, from_vessel, to_vessel, column, 
                                       solvent1="ethyl_acetate", solvent2="hexane", ratio="5:95")
@@ -805,4 +805,3 @@ def test_run_column_protocol():
 
 if __name__ == "__main__":
     test_run_column_protocol()
-

unilabos/compile/separate_protocol.py

@@ -1,8 +1,12 @@
+from functools import partial
+
 import networkx as nx
 import re
 import logging
 import sys
 from typing import List, Dict, Any, Union
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
@@ -20,48 +24,472 @@ def debug_print(message):
     try:
         # 确保消息是字符串格式
         safe_message = str(message)
-        print(f"🌀 [SEPARATE] {safe_message}", flush=True)
         logger.info(f"[SEPARATE] {safe_message}")
     except UnicodeEncodeError:
         # 如果编码失败，尝试替换不支持的字符
         safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
-        print(f"🌀 [SEPARATE] {safe_message}", flush=True)
         logger.info(f"[SEPARATE] {safe_message}")
     except Exception as e:
         # 最后的安全措施
         fallback_message = f"日志输出错误: {repr(message)}"
-        print(f"🌀 [SEPARATE] {fallback_message}", flush=True)
         logger.info(f"[SEPARATE] {fallback_message}")
 
-def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
-    """创建一个动作日志 - 支持中文和emoji"""
+create_action_log = partial(action_log, prefix="[SEPARATE]")
+
+
+def generate_separate_protocol(
+    G: nx.DiGraph,
+    # 🔧 基础参数，支持XDL的vessel参数
+    vessel: dict = None,  # 🔧 修改：从字符串改为字典类型
+    purpose: str = "separate",  # 分离目的
+    product_phase: str = "top",  # 产物相
+    # 🔧 可选的详细参数
+    from_vessel: Union[str, dict] = "",  # 源容器（通常在separate前已经transfer了）
+    separation_vessel: Union[str, dict] = "",  # 分离容器（与vessel同义）
+    to_vessel: Union[str, dict] = "",  # 目标容器（可选）
+    waste_phase_to_vessel: Union[str, dict] = "",  # 废相目标容器
+    product_vessel: Union[str, dict] = "",  # XDL: 产物容器（与to_vessel同义）
+    waste_vessel: Union[str, dict] = "",  # XDL: 废液容器（与waste_phase_to_vessel同义）
+    # 🔧 溶剂相关参数
+    solvent: str = "",  # 溶剂名称
+    solvent_volume: Union[str, float] = 0.0,  # 溶剂体积
+    volume: Union[str, float] = 0.0,  # XDL: 体积（与solvent_volume同义）
+    # 🔧 操作参数
+    through: str = "",  # 通过材料
+    repeats: int = 1,  # 重复次数
+    stir_time: float = 30.0,  # 搅拌时间（秒）
+    stir_speed: float = 300.0,  # 搅拌速度
+    settling_time: float = 300.0,  # 沉降时间（秒）
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成分离操作的协议序列 - 支持vessel字典和体积运算
+
+    支持XDL参数格式：
+    - vessel: 分离容器字典（必需）
+    - purpose: "wash", "extract", "separate"
+    - product_phase: "top", "bottom"
+    - product_vessel: 产物收集容器
+    - waste_vessel: 废液收集容器
+    - solvent: 溶剂名称
+    - volume: "200 mL", "?" 或数值
+    - repeats: 重复次数
+
+    分离流程：
+    1. （可选）添加溶剂到分离容器
+    2. 搅拌混合
+    3. 静置分层
+    4. 收集指定相到目标容器
+    5. 重复指定次数
+    """
+
+    # 🔧 核心修改：vessel参数兼容处理
+    if vessel is None:
+        if isinstance(separation_vessel, dict):
+            vessel = separation_vessel
+        else:
+            raise ValueError("必须提供vessel字典参数")
+
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+
+    debug_print("🌀" * 20)
+    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🎯 分离目的: '{purpose}'")
+    debug_print(f"  📊 产物相: '{product_phase}'")
+    debug_print(f"  💧 溶剂: '{solvent}'")
+    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"  🎯 产物容器: '{product_vessel}'")
+    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
+    debug_print(f"  📦 其他参数: {kwargs}")
+    debug_print("🌀" * 20)
+
+    action_sequence = []
+
+    # 🔧 新增：记录分离前的容器状态
+    debug_print("🔍 记录分离前容器状态...")
+    original_liquid_volume = get_vessel_liquid_volume(vessel)
+    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
+
+    # === 参数验证和标准化 ===
+    debug_print("🔍 步骤1: 参数验证和标准化...")
+    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
+    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
+    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
+
+    # 统一容器参数 - 支持字典和字符串
+    def extract_vessel_id(vessel_param):
+        if isinstance(vessel_param, dict):
+            return vessel_param.get("id", "")
+        elif isinstance(vessel_param, str):
+            return vessel_param
+        else:
+            return ""
+
+    final_vessel_id, _ = vessel_id
+    final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
+    final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
+
+    # 统一体积参数
+    final_volume = parse_volume_input(volume or solvent_volume)
+
+    # 🔧 修复：确保repeats至少为1
+    if repeats <= 0:
+        repeats = 1
+        debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
+
+    debug_print(f"🔧 标准化后的参数:")
+    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
+    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
+    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
+    debug_print(f"  📏 溶剂体积: {final_volume}mL")
+    debug_print(f"  🔄 重复次数: {repeats}")
+
+    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
+    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
+    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
+
+    # 验证必需参数
+    if not purpose:
+        purpose = "separate"
+    if not product_phase:
+        product_phase = "top"
+    if purpose not in ["wash", "extract", "separate"]:
+        debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
+        purpose = "separate"
+        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
+    if product_phase not in ["top", "bottom"]:
+        debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
+        product_phase = "top"
+        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
+
+    debug_print("✅ 参数验证通过")
+    action_sequence.append(create_action_log("参数验证通过", "✅"))
+
+    # === 查找设备 ===
+    debug_print("🔍 步骤2: 查找设备...")
+    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
+
+    # 查找分离器设备
+    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    if separator_device:
+        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
+    else:
+        debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
+        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
+
+    # 查找搅拌器
+    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    if stirrer_device:
+        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
+    else:
+        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
+
+    # 查找溶剂容器（如果需要）
+    solvent_vessel = ""
+    if solvent and solvent.strip():
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        if solvent_vessel:
+            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
+        else:
+            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
+
+    debug_print(f"📊 设备配置:")
+    debug_print(f"  🧪 分离器设备: '{separator_device}'")
+    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
+    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
+
+    # === 执行分离流程 ===
+    debug_print("🔍 步骤3: 执行分离流程...")
+    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
+
+    # 🔧 新增：体积变化跟踪变量
+    current_volume = original_liquid_volume
+
     try:
-        full_message = f"{emoji} {message}"
-        debug_print(full_message)
-        logger.info(full_message)
-        
-        return {
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": full_message,
-                "progress_message": full_message
-            }
-        }
+        for repeat_idx in range(repeats):
+            cycle_num = repeat_idx + 1
+            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
+            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
+
+            # 步骤3.1: 添加溶剂（如果需要）
+            if solvent_vessel and final_volume > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
+                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
+
+                try:
+                    # 使用pump protocol添加溶剂
+                    pump_actions = generate_pump_protocol_with_rinsing(
+                        G=G,
+                        from_vessel=solvent_vessel,
+                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
+                        volume=final_volume,
+                        amount="",
+                        time=0.0,
+                        viscous=False,
+                        rinsing_solvent="",
+                        rinsing_volume=0.0,
+                        rinsing_repeats=0,
+                        solid=False,
+                        flowrate=2.5,
+                        transfer_flowrate=0.5,
+                        rate_spec="",
+                        event="",
+                        through="",
+                        **kwargs
+                    )
+                    action_sequence.extend(pump_actions)
+                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
+                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
+
+                    # 🔧 新增：更新体积 - 添加溶剂后
+                    current_volume += final_volume
+                    update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
+
+                except Exception as e:
+                    debug_print(f"❌ 溶剂添加失败: {str(e)}")
+                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
+                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
+
+            # 步骤3.2: 启动搅拌（如果有搅拌器）
+            if stirrer_device and stir_time > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
+                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
+
+                action_sequence.append({
+                    "device_id": stirrer_device,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": final_vessel_id,  # 🔧 使用 final_vessel_id
+                        "stir_speed": stir_speed,
+                        "purpose": f"分离混合 - {purpose}"
+                    }
+                })
+
+                # 搅拌等待
+                stir_minutes = stir_time / 60
+                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": stir_time}
+                })
+
+                # 停止搅拌
+                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
+                action_sequence.append({
+                    "device_id": stirrer_device,
+                    "action_name": "stop_stir",
+                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
+                })
+
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
+                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
+
+            # 步骤3.3: 静置分层
+            if settling_time > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
+                settling_minutes = settling_time / 60
+                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": settling_time}
+                })
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
+                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
+
+            # 步骤3.4: 执行分离操作
+            if separator_device:
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
+                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
+
+                # 🔧 替换为具体的分离操作逻辑（基于old版本）
+
+                # 首先进行分液判断（电导突跃）
+                action_sequence.append({
+                    "device_id": separator_device,
+                    "action_name": "valve_open",
+                    "action_kwargs": {
+                        "command": "delta > 0.05"
+                    }
+                })
+
+                # 估算每相的体积（假设大致平分）
+                phase_volume = current_volume / 2
+
+                # 智能查找分离容器底部
+                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)  # ✅
+
+                if product_phase == "bottom":
+                    debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
+                    action_sequence.append(create_action_log("收集底相产物", "📦"))
+
+                    # 产物转移到目标瓶
+                    if final_to_vessel_id:
+                        pump_actions = generate_pump_protocol_with_rinsing(
+                            G=G,
+                            from_vessel=separation_vessel_bottom,
+                            to_vessel=final_to_vessel_id,
+                            volume=current_volume,
+                            flowrate=2.5,
+                            **kwargs
+                        )
+                        action_sequence.extend(pump_actions)
+
+                    # 放出上面那一相，60秒后关阀门
+                    action_sequence.append({
+                        "device_id": separator_device,
+                        "action_name": "valve_open",
+                        "action_kwargs": {
+                            "command": "time > 60"
+                        }
+                    })
+
+                    # 弃去上面那一相进废液
+                    if final_waste_vessel_id:
+                        pump_actions = generate_pump_protocol_with_rinsing(
+                            G=G,
+                            from_vessel=separation_vessel_bottom,
+                            to_vessel=final_waste_vessel_id,
+                            volume=current_volume,
+                            flowrate=2.5,
+                            **kwargs
+                        )
+                        action_sequence.extend(pump_actions)
+
+                elif product_phase == "top":
+                    debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
+                    action_sequence.append(create_action_log("收集上相产物", "📦"))
+
+                    # 弃去下面那一相进废液
+                    if final_waste_vessel_id:
+                        pump_actions = generate_pump_protocol_with_rinsing(
+                            G=G,
+                            from_vessel=separation_vessel_bottom,
+                            to_vessel=final_waste_vessel_id,
+                            volume=phase_volume,
+                            flowrate=2.5,
+                            **kwargs
+                        )
+                        action_sequence.extend(pump_actions)
+
+                    # 放出上面那一相，60秒后关阀门
+                    action_sequence.append({
+                        "device_id": separator_device,
+                        "action_name": "valve_open",
+                        "action_kwargs": {
+                            "command": "time > 60"
+                        }
+                    })
+
+                    # 产物转移到目标瓶
+                    if final_to_vessel_id:
+                        pump_actions = generate_pump_protocol_with_rinsing(
+                            G=G,
+                            from_vessel=separation_vessel_bottom,
+                            to_vessel=final_to_vessel_id,
+                            volume=phase_volume,
+                            flowrate=2.5,
+                            **kwargs
+                        )
+                        action_sequence.extend(pump_actions)
+
+                debug_print(f"✅ 分离操作已完成")
+                action_sequence.append(create_action_log("分离操作完成", "✅"))
+
+                # 🔧 新增：分离后体积估算
+                separated_volume = phase_volume * 0.95  # 假设5%损失，只保留产物相体积
+                update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
+                current_volume = separated_volume
+
+                # 收集结果
+                if final_to_vessel_id:
+                    action_sequence.append(
+                        create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
+                if final_waste_vessel_id:
+                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
+
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
+                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
+                # 添加等待时间模拟分离
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 10.0}
+                })
+
+            # 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
+            if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
+                debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
+                action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
+
+                pump_actions = generate_pump_protocol_with_rinsing(
+                    G=G,
+                    from_vessel=final_to_vessel_id,
+                    to_vessel=final_vessel_id,
+                    volume=current_volume,
+                    flowrate=2.5,
+                    **kwargs
+                )
+                action_sequence.extend(pump_actions)
+
+                # 更新体积回到分离容器
+                update_vessel_volume(vessel, G, current_volume, f"产物转回分离容器（第{cycle_num}轮后）")
+
+            # 循环间等待（除了最后一次）
+            if repeat_idx < repeats - 1:
+                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
+                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+            else:
+                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
+
     except Exception as e:
-        # 如果emoji有问题，使用纯文本
-        safe_message = f"[日志] {message}"
-        debug_print(safe_message)
-        logger.info(safe_message)
-        
-        return {
-            "action_name": "wait", 
-            "action_kwargs": {
-                "time": 0.1,
-                "log_message": safe_message,
-                "progress_message": safe_message
-            }
-        }
+        debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
+        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
+
+    # 🔧 新增：分离完成后的最终状态报告
+    final_liquid_volume = get_vessel_liquid_volume(vessel)
+
+    # === 最终结果 ===
+    total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
+
+    debug_print("🌀" * 20)
+    debug_print(f"🎉 分离协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
+    debug_print(f"  🥼 分离容器: {final_vessel_id}")
+    debug_print(f"  🎯 分离目的: {purpose}")
+    debug_print(f"  📊 产物相: {product_phase}")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"💧 体积变化统计:")
+    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
+    if solvent:
+        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
+    if final_to_vessel_id:
+        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
+    if final_waste_vessel_id:
+        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
+    debug_print("🌀" * 20)
+
+    # 添加完成日志
+    summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
+    if solvent:
+        summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
+
+    return action_sequence
 
 def parse_volume_input(volume_input: Union[str, float]) -> float:
     """
@@ -364,386 +792,54 @@ def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, descrip
     
     debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
 
-def generate_separate_protocol(
-    G: nx.DiGraph,
-    # 🔧 基础参数，支持XDL的vessel参数
-    vessel: dict = None,             # 🔧 修改：从字符串改为字典类型
-    purpose: str = "separate",       # 分离目的
-    product_phase: str = "top",      # 产物相
-    # 🔧 可选的详细参数
-    from_vessel: Union[str, dict] = "",   # 源容器（通常在separate前已经transfer了）
-    separation_vessel: Union[str, dict] = "",  # 分离容器（与vessel同义）
-    to_vessel: Union[str, dict] = "",         # 目标容器（可选）
-    waste_phase_to_vessel: Union[str, dict] = "",  # 废相目标容器
-    product_vessel: Union[str, dict] = "",    # XDL: 产物容器（与to_vessel同义）
-    waste_vessel: Union[str, dict] = "",      # XDL: 废液容器（与waste_phase_to_vessel同义）
-    # 🔧 溶剂相关参数
-    solvent: str = "",                   # 溶剂名称
-    solvent_volume: Union[str, float] = 0.0,  # 溶剂体积
-    volume: Union[str, float] = 0.0,     # XDL: 体积（与solvent_volume同义）
-    # 🔧 操作参数
-    through: str = "",                   # 通过材料
-    repeats: int = 1,                    # 重复次数
-    stir_time: float = 30.0,             # 搅拌时间（秒）
-    stir_speed: float = 300.0,           # 搅拌速度
-    settling_time: float = 300.0,        # 沉降时间（秒）
-    **kwargs
-) -> List[Dict[str, Any]]:
-    """
-    生成分离操作的协议序列 - 支持vessel字典和体积运算
-    
-    支持XDL参数格式：
-    - vessel: 分离容器字典（必需）
-    - purpose: "wash", "extract", "separate"
-    - product_phase: "top", "bottom"
-    - product_vessel: 产物收集容器
-    - waste_vessel: 废液收集容器
-    - solvent: 溶剂名称
-    - volume: "200 mL", "?" 或数值
-    - repeats: 重复次数
-    
-    分离流程：
-    1. （可选）添加溶剂到分离容器
-    2. 搅拌混合
-    3. 静置分层
-    4. 收集指定相到目标容器
-    5. 重复指定次数
-    """
-    
-    # 🔧 核心修改：vessel参数兼容处理
-    if vessel is None:
-        if isinstance(separation_vessel, dict):
-            vessel = separation_vessel
-        else:
-            raise ValueError("必须提供vessel字典参数")
-    
-    # 🔧 核心修改：从字典中提取容器ID
-        # 统一处理vessel参数
-        if isinstance(vessel, dict):
-            if "id" not in vessel:
-                vessel_id = list(vessel.values())[0].get("id", "")
-            else:
-                vessel_id = vessel.get("id", "")
-            vessel_data = vessel.get("data", {})
-        else:
-            vessel_id = str(vessel)
-            vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
-    
-    debug_print("🌀" * 20)
-    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  🎯 分离目的: '{purpose}'")
-    debug_print(f"  📊 产物相: '{product_phase}'")
-    debug_print(f"  💧 溶剂: '{solvent}'")
-    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"  🎯 产物容器: '{product_vessel}'")
-    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
-    debug_print(f"  📦 其他参数: {kwargs}")
-    debug_print("🌀" * 20)
-    
-    action_sequence = []
-    
-    # 🔧 新增：记录分离前的容器状态
-    debug_print("🔍 记录分离前容器状态...")
-    original_liquid_volume = get_vessel_liquid_volume(vessel)
-    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
-    
-    # === 参数验证和标准化 ===
-    debug_print("🔍 步骤1: 参数验证和标准化...")
-    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
-    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
-    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
-    
-    # 统一容器参数 - 支持字典和字符串
-    def extract_vessel_id(vessel_param):
-        if isinstance(vessel_param, dict):
-            return vessel_param.get("id", "")
-        elif isinstance(vessel_param, str):
-            return vessel_param
-        else:
-            return ""
-    
-    final_vessel_id = vessel_id
-    final_to_vessel_id = extract_vessel_id(to_vessel) or extract_vessel_id(product_vessel)
-    final_waste_vessel_id = extract_vessel_id(waste_phase_to_vessel) or extract_vessel_id(waste_vessel)
-    
-    # 统一体积参数
-    final_volume = parse_volume_input(volume or solvent_volume)
-    
-    # 🔧 修复：确保repeats至少为1
-    if repeats <= 0:
-        repeats = 1
-        debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
-    
-    debug_print(f"🔧 标准化后的参数:")
-    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
-    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
-    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
-    debug_print(f"  📏 溶剂体积: {final_volume}mL")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    
-    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
-    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
-    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
-    
-    # 验证必需参数
-    if not purpose:
-        purpose = "separate"
-    if not product_phase:
-        product_phase = "top"
-    if purpose not in ["wash", "extract", "separate"]:
-        debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
-        purpose = "separate"
-        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
-    if product_phase not in ["top", "bottom"]:
-        debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
-        product_phase = "top"
-        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
-    
-    debug_print("✅ 参数验证通过")
-    action_sequence.append(create_action_log("参数验证通过", "✅"))
-    
-    # === 查找设备 ===
-    debug_print("🔍 步骤2: 查找设备...")
-    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-    
-    # 查找分离器设备
-    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
-    if separator_device:
-        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
-    else:
-        debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
-        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
-    
-    # 查找搅拌器
-    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
-    if stirrer_device:
-        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
-    else:
-        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
-    
-    # 查找溶剂容器（如果需要）
-    solvent_vessel = ""
-    if solvent and solvent.strip():
-        solvent_vessel = find_solvent_vessel(G, solvent)
-        if solvent_vessel:
-            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
-        else:
-            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
-    
-    debug_print(f"📊 设备配置:")
-    debug_print(f"  🧪 分离器设备: '{separator_device}'")
-    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
-    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
-    
-    # === 执行分离流程 ===
-    debug_print("🔍 步骤3: 执行分离流程...")
-    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
-    
-    # 🔧 新增：体积变化跟踪变量
-    current_volume = original_liquid_volume
-    
-    try:
-        for repeat_idx in range(repeats):
-            cycle_num = repeat_idx + 1
-            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
-            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
-            
-            # 步骤3.1: 添加溶剂（如果需要）
-            if solvent_vessel and final_volume > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
-                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
-                
-                try:
-                    # 使用pump protocol添加溶剂
-                    pump_actions = generate_pump_protocol_with_rinsing(
-                        G=G,
-                        from_vessel=solvent_vessel,
-                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
-                        volume=final_volume,
-                        amount="",
-                        time=0.0,
-                        viscous=False,
-                        rinsing_solvent="",
-                        rinsing_volume=0.0,
-                        rinsing_repeats=0,
-                        solid=False,
-                        flowrate=2.5,
-                        transfer_flowrate=0.5,
-                        rate_spec="",
-                        event="",
-                        through="",
-                        **kwargs
-                    )
-                    action_sequence.extend(pump_actions)
-                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
-                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-                    
-                    # 🔧 新增：更新体积 - 添加溶剂后
-                    current_volume += final_volume
-                    update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
-                    
-                except Exception as e:
-                    debug_print(f"❌ 溶剂添加失败: {str(e)}")
-                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
-                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
-            
-            # 步骤3.2: 启动搅拌（如果有搅拌器）
-            if stirrer_device and stir_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
-                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
-                
-                action_sequence.append({
-                    "device_id": stirrer_device,
-                    "action_name": "start_stir",
-                    "action_kwargs": {
-                        "vessel": final_vessel_id,  # 🔧 使用 final_vessel_id
-                        "stir_speed": stir_speed,
-                        "purpose": f"分离混合 - {purpose}"
-                    }
-                })
-                
-                # 搅拌等待
-                stir_minutes = stir_time / 60
-                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": stir_time}
-                })
-                
-                # 停止搅拌
-                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
-                action_sequence.append({
-                    "device_id": stirrer_device,
-                    "action_name": "stop_stir",
-                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
-                })
-                
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
-                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
-            
-            # 步骤3.3: 静置分层
-            if settling_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
-                settling_minutes = settling_time / 60
-                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": settling_time}
-                })
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
-                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
-            
-            # 步骤3.4: 执行分离操作
-            if separator_device:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
-                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
-                
-                # 调用分离器设备的separate方法
-                separate_action = {
-                    "device_id": separator_device,
-                    "action_name": "separate",
-                    "action_kwargs": {
-                        "purpose": purpose,
-                        "product_phase": product_phase,
-                        "from_vessel": extract_vessel_id(from_vessel) or final_vessel_id,  # 🔧 使用vessel_id
-                        "separation_vessel": final_vessel_id,   # 🔧 使用 final_vessel_id
-                        "to_vessel": final_to_vessel_id or final_vessel_id,       # 🔧 使用vessel_id
-                        "waste_phase_to_vessel": final_waste_vessel_id or final_vessel_id,  # 🔧 使用vessel_id
-                        "solvent": solvent,
-                        "solvent_volume": final_volume,
-                        "through": through,
-                        "repeats": 1,  # 每次调用只做一次分离
-                        "stir_time": 0,  # 已经在上面完成
-                        "stir_speed": stir_speed,
-                        "settling_time": 0  # 已经在上面完成
-                    }
-                }
-                action_sequence.append(separate_action)
-                debug_print(f"✅ 分离操作已添加")
-                action_sequence.append(create_action_log("分离操作完成", "✅"))
-                
-                # 🔧 新增：分离后体积估算（分离通常不改变总体积，但会重新分配）
-                # 假设分离后保持体积（实际情况可能有少量损失）
-                separated_volume = current_volume * 0.95  # 假设5%损失
-                update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
-                current_volume = separated_volume
-                
-                # 收集结果
-                if final_to_vessel_id:
-                    action_sequence.append(create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
-                if final_waste_vessel_id:
-                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
-            
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
-                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
-                # 添加等待时间模拟分离
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": 10.0}
-                })
-            
-            # 循环间等待（除了最后一次）
-            if repeat_idx < repeats - 1:
-                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
-                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": 5}
-                })
-            else:
-                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
-    
-    except Exception as e:
-        debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
-        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
-        # 添加错误日志
-        action_sequence.append({
-            "device_id": "system",
-            "action_name": "log_message",
-            "action_kwargs": {
-                "message": f"分离操作失败: {str(e)}"
-            }
-        })
-    
-    # 🔧 新增：分离完成后的最终状态报告
-    final_liquid_volume = get_vessel_liquid_volume(vessel)
-    
-    # === 最终结果 ===
-    total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
-    
-    debug_print("🌀" * 20)
-    debug_print(f"🎉 分离协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
-    debug_print(f"  🥼 分离容器: {final_vessel_id}")
-    debug_print(f"  🎯 分离目的: {purpose}")
-    debug_print(f"  📊 产物相: {product_phase}")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"💧 体积变化统计:")
-    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
-    if solvent:
-        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
-    if final_to_vessel_id:
-        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
-    if final_waste_vessel_id:
-        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
-    debug_print("🌀" * 20)
-    
-    # 添加完成日志
-    summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
-    if solvent:
-        summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
-    
-    return action_sequence
+
+def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
+    """
+    智能查找分离容器的底部容器（假设为flask或vessel类型）
+    
+    Args:
+        G: 网络图
+        vessel_id: 分离容器ID
+        
+    Returns:
+        str: 底部容器ID
+    """
+    debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
+    
+    # 方法1：根据命名规则推测
+    possible_bottoms = [
+        f"{vessel_id}_bottom",
+        f"flask_{vessel_id}",
+        f"vessel_{vessel_id}",
+        f"{vessel_id}_flask",
+        f"{vessel_id}_vessel"
+    ]
+    
+    debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
+    
+    for bottom_id in possible_bottoms:
+        if bottom_id in G.nodes():
+            node_type = G.nodes[bottom_id].get('type', '')
+            if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
+                return bottom_id
+    
+    # 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
+    debug_print(f"📋 方法2: 查找连接的容器...")
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'separator' in node_class.lower():
+            # 检查分离器的输入端
+            if G.has_edge(node, vessel_id):
+                for neighbor in G.neighbors(node):
+                    if neighbor != vessel_id:
+                        neighbor_type = G.nodes[neighbor].get('type', '')
+                        if neighbor_type == 'container':
+                            debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
+                            return neighbor
+    
+    debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
+    return ""
 

unilabos/compile/stir_protocol.py

@@ -3,81 +3,14 @@ import networkx as nx
 import logging
 import re
 
+from .utils.unit_parser import parse_time_input
+
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🌪️ [STIR] {message}", flush=True)
     logger.info(f"[STIR] {message}")
 
-def parse_time_input(time_input: Union[str, float, int], default_unit: str = "s") -> float:
-    """
-    统一的时间解析函数（精简版）
-    
-    Args:
-        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
-        default_unit: 默认单位（默认为秒）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if not time_input:
-        return 100.0  # 默认100秒
-    
-    # 🔢 处理数值输入
-    if isinstance(time_input, (int, float)):
-        result = float(time_input)
-        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
-        return result
-    
-    # 📝 处理字符串输入
-    time_str = str(time_input).lower().strip()
-    debug_print(f"🔍 解析时间: '{time_str}'")
-    
-    # ❓ 特殊值处理
-    special_times = {
-        '?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
-        'briefly': 30.0, 'quickly': 60.0, 'slowly': 600.0,
-        'several minutes': 300.0, 'few minutes': 180.0, 'overnight': 3600.0
-    }
-    
-    if time_str in special_times:
-        result = special_times[time_str]
-        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
-        return result
-    
-    # 🔢 纯数字处理
-    try:
-        result = float(time_str)
-        debug_print(f"⏰ 纯数字: {time_str} → {result}s")
-        return result
-    except ValueError:
-        pass
-    
-    # 📐 正则表达式解析
-    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
-    match = re.match(pattern, time_str)
-    
-    if not match:
-        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 100s")
-        return 100.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or default_unit
-    
-    # 📏 单位转换
-    unit_multipliers = {
-        's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
-        'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
-        'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
-        'd': 86400.0, 'day': 86400.0, 'days': 86400.0
-    }
-    
-    multiplier = unit_multipliers.get(unit, 1.0)
-    result = value * multiplier
-    
-    debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
-    return result
 
 def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
     """查找与指定容器相连的搅拌设备"""

unilabos/compile/transfer_protocol.py

@@ -1,79 +0,0 @@
-from typing import List, Dict, Any
-import networkx as nx
-
-def generate_transfer_protocol(
-    G: nx.DiGraph,
-    from_vessel: str,
-    to_vessel: str,
-    volume: float,
-    amount: str = "",
-    time: float = 0,
-    viscous: bool = False,
-    rinsing_solvent: str = "",
-    rinsing_volume: float = 0.0,
-    rinsing_repeats: int = 0,
-    solid: bool = False
-) -> List[Dict[str, Any]]:
-    """
-    生成液体转移操作的协议序列
-    
-    Args:
-        G: 有向图，节点为设备和容器
-        from_vessel: 源容器
-        to_vessel: 目标容器
-        volume: 转移体积 (mL)
-        amount: 数量描述 (可选)
-        time: 转移时间 (秒，可选)
-        viscous: 是否为粘性液体
-        rinsing_solvent: 冲洗溶剂 (可选)
-        rinsing_volume: 冲洗体积 (mL，可选)
-        rinsing_repeats: 冲洗重复次数
-        solid: 是否涉及固体
-    
-    Returns:
-        List[Dict[str, Any]]: 转移操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到合适的转移设备时抛出异常
-    
-    Examples:
-        transfer_protocol = generate_transfer_protocol(G, "flask_1", "reactor", 10.0)
-    """
-    action_sequence = []
-    
-    # 查找虚拟转移泵设备用于液体转移 - 修复：应该查找 virtual_transfer_pump
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
-    
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备进行液体转移")
-    
-    # 使用第一个可用的泵
-    pump_id = pump_nodes[0]
-    
-    # 验证容器是否存在
-    if from_vessel not in G.nodes():
-        raise ValueError(f"源容器 {from_vessel} 不存在于图中")
-    
-    if to_vessel not in G.nodes():
-        raise ValueError(f"目标容器 {to_vessel} 不存在于图中")
-    
-    # 执行液体转移操作 - 参数完全匹配Transfer.action
-    action_sequence.append({
-        "device_id": pump_id,
-        "action_name": "transfer",
-        "action_kwargs": {
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "volume": volume,
-            "amount": amount,
-            "time": time,
-            "viscous": viscous,
-            "rinsing_solvent": rinsing_solvent,
-            "rinsing_volume": rinsing_volume,
-            "rinsing_repeats": rinsing_repeats,
-            "solid": solid
-        }
-    })
-    
-    return action_sequence

unilabos/compile/utils/logger_util.py

@@ -0,0 +1,36 @@
+# 🆕 创建进度日志动作
+import logging
+from typing import Dict, Any
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message, prefix="[UNIT_PARSER]"):
+    """调试输出"""
+    logger.info(f"{prefix} {message}")
+
+
+def action_log(message: str, emoji: str = "📝", prefix="[HIGH-LEVEL OPERATION]") -> Dict[str, Any]:
+    """创建一个动作日志 - 支持中文和emoji"""
+    try:
+        full_message = f"{prefix} {emoji} {message}"
+
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": full_message,
+                "progress_message": full_message
+            }
+        }
+    except Exception as e:
+        # 如果emoji有问题，使用纯文本
+        safe_message = f"{prefix} {message}"
+
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": safe_message,
+                "progress_message": safe_message
+            }
+        }

unilabos/compile/utils/unit_parser.py

@@ -4,108 +4,12 @@
 """
 
 import re
-import logging
 from typing import Union
 
-logger = logging.getLogger(__name__)
+from .logger_util import debug_print
 
-def debug_print(message, prefix="[UNIT_PARSER]"):
-    """调试输出"""
-    print(f"{prefix} {message}", flush=True)
-    logger.info(f"{prefix} {message}")
 
-def parse_time_with_units(time_input: Union[str, float, int], default_unit: str = "s") -> float:
-    """
-    解析带单位的时间输入
-    
-    Args:
-        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
-        default_unit: 默认单位（默认为秒）
-    
-    Returns:
-        float: 时间（秒）
-    """
-    if not time_input:
-        return 0.0
-    
-    # 处理数值输入
-    if isinstance(time_input, (int, float)):
-        result = float(time_input)
-        debug_print(f"数值时间输入: {time_input} → {result}s（默认单位）")
-        return result
-    
-    # 处理字符串输入
-    time_str = str(time_input).lower().strip()
-    debug_print(f"解析时间字符串: '{time_str}'")
-    
-    # 处理特殊值
-    if time_str in ['?', 'unknown', 'tbd', 'to be determined']:
-        default_time = 300.0  # 5分钟默认值
-        debug_print(f"检测到未知时间，使用默认值: {default_time}s")
-        return default_time
-    
-    # 如果是纯数字，使用默认单位
-    try:
-        value = float(time_str)
-        if default_unit == "s":
-            result = value
-        elif default_unit in ["min", "minute"]:
-            result = value * 60.0
-        elif default_unit in ["h", "hour"]:
-            result = value * 3600.0
-        else:
-            result = value  # 默认秒
-        debug_print(f"纯数字输入: {time_str} → {result}s（单位: {default_unit}）")
-        return result
-    except ValueError:
-        pass
-    
-    # 使用正则表达式匹配数字和单位
-    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
-    match = re.match(pattern, time_str)
-    
-    if not match:
-        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 60s")
-        return 60.0
-    
-    value = float(match.group(1))
-    unit = match.group(2) or default_unit
-    
-    # 单位转换映射
-    unit_multipliers = {
-        # 秒
-        's': 1.0,
-        'sec': 1.0,
-        'second': 1.0,
-        'seconds': 1.0,
-        
-        # 分钟
-        'm': 60.0,
-        'min': 60.0,
-        'mins': 60.0,
-        'minute': 60.0,
-        'minutes': 60.0,
-        
-        # 小时
-        'h': 3600.0,
-        'hr': 3600.0,
-        'hrs': 3600.0,
-        'hour': 3600.0,
-        'hours': 3600.0,
-        
-        # 天
-        'd': 86400.0,
-        'day': 86400.0,
-        'days': 86400.0,
-    }
-    
-    multiplier = unit_multipliers.get(unit, 1.0)
-    result = value * multiplier
-    
-    debug_print(f"时间解析: '{time_str}' → {value} {unit} → {result}s")
-    return result
-
-def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
+def parse_volume_input(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
     """
     解析带单位的体积输入
     
@@ -175,6 +79,111 @@ def parse_volume_with_units(volume_input: Union[str, float, int], default_unit:
     debug_print(f"体积解析: '{volume_str}' → {value} {unit} → {volume}mL")
     return volume
 
+
+def parse_mass_input(mass_input: Union[str, float]) -> float:
+    """
+    解析质量输入，支持带单位的字符串
+
+    Args:
+        mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
+
+    Returns:
+        float: 质量（克）
+    """
+    if isinstance(mass_input, (int, float)):
+        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
+        return float(mass_input)
+
+    if not mass_input or not str(mass_input).strip():
+        debug_print(f"⚠️ 质量输入为空，返回0.0g")
+        return 0.0
+
+    mass_str = str(mass_input).lower().strip()
+    debug_print(f"🔍 解析质量输入: '{mass_str}'")
+
+    # 移除空格并提取数字和单位
+    mass_clean = re.sub(r'\s+', '', mass_str)
+
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
+
+    if not match:
+        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
+        return 0.0
+
+    value = float(match.group(1))
+    unit = match.group(2) or 'g'  # 默认单位为克
+
+    # 转换为克
+    if unit in ['mg', 'milligram']:
+        mass = value / 1000.0  # mg -> g
+        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
+    elif unit in ['kg', 'kilogram']:
+        mass = value * 1000.0  # kg -> g
+        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
+    else:  # g, gram 或默认
+        mass = value  # 已经是g
+        debug_print(f"✅ 质量已为g: {mass}g")
+
+    return mass
+
+
+def parse_time_input(time_input: Union[str, float]) -> float:
+    """
+    解析时间输入，支持带单位的字符串
+
+    Args:
+        time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
+
+    Returns:
+        float: 时间（秒）
+    """
+    if isinstance(time_input, (int, float)):
+        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
+        return float(time_input)
+
+    if not time_input or not str(time_input).strip():
+        debug_print(f"⚠️ 时间输入为空，返回0秒")
+        return 0.0
+
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间输入: '{time_str}'")
+
+    # 处理未知时间
+    if time_str in ['?', 'unknown', 'tbd']:
+        default_time = 60.0  # 默认1分钟
+        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
+        return default_time
+
+    # 移除空格并提取数字和单位
+    time_clean = re.sub(r'\s+', '', time_str)
+
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
+
+    if not match:
+        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
+        return 0.0
+
+    value = float(match.group(1))
+    unit = match.group(2) or 's'  # 默认单位为秒
+
+    # 转换为秒
+    if unit in ['m', 'min', 'minute', 'mins', 'minutes']:
+        time_sec = value * 60.0  # min -> s
+        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
+    elif unit in ['h', 'hr', 'hour', 'hrs', 'hours']:
+        time_sec = value * 3600.0  # h -> s
+        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
+    elif unit in ['d', 'day', 'days']:
+        time_sec = value * 86400.0  # d -> s
+        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
+    else:  # s, sec, second 或默认
+        time_sec = value  # 已经是s
+        debug_print(f"✅ 时间已为秒: {time_sec}秒")
+
+    return time_sec
+
 # 测试函数
 def test_unit_parser():
     """测试单位解析功能"""
@@ -187,7 +196,7 @@ def test_unit_parser():
     
     print("\n时间解析测试:")
     for time_input in time_tests:
-        result = parse_time_with_units(time_input)
+        result = parse_time_input(time_input)
         print(f"  {time_input} → {result}s ({result/60:.1f}min)")
     
     # 测试体积解析
@@ -197,7 +206,7 @@ def test_unit_parser():
     
     print("\n体积解析测试:")
     for volume_input in volume_tests:
-        result = parse_volume_with_units(volume_input)
+        result = parse_volume_input(volume_input)
         print(f"  {volume_input} → {result}mL")
     
     print("\n✅ 测试完成")

unilabos/compile/utils/vessel_parser.py

@@ -0,0 +1,281 @@
+import networkx as nx
+
+from .logger_util import debug_print
+
+
+def get_vessel(vessel):
+    """
+    统一处理vessel参数，返回vessel_id和vessel_data。
+
+    Args:
+        vessel: 可以是一个字典或字符串，表示vessel的ID或数据。
+
+    Returns:
+        tuple: 包含vessel_id和vessel_data。
+    """
+    if isinstance(vessel, dict):
+        if "id" not in vessel:
+            vessel_id = list(vessel.values())[0].get("id", "")
+        else:
+            vessel_id = vessel.get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = {}
+    return vessel_id, vessel_data
+
+
+def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
+    """增强版试剂容器查找，支持固体和液体"""
+    debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
+
+    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
+    debug_print(f"📋 方法1: 搜索reagent字段...")
+    for node in G.nodes():
+        node_data = G.nodes[node].get('data', {})
+        node_type = G.nodes[node].get('type', '')
+        config_data = G.nodes[node].get('config', {})
+
+        # 只搜索容器类型的节点
+        if node_type == 'container':
+            reagent_name = node_data.get('reagent_name', '').lower()
+            config_reagent = config_data.get('reagent', '').lower()
+
+            # 精确匹配
+            if reagent_name == reagent.lower() or config_reagent == reagent.lower():
+                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
+                return node
+
+            # 模糊匹配
+            if (reagent.lower() in reagent_name and reagent_name) or \
+                    (reagent.lower() in config_reagent and config_reagent):
+                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
+                return node
+
+    # 🔧 方法2：常见的容器命名规则
+    debug_print(f"📋 方法2: 使用命名规则查找...")
+    reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
+    possible_names = [
+        reagent_clean,
+        f"flask_{reagent_clean}",
+        f"bottle_{reagent_clean}",
+        f"vessel_{reagent_clean}",
+        f"{reagent_clean}_flask",
+        f"{reagent_clean}_bottle",
+        f"reagent_{reagent_clean}",
+        f"reagent_bottle_{reagent_clean}",
+        f"solid_reagent_bottle_{reagent_clean}",
+        f"reagent_bottle_1",  # 通用试剂瓶
+        f"reagent_bottle_2",
+        f"reagent_bottle_3"
+    ]
+
+    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
+
+    for name in possible_names:
+        if name in G.nodes():
+            node_type = G.nodes[name].get('type', '')
+            if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
+                return name
+
+    # 🔧 方法3：节点名称模糊匹配
+    debug_print(f"📋 方法3: 节点名称模糊匹配...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if node_data.get('type') == 'container':
+            # 检查节点名称是否包含试剂名称
+            if reagent_clean in node_id.lower():
+                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
+                return node_id
+
+            # 检查液体类型匹配
+            vessel_data = node_data.get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type.lower() == reagent.lower():
+                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
+                        return node_id
+
+    # 🔧 方法4：使用第一个试剂瓶作为备选
+    debug_print(f"📋 方法4: 查找备选试剂瓶...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if (node_data.get('type') == 'container' and
+                ('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
+            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
+            return node_id
+
+    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
+    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
+
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器
+
+    Args:
+        G: 网络图
+        solvent: 溶剂名称
+
+    Returns:
+        str: 溶剂容器ID
+    """
+    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
+
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤1: 数据试剂信息匹配...")
+    for node_id in G.nodes():
+        debug_print(f"查找 id {node_id}, type={G.nodes[node_id].get('type')}, data={G.nodes[node_id].get('data', {})} 的容器...")
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+
+            # 检查 data 中的 reagent_name 字段
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            if reagent_name and solvent.lower() == reagent_name:
+                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
+                return node_id
+
+            # 检查 data 中的液体信息
+            liquids = vessel_data.get('liquid', []) or vessel_data.get('liquids', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+
+                    if solvent.lower() == liquid_type or solvent.lower() in liquid_type:
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
+                        return node_id
+
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",
+        f"bottle_{solvent}",
+        f"reagent_{solvent}",
+        f"reagent_bottle_{solvent}",
+        f"{solvent}_flask",
+        f"{solvent}_bottle",
+        f"{solvent}",
+        f"vessel_{solvent}",
+    ]
+
+    debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
+
+    # 第一步：通过容器名称匹配
+    debug_print("  🎯 步骤2: 精确名称匹配...")
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
+            return vessel_name
+
+    # 第二步：通过模糊匹配（节点ID和名称）
+    debug_print("  🔍 步骤3: 模糊名称匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
+                return node_id
+
+    # 第三步：通过配置中的试剂信息匹配
+    debug_print("  🧪 步骤4: 配置试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查 config 中的 reagent 字段
+            node_config = G.nodes[node_id].get('config', {})
+            config_reagent = node_config.get('reagent', '').lower()
+
+            if config_reagent and solvent.lower() == config_reagent:
+                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
+                return node_id
+
+    # 第五步：部分匹配（如果前面都没找到）
+    debug_print("  🔍 步骤5: 部分匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '').lower()
+
+            config_reagent = node_config.get('reagent', '').lower()
+            data_reagent = node_data.get('reagent_name', '').lower()
+
+            # 检查是否包含溶剂名称
+            if (solvent.lower() in config_reagent or
+                    solvent.lower() in data_reagent or
+                    solvent.lower() in node_name or
+                    solvent.lower() in node_id.lower()):
+                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
+                debug_print(f"    - 节点名称: {node_name}")
+                debug_print(f"    - 配置试剂: {config_reagent}")
+                debug_print(f"    - 数据试剂: {data_reagent}")
+                return node_id
+
+    # 调试信息：列出所有容器
+    debug_print("  🔎 调试信息：列出所有容器...")
+    container_list = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '')
+
+            container_info = {
+                'id': node_id,
+                'name': node_name,
+                'config_reagent': node_config.get('reagent', ''),
+                'data_reagent': node_data.get('reagent_name', '')
+            }
+            container_list.append(container_info)
+            debug_print(
+                f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
+
+    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
+    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
+    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
+
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
+
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
+
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+
+    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
+
+    # 查找连接到容器的搅拌器
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
+            return stirrer
+
+    # 返回第一个搅拌器
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
+        return stirrer_nodes[0]
+
+    debug_print(f"❌ 未找到任何搅拌器")
+    return ""
+
+
+def find_solid_dispenser(G: nx.DiGraph) -> str:
+    """查找固体加样器"""
+    debug_print(f"🔍 查找固体加样器...")
+
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
+            debug_print(f"✅ 找到固体加样器: {node} 🥄")
+            return node
+
+    debug_print(f"❌ 未找到固体加样器")
+    return ""

unilabos/compile/wash_solid_protocol.py

@@ -3,118 +3,14 @@ import networkx as nx
 import logging
 import re
 
+from .utils.unit_parser import parse_time_input, parse_volume_input
+
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
-    print(f"🧼 [WASH_SOLID] {message}", flush=True)
     logger.info(f"[WASH_SOLID] {message}")
 
-def parse_time_input(time_input: Union[str, float, int]) -> float:
-    """统一时间解析函数（精简版）"""
-    if not time_input:
-        return 0.0
-    
-    # 🔢 处理数值输入
-    if isinstance(time_input, (int, float)):
-        result = float(time_input)
-        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
-        return result
-    
-    # 📝 处理字符串输入
-    time_str = str(time_input).lower().strip()
-    
-    # ❓ 特殊值快速处理
-    special_times = {
-        '?': 60.0, 'unknown': 60.0, 'briefly': 30.0, 
-        'quickly': 45.0, 'slowly': 120.0
-    }
-    
-    if time_str in special_times:
-        result = special_times[time_str]
-        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s")
-        return result
-    
-    # 🔢 数字提取（简化正则）
-    try:
-        # 提取数字
-        numbers = re.findall(r'\d+\.?\d*', time_str)
-        if numbers:
-            value = float(numbers[0])
-            
-            # 简化单位判断
-            if any(unit in time_str for unit in ['min', 'm']):
-                result = value * 60.0
-            elif any(unit in time_str for unit in ['h', 'hour']):
-                result = value * 3600.0
-            else:
-                result = value  # 默认秒
-            
-            debug_print(f"✅ 时间解析: '{time_str}' → {result}s")
-            return result
-    except:
-        pass
-    
-    debug_print(f"⚠️ 时间解析失败: '{time_str}'，使用默认60s")
-    return 60.0
-
-def parse_volume_input(volume: Union[float, str], volume_spec: str = "", mass: str = "") -> float:
-    """统一体积解析函数（精简版）"""
-    debug_print(f"💧 解析体积: volume={volume}, spec='{volume_spec}', mass='{mass}'")
-    
-    # 🎯 优先级1：volume_spec（快速映射）
-    if volume_spec:
-        spec_map = {
-            'small': 20.0, 'medium': 50.0, 'large': 100.0,
-            'minimal': 10.0, 'normal': 50.0, 'generous': 150.0
-        }
-        for key, val in spec_map.items():
-            if key in volume_spec.lower():
-                debug_print(f"🎯 规格匹配: '{volume_spec}' → {val}mL")
-                return val
-    
-    # 🧮 优先级2：mass转体积（简化：1g=1mL）
-    if mass:
-        try:
-            numbers = re.findall(r'\d+\.?\d*', mass)
-            if numbers:
-                value = float(numbers[0])
-                if 'mg' in mass.lower():
-                    result = value / 1000.0
-                elif 'kg' in mass.lower():
-                    result = value * 1000.0
-                else:
-                    result = value  # 默认g
-                debug_print(f"⚖️ 质量转换: {mass} → {result}mL")
-                return result
-        except:
-            pass
-    
-    # 📦 优先级3：volume
-    if volume:
-        if isinstance(volume, (int, float)):
-            result = float(volume)
-            debug_print(f"💧 数值体积: {volume} → {result}mL")
-            return result
-        elif isinstance(volume, str):
-            try:
-                # 提取数字
-                numbers = re.findall(r'\d+\.?\d*', volume)
-                if numbers:
-                    value = float(numbers[0])
-                    # 简化单位判断
-                    if 'l' in volume.lower() and 'ml' not in volume.lower():
-                        result = value * 1000.0  # L转mL
-                    else:
-                        result = value  # 默认mL
-                    debug_print(f"💧 字符串体积: '{volume}' → {result}mL")
-                    return result
-            except:
-                pass
-    
-    # 默认值
-    debug_print(f"⚠️ 体积解析失败，使用默认50mL")
-    return 50.0
 
 def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
     """查找溶剂源（精简版）"""

unilabos/config/config.py

@@ -17,6 +17,7 @@ class BasicConfig:
     machine_name = "undefined"
     vis_2d_enable = False
     enable_resource_load = True
+    direct_end = False
 
 
 # MQTT配置
@@ -109,13 +110,13 @@ def _update_config_from_module(module, override_labid: str):
 
 
 def _update_config_from_env():
-    prefix = "UNILABOS."
+    prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
             key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
-            class_field = key_path.upper().split(".", 1)
+            class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
                 continue
@@ -163,12 +164,12 @@ def _update_config_from_env():
 def load_config(config_path=None, override_labid=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
-        _update_config_from_env()  # 允许config_path被env设定后读取
+        env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
+        config_path = env_config_path if env_config_path else config_path
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
             logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
-
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
@@ -179,6 +180,7 @@ def load_config(config_path=None, override_labid=None):
             spec.loader.exec_module(module)  # type: ignore
             _update_config_from_module(module, override_labid)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
+            _update_config_from_env()
         except Exception as e:
             logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()

unilabos/config/example_config.py

@@ -8,9 +8,9 @@ class MQConfig:
     broker_url = ""
     port = 1883
 
-    ca_file = "CA.crt"
-    cert_file = "lab.crt"
-    key_file = "lab.key"
+    ca_file = "./CA.crt"
+    cert_file = "./lab.crt"
+    key_file = "./lab.key"
 
 # HTTP配置
 class HTTPConfig:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -138,6 +138,8 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
+        if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
+            offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
             return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)
         return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs)

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -67,7 +67,7 @@ class PRCXI9300Deck(Deck):
 
 
 class PRCXI9300Container(Plate, TipRack):
-    """PRCXI 9300 的专用 Deck 类，继承自 Deck。
+    """PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。
 
     该类定义了 PRCXI 9300 的工作台布局和槽位信息。
     """

unilabos/devices/liquid_handling/prcxi/prcxi_res.py

@@ -0,0 +1,44 @@
+import collections
+
+from pylabrobot.resources import opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
+
+
+def get_well_container(name: str) -> PRCXI9300Container:
+    well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+    plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                               ordering=collections.OrderedDict())
+    plate_serialized = plate.serialize()
+    well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+    new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+    return new_plate
+
+def get_tip_rack(name: str) -> PRCXI9300Container:
+    tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+    tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                       ordering=collections.OrderedDict())
+    tip_rack_serialized = tip_rack.serialize()
+    tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+    new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+    return new_tip_rack
+
+def prcxi_96_wellplate_360ul_flat(name: str):
+    return get_well_container(name)
+
+def prcxi_opentrons_96_tiprack_10ul(name: str):
+    return get_tip_rack(name)
+
+def prcxi_trash(name: str = None):
+    return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+
+if __name__ == "__main__":
+    # Example usage
+    test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
+    test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
+    tash = prcxi_trash("trash")
+    print(test_plate)
+    print(test_rack)
+    print(tash)
+    # Output will be a dictionary representation of the PRCXI9300Container with well details

unilabos/devices/mock/mock_chiller.py

@@ -1,177 +0,0 @@
-import time
-import threading
-
-
-class MockChiller:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-        self._current_temperature: float = 25.0  # 室温开始
-        self._target_temperature: float = 25.0
-        self._status: str = "Idle"
-        self._is_cooling: bool = False
-        self._is_heating: bool = False
-        self._vessel = "Unknown"
-        self._purpose = "Unknown"
-
-        # 模拟温度变化的线程
-        self._temperature_thread = None
-        self._running = True
-        self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
-        self._temperature_thread.daemon = True
-        self._temperature_thread.start()
-
-    @property
-    def current_temperature(self) -> float:
-        """当前温度 - 会被自动识别的设备属性"""
-        return self._current_temperature
-
-    @property
-    def target_temperature(self) -> float:
-        """目标温度"""
-        return self._target_temperature
-
-    @property
-    def status(self) -> str:
-        """设备状态 - 会被自动识别的设备属性"""
-        return self._status
-
-    @property
-    def is_cooling(self) -> bool:
-        """是否正在冷却"""
-        return self._is_cooling
-
-    @property
-    def is_heating(self) -> bool:
-        """是否正在加热"""
-        return self._is_heating
-
-    @property
-    def vessel(self) -> str:
-        """当前操作的容器名称"""
-        return self._vessel
-
-    @property
-    def purpose(self) -> str:
-        """当前操作目的"""
-        return self._purpose
-
-    def heat_chill_start(self, vessel: str, temp: float, purpose: str):
-        """设置目标温度并记录容器和目的"""
-        self._vessel = str(vessel)
-        self._purpose = str(purpose)
-        self._target_temperature = float(temp)
-
-        diff = self._target_temperature - self._current_temperature
-        if abs(diff) < 0.1:
-            self._status = "At Target Temperature"
-            self._is_cooling = False
-            self._is_heating = False
-        elif diff < 0:
-            self._status = "Cooling"
-            self._is_cooling = True
-            self._is_heating = False
-        else:
-            self._status = "Heating"
-            self._is_heating = True
-            self._is_cooling = False
-
-        self._start_temperature_control()
-        return True
-    
-    def heat_chill_stop(self, vessel: str):
-        """停止加热/制冷"""
-        if vessel != self._vessel:
-            return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
-            
-        # 停止温度控制线程，锁定当前温度
-        self._stop_temperature_control()
-        
-        # 更新状态
-        self._status = "Stopped"
-        self._is_cooling = False
-        self._is_heating = False
-        
-        # 重新启动线程但保持温度
-        self._running = True
-        self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
-        self._temperature_thread.daemon = True
-        self._temperature_thread.start()
-        
-        return {"success": True, "status": self._status}
-
-    def _start_temperature_control(self):
-        """启动温度控制线程"""
-        self._running = True
-        if self._temperature_thread is None or not self._temperature_thread.is_alive():
-            self._temperature_thread = threading.Thread(target=self._temperature_control_loop)
-            self._temperature_thread.daemon = True
-            self._temperature_thread.start()
-
-    def _stop_temperature_control(self):
-        """停止温度控制"""
-        self._running = False
-        if self._temperature_thread:
-            self._temperature_thread.join(timeout=1.0)
-
-    def _temperature_control_loop(self):
-        """温度控制循环 - 模拟真实冷却器的温度变化"""
-        while self._running:
-            # 如果状态是 Stopped，不改变温度
-            if self._status == "Stopped":
-                time.sleep(1.0)
-                continue
-                
-            temp_diff = self._target_temperature - self._current_temperature
-
-            if abs(temp_diff) < 0.1:
-                self._status = "At Target Temperature"
-                self._is_cooling = False
-                self._is_heating = False
-            elif temp_diff < 0:
-                self._status = "Cooling"
-                self._is_cooling = True
-                self._is_heating = False
-                self._current_temperature -= 0.5
-            else:
-                self._status = "Heating"
-                self._is_heating = True
-                self._is_cooling = False
-                self._current_temperature += 0.3
-
-            time.sleep(1.0)
-
-    def emergency_stop(self):
-        """紧急停止"""
-        self._status = "Emergency Stop"
-        self._stop_temperature_control()
-        self._is_cooling = False
-        self._is_heating = False
-
-    def get_status_info(self) -> dict:
-        """获取完整状态信息"""
-        return {
-            "current_temperature": self._current_temperature,
-            "target_temperature": self._target_temperature,
-            "status": self._status,
-            "is_cooling": self._is_cooling,
-            "is_heating": self._is_heating,
-            "vessel": self._vessel,
-            "purpose": self._purpose,
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    chiller = MockChiller()
-
-    # 测试基本功能
-    print("启动冷却器测试...")
-    print(f"初始状态: {chiller.get_status_info()}")
-
-    # 模拟运行10秒
-    for i in range(10):
-        time.sleep(1)
-        print(f"第{i+1}秒: 当前温度={chiller.current_temperature:.1f}°C, 状态={chiller.status}")
-
-    chiller.emergency_stop()
-    print("测试完成")

unilabos/devices/mock/mock_filter.py

@@ -1,235 +0,0 @@
-import time
-import threading
-
-
-class MockFilter:
-    def __init__(self, port: str = "MOCK"):
-        # 基本参数初始化
-        self.port = port
-        self._status: str = "Idle"
-        self._is_filtering: bool = False
-        
-        # 过滤性能参数
-        self._flow_rate: float = 1.0          # 流速(L/min)
-        self._pressure_drop: float = 0.0      # 压降(Pa)
-        self._filter_life: float = 100.0      # 滤芯寿命(%)
-        
-        # 过滤操作参数
-        self._vessel: str = ""                # 源容器
-        self._filtrate_vessel: str = ""       # 目标容器
-        self._stir: bool = False              # 是否搅拌
-        self._stir_speed: float = 0.0         # 搅拌速度
-        self._temperature: float = 25.0        # 温度(℃)
-        self._continue_heatchill: bool = False # 是否继续加热/制冷
-        self._target_volume: float = 0.0      # 目标过滤体积(L)
-        self._filtered_volume: float = 0.0    # 已过滤体积(L)
-        self._progress: float = 0.0           # 过滤进度(%)
-        
-        # 线程控制
-        self._filter_thread = None
-        self._running = False
-
-    @property
-    def status(self) -> str:
-        return self._status
-
-    @property
-    def is_filtering(self) -> bool:
-        return self._is_filtering
-
-    @property
-    def flow_rate(self) -> float:
-        return self._flow_rate
-
-    @property
-    def pressure_drop(self) -> float:
-        return self._pressure_drop
-
-    @property
-    def filter_life(self) -> float:
-        return self._filter_life
-    # 新增 property
-    @property
-    def vessel(self) -> str:
-        return self._vessel
-
-    @property
-    def filtrate_vessel(self) -> str:
-        return self._filtrate_vessel
-
-    @property
-    def filtered_volume(self) -> float:
-        return self._filtered_volume
-
-    @property
-    def progress(self) -> float:
-        return self._progress
-    
-    @property
-    def stir(self) -> bool:
-        return self._stir
-
-    @property
-    def stir_speed(self) -> float:
-        return self._stir_speed
-
-    @property
-    def temperature(self) -> float:
-        return self._temperature
-
-    @property
-    def continue_heatchill(self) -> bool:
-        return self._continue_heatchill
-
-    @property
-    def target_volume(self) -> float:
-        return self._target_volume
-
-    def filter(self, vessel: str, filtrate_vessel: str, stir: bool = False, stir_speed: float = 0.0, temp: float = 25.0, continue_heatchill: bool = False, volume: float = 0.0) -> dict:
-        """新的过滤操作"""
-        # 停止任何正在进行的过滤
-        if self._is_filtering:
-            self.stop_filtering()
-        # 验证参数
-        if volume <= 0:
-            return {"success": False, "message": "Target volume must be greater than 0"}
-        # 设置新的过滤参数
-        self._vessel = vessel
-        self._filtrate_vessel = filtrate_vessel
-        self._stir = stir
-        self._stir_speed = stir_speed
-        self._temperature = temp
-        self._continue_heatchill = continue_heatchill
-        self._target_volume = volume
-        # 重置过滤状态
-        self._filtered_volume = 0.0
-        self._progress = 0.0
-        self._status = "Starting Filter"
-        # 启动过滤过程
-        self._flow_rate = 1.0  # 设置默认流速
-        self._start_filter_process()
-        
-        return {"success": True, "message": "Filter started"}
-
-    def stop_filtering(self):
-        """停止过滤"""
-        self._status = "Stopping Filter"
-        self._stop_filter_process()
-        self._flow_rate = 0.0
-        self._is_filtering = False
-        self._status = "Stopped"
-        return True
-
-    def replace_filter(self):
-        """更换滤芯"""
-        self._filter_life = 100.0
-        self._status = "Filter Replaced"
-        return True
-
-    def _start_filter_process(self):
-        """启动过滤过程线程"""
-        if not self._running:
-            self._running = True
-            self._is_filtering = True
-            self._filter_thread = threading.Thread(target=self._filter_loop)
-            self._filter_thread.daemon = True
-            self._filter_thread.start()
-
-    def _stop_filter_process(self):
-        """停止过滤过程"""
-        self._running = False
-        if self._filter_thread:
-            self._filter_thread.join(timeout=1.0)
-
-    def _filter_loop(self):
-        """过滤进程主循环"""
-        update_interval = 1.0  # 更新间隔(秒)
-        
-        while self._running and self._is_filtering:
-            try:
-                self._status = "Filtering"
-                
-                # 计算这一秒过滤的体积 (L/min -> L/s)
-                volume_increment = (self._flow_rate / 60.0) * update_interval
-                
-                # 更新已过滤体积
-                self._filtered_volume += volume_increment
-                
-                # 更新进度 (避免除零错误)
-                if self._target_volume > 0:
-                    self._progress = min(100.0, (self._filtered_volume / self._target_volume) * 100.0)
-                
-                # 更新滤芯寿命 (每过滤1L减少0.5%寿命)
-                self._filter_life = max(0.0, self._filter_life - (volume_increment * 0.5))
-                
-                # 更新压降 (根据滤芯寿命和流速动态计算)
-                life_factor = self._filter_life / 100.0  # 将寿命转换为0-1的因子
-                flow_factor = self._flow_rate / 2.0     # 将流速标准化(假设2L/min是标准流速)
-                base_pressure = 100.0                    # 基础压降
-                # 压降随滤芯寿命降低而增加，随流速增加而增加
-                self._pressure_drop = base_pressure * (2 - life_factor) * flow_factor
-                
-                # 检查是否完成目标体积
-                if self._target_volume > 0 and self._filtered_volume >= self._target_volume:
-                    self._status = "Completed"
-                    self._progress = 100.0
-                    self.stop_filtering()
-                    break
-                    
-                # 检查滤芯寿命
-                if self._filter_life <= 10.0:
-                    self._status = "Filter Needs Replacement"
-                
-                time.sleep(update_interval)
-                
-            except Exception as e:
-                print(f"Error in filter loop: {e}")
-                self.emergency_stop()
-                break
-
-    def emergency_stop(self):
-        """紧急停止"""
-        self._status = "Emergency Stop"
-        self._stop_filter_process()
-        self._is_filtering = False
-        self._flow_rate = 0.0
-
-    def get_status_info(self) -> dict:
-        """扩展的状态信息"""
-        return {
-            "status": self._status,
-            "is_filtering": self._is_filtering,
-            "flow_rate": self._flow_rate,
-            "pressure_drop": self._pressure_drop,
-            "filter_life": self._filter_life,
-            "vessel": self._vessel,
-            "filtrate_vessel": self._filtrate_vessel,
-            "filtered_volume": self._filtered_volume,
-            "target_volume": self._target_volume,
-            "progress": self._progress,
-            "temperature": self._temperature,
-            "stir": self._stir,
-            "stir_speed": self._stir_speed
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    filter_device = MockFilter()
-
-    # 测试基本功能
-    print("启动过滤器测试...")
-    print(f"初始状态: {filter_device.get_status_info()}")
-
-
-
-    # 模拟运行10秒
-    for i in range(10):
-        time.sleep(1)
-        print(
-            f"第{i+1}秒: "
-            f"寿命={filter_device.filter_life:.1f}%, 状态={filter_device.status}"
-        )
-
-    filter_device.emergency_stop()
-    print("测试完成")

unilabos/devices/mock/mock_heater.py

@@ -1,247 +0,0 @@
-import time
-import threading
-
-class MockHeater:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-        self._current_temperature: float = 25.0  # 室温开始
-        self._target_temperature: float = 25.0
-        self._status: str = "Idle"
-        self._is_heating: bool = False
-        self._heating_power: float = 0.0  # 加热功率百分比 0-100
-        self._max_temperature: float = 300.0  # 最大加热温度
-        
-        # 新增加的属性
-        self._vessel: str = "Unknown"
-        self._purpose: str = "Unknown"
-        self._stir: bool = False
-        self._stir_speed: float = 0.0
-
-        # 模拟加热过程的线程
-        self._heating_thread = None
-        self._running = True
-        self._heating_thread = threading.Thread(target=self._heating_control_loop)
-        self._heating_thread.daemon = True
-        self._heating_thread.start()
-
-    @property
-    def current_temperature(self) -> float:
-        """当前温度 - 会被自动识别的设备属性"""
-        return self._current_temperature
-
-    @property
-    def target_temperature(self) -> float:
-        """目标温度"""
-        return self._target_temperature
-
-    @property
-    def status(self) -> str:
-        """设备状态 - 会被自动识别的设备属性"""
-        return self._status
-
-    @property
-    def is_heating(self) -> bool:
-        """是否正在加热"""
-        return self._is_heating
-
-    @property
-    def heating_power(self) -> float:
-        """加热功率百分比"""
-        return self._heating_power
-
-    @property
-    def max_temperature(self) -> float:
-        """最大加热温度"""
-        return self._max_temperature
-    
-    @property
-    def vessel(self) -> str:
-        """当前操作的容器名称"""
-        return self._vessel
-
-    @property
-    def purpose(self) -> str:
-        """操作目的"""
-        return self._purpose
-
-    @property
-    def stir(self) -> bool:
-        """是否搅拌"""
-        return self._stir
-
-    @property
-    def stir_speed(self) -> float:
-        """搅拌速度"""
-        return self._stir_speed
-
-    def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> dict:
-        """开始加热/制冷过程"""
-        self._vessel = str(vessel)
-        self._purpose = str(purpose)
-        self._target_temperature = float(temp)
-
-        diff = self._target_temperature - self._current_temperature
-        if abs(diff) < 0.1:
-            self._status = "At Target Temperature"
-            self._is_heating = False
-        elif diff > 0:
-            self._status = "Heating"
-            self._is_heating = True
-        else:
-            self._status = "Cooling Down"
-            self._is_heating = False
-
-        return {"success": True, "status": self._status}
-
-    def heat_chill_stop(self, vessel: str) -> dict:
-        """停止加热/制冷"""
-        if vessel != self._vessel:
-            return {"success": False, "status": f"Wrong vessel: expected {self._vessel}, got {vessel}"}
-            
-        self._status = "Stopped"
-        self._is_heating = False
-        self._heating_power = 0.0
-        
-        return {"success": True, "status": self._status}
-
-    def heat_chill(self, vessel: str, temp: float, time: float, 
-                  stir: bool = False, stir_speed: float = 0.0, 
-                  purpose: str = "Unknown") -> dict:
-        """完整的加热/制冷控制"""
-        self._vessel = str(vessel)
-        self._target_temperature = float(temp)
-        self._purpose = str(purpose)
-        self._stir = stir
-        self._stir_speed = stir_speed
-
-        diff = self._target_temperature - self._current_temperature
-        if abs(diff) < 0.1:
-            self._status = "At Target Temperature"
-            self._is_heating = False
-        elif diff > 0:
-            self._status = "Heating"
-            self._is_heating = True
-        else:
-            self._status = "Cooling Down"
-            self._is_heating = False
-
-        return {"success": True, "status": self._status}
-
-    def set_temperature(self, temperature: float):
-        """设置目标温度 - 需要在注册表添加的设备动作"""
-        try:
-            temperature = float(temperature)
-        except ValueError:
-            self._status = "Error: Invalid temperature value"
-            return False
-
-        if temperature > self._max_temperature:
-            self._status = f"Error: Temperature exceeds maximum ({self._max_temperature}°C)"
-            return False
-
-        self._target_temperature = temperature
-        self._status = "Setting Temperature"
-
-        # 启动加热控制
-        self._start_heating_control()
-        return True
-
-    def set_heating_power(self, power: float):
-        """设置加热功率"""
-        try:
-            power = float(power)
-        except ValueError:
-            self._status = "Error: Invalid power value"
-            return False
-
-        self._heating_power = max(0.0, min(100.0, power))  # 限制在0-100%
-        return True
-
-    def _start_heating_control(self):
-        """启动加热控制线程"""
-        if not self._running:
-            self._running = True
-            self._heating_thread = threading.Thread(target=self._heating_control_loop)
-            self._heating_thread.daemon = True
-            self._heating_thread.start()
-
-    def _stop_heating_control(self):
-        """停止加热控制"""
-        self._running = False
-        if self._heating_thread:
-            self._heating_thread.join(timeout=1.0)
-
-    def _heating_control_loop(self):
-        """加热控制循环"""
-        while self._running:
-            # 如果状态是 Stopped，不改变温度
-            if self._status == "Stopped":
-                time.sleep(1.0)
-                continue
-                
-            temp_diff = self._target_temperature - self._current_temperature
-
-            if abs(temp_diff) < 0.1:
-                self._status = "At Target Temperature"
-                self._is_heating = False
-                self._heating_power = 10.0
-            elif temp_diff > 0:
-                self._status = "Heating"
-                self._is_heating = True
-                self._heating_power = min(100.0, abs(temp_diff) * 2)
-                self._current_temperature += 0.5
-            else:
-                self._status = "Cooling Down"
-                self._is_heating = False
-                self._heating_power = 0.0
-                self._current_temperature -= 0.2
-
-            time.sleep(1.0)
-
-    def emergency_stop(self):
-        """紧急停止"""
-        self._status = "Emergency Stop"
-        self._stop_heating_control()
-        self._is_heating = False
-        self._heating_power = 0.0
-
-    def get_status_info(self) -> dict:
-        """获取完整状态信息"""
-        return {
-            "current_temperature": self._current_temperature,
-            "target_temperature": self._target_temperature,
-            "status": self._status,
-            "is_heating": self._is_heating,
-            "heating_power": self._heating_power,
-            "max_temperature": self._max_temperature,
-            "vessel": self._vessel,
-            "purpose": self._purpose,
-            "stir": self._stir,
-            "stir_speed": self._stir_speed
-        }
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    heater = MockHeater()
-
-    print("启动加热器测试...")
-    print(f"初始状态: {heater.get_status_info()}")
-
-    # 设置目标温度为80度
-    heater.set_temperature(80.0)
-
-    # 模拟运行15秒
-    try:
-        for i in range(15):
-            time.sleep(1)
-            status = heater.get_status_info()
-            print(
-                f"\r温度: {status['current_temperature']:.1f}°C / {status['target_temperature']:.1f}°C | "
-                f"功率: {status['heating_power']:.1f}% | 状态: {status['status']}",
-                end=""
-            )
-    except KeyboardInterrupt:
-        heater.emergency_stop()
-        print("\n测试被手动停止")
-
-    print("\n测试完成")

unilabos/devices/mock/mock_pump.py

@@ -1,360 +0,0 @@
-import time
-import threading
-from datetime import datetime, timedelta
-
-class MockPump:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-
-        # 设备基本状态属性
-        self._current_device = "MockPump1"  # 设备标识符
-        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
-        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused
-
-        # 流量相关属性
-        self._flow_rate: float = 0.0  # 当前流速 (mL/min)
-        self._target_flow_rate: float = 0.0  # 目标流速 (mL/min)
-        self._max_flow_rate: float = 100.0  # 最大流速 (mL/min)
-        self._total_volume: float = 0.0  # 累计流量 (mL)
-
-        # 压力相关属性
-        self._pressure: float = 0.0  # 当前压力 (bar)
-        self._max_pressure: float = 10.0  # 最大压力 (bar)
-
-        # 运行控制线程
-        self._pump_thread = None
-        self._running = False
-        self._thread_lock = threading.Lock()
-
-        # 新增 PumpTransfer 相关属性
-        self._from_vessel: str = ""
-        self._to_vessel: str = ""
-        self._transfer_volume: float = 0.0
-        self._amount: str = ""
-        self._transfer_time: float = 0.0
-        self._is_viscous: bool = False
-        self._rinsing_solvent: str = ""
-        self._rinsing_volume: float = 0.0
-        self._rinsing_repeats: int = 0
-        self._is_solid: bool = False
-        
-        # 时间追踪
-        self._start_time: datetime = None
-        self._time_spent: timedelta = timedelta()
-        self._time_remaining: timedelta = timedelta()
-
-    # ==================== 状态属性 ====================
-    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
-
-    @property
-    def status(self) -> str:
-        return self._status
-    
-    @property
-    def current_device(self) -> str:
-        """当前设备标识符"""
-        return self._current_device
-
-    @property
-    def pump_state(self) -> str:
-        return self._pump_state
-
-    @property
-    def flow_rate(self) -> float:
-        return self._flow_rate
-
-    @property
-    def target_flow_rate(self) -> float:
-        return self._target_flow_rate
-
-    @property
-    def pressure(self) -> float:
-        return self._pressure
-
-    @property
-    def total_volume(self) -> float:
-        return self._total_volume
-
-    @property
-    def max_flow_rate(self) -> float:
-        return self._max_flow_rate
-
-    @property
-    def max_pressure(self) -> float:
-        return self._max_pressure
-    
-        # 添加新的属性访问器
-    @property
-    def from_vessel(self) -> str:
-        return self._from_vessel
-
-    @property
-    def to_vessel(self) -> str:
-        return self._to_vessel
-
-    @property
-    def transfer_volume(self) -> float:
-        return self._transfer_volume
-
-    @property
-    def amount(self) -> str:
-        return self._amount
-
-    @property
-    def transfer_time(self) -> float:
-        return self._transfer_time
-
-    @property
-    def is_viscous(self) -> bool:
-        return self._is_viscous
-
-    @property
-    def rinsing_solvent(self) -> str:
-        return self._rinsing_solvent
-
-    @property
-    def rinsing_volume(self) -> float:
-        return self._rinsing_volume
-
-    @property
-    def rinsing_repeats(self) -> int:
-        return self._rinsing_repeats
-
-    @property
-    def is_solid(self) -> bool:
-        return self._is_solid
-
-    # 修改这两个属性装饰器
-    @property
-    def time_spent(self) -> float:
-        """已用时间（秒）"""
-        if isinstance(self._time_spent, timedelta):
-            return self._time_spent.total_seconds()
-        return float(self._time_spent)
-
-    @property
-    def time_remaining(self) -> float:
-        """剩余时间（秒）"""
-        if isinstance(self._time_remaining, timedelta):
-            return self._time_remaining.total_seconds()
-        return float(self._time_remaining)
-
-    # ==================== 设备控制方法 ====================
-    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
-    def pump_transfer(self, from_vessel: str, to_vessel: str, volume: float,
-                    amount: str = "", time: float = 0.0, viscous: bool = False,
-                    rinsing_solvent: str = "", rinsing_volume: float = 0.0,
-                    rinsing_repeats: int = 0, solid: bool = False) -> dict:
-        """Execute pump transfer operation"""
-        # Stop any existing operation first
-        self._stop_pump_operation()
-        
-        # Set transfer parameters
-        self._from_vessel = from_vessel
-        self._to_vessel = to_vessel
-        self._transfer_volume = float(volume)
-        self._amount = amount
-        self._transfer_time = float(time)
-        self._is_viscous = viscous
-        self._rinsing_solvent = rinsing_solvent
-        self._rinsing_volume = float(rinsing_volume)
-        self._rinsing_repeats = int(rinsing_repeats)
-        self._is_solid = solid
-
-        # Calculate flow rate
-        if self._transfer_time > 0 and self._transfer_volume > 0:
-            self._target_flow_rate = (self._transfer_volume / self._transfer_time) * 60.0
-        else:
-            self._target_flow_rate = 10.0 if not self._is_viscous else 5.0
-
-        # Reset timers and counters
-        self._start_time = datetime.now()
-        self._time_spent = timedelta()
-        self._time_remaining = timedelta(seconds=self._transfer_time)
-        self._total_volume = 0.0
-        self._flow_rate = 0.0
-        
-        # Start pump operation
-        self._pump_state = "Running"
-        self._status = "Starting Transfer"
-        self._running = True
-        
-        # Start pump operation thread
-        self._pump_thread = threading.Thread(target=self._pump_operation_loop)
-        self._pump_thread.daemon = True
-        self._pump_thread.start()
-
-        # Wait briefly to ensure thread starts
-        time.sleep(0.1)
-
-        return {
-            "success": True,
-            "status": self._status,
-            "current_device": self._current_device,
-            "time_spent": 0.0,
-            "time_remaining": float(self._transfer_time)
-        }
-
-    def pause_pump(self) -> str:
-
-        if self._pump_state != "Running":
-            self._status = "Error: Pump not running"
-            return "Error"
-
-        self._pump_state = "Paused"
-        self._status = "Pump Paused"
-        self._stop_pump_operation()
-
-        return "Success"
-
-    def resume_pump(self) -> str:
-
-        if self._pump_state != "Paused":
-            self._status = "Error: Pump not paused"
-            return "Error"
-
-        self._pump_state = "Running"
-        self._status = "Resuming Pump"
-        self._start_pump_operation()
-
-        return "Success"
-
-    def reset_volume_counter(self) -> str:
-        self._total_volume = 0.0
-        self._status = "Volume counter reset"
-        return "Success"
-
-    def emergency_stop(self) -> str:
-        self._status = "Emergency Stop"
-        self._pump_state = "Stopped"
-        self._stop_pump_operation()
-        self._flow_rate = 0.0
-        self._pressure = 0.0
-        self._target_flow_rate = 0.0
-
-        return "Success"
-
-    # ==================== 内部控制方法 ====================
-
-    def _start_pump_operation(self):
-        with self._thread_lock:
-            if not self._running:
-                self._running = True
-                self._pump_thread = threading.Thread(target=self._pump_operation_loop)
-                self._pump_thread.daemon = True
-                self._pump_thread.start()
-
-    def _stop_pump_operation(self):
-        with self._thread_lock:
-            self._running = False
-            if self._pump_thread and self._pump_thread.is_alive():
-                self._pump_thread.join(timeout=2.0)
-
-    def _pump_operation_loop(self):
-        """泵运行主循环"""
-        print("Pump operation loop started")  # Debug print
-        
-        while self._running and self._pump_state == "Running":
-            try:
-                # Calculate flow rate adjustment
-                flow_diff = self._target_flow_rate - self._flow_rate
-                
-                # Adjust flow rate more aggressively (50% of difference)
-                adjustment = flow_diff * 0.5
-                self._flow_rate += adjustment
-                
-                # Ensure flow rate is within bounds
-                self._flow_rate = max(0.1, min(self._max_flow_rate, self._flow_rate))
-                
-                # Update status based on flow rate
-                if abs(flow_diff) < 0.1:
-                    self._status = "Running at Target Flow Rate"
-                else:
-                    self._status = "Adjusting Flow Rate"
-
-                # Calculate volume increment
-                volume_increment = (self._flow_rate / 60.0)  # mL/s
-                self._total_volume += volume_increment
-
-                # Update time tracking
-                self._time_spent = datetime.now() - self._start_time
-                if self._transfer_time > 0:
-                    remaining = self._transfer_time - self._time_spent.total_seconds()
-                    self._time_remaining = timedelta(seconds=max(0, remaining))
-
-                # Check completion
-                if self._total_volume >= self._transfer_volume:
-                    self._status = "Transfer Completed"
-                    self._pump_state = "Stopped"
-                    self._running = False
-                    break
-
-                # Update pressure
-                self._pressure = (self._flow_rate / self._max_flow_rate) * self._max_pressure
-
-                print(f"Debug - Flow: {self._flow_rate:.1f}, Volume: {self._total_volume:.1f}")  # Debug print
-                
-                time.sleep(1.0)
-
-            except Exception as e:
-                print(f"Error in pump operation: {str(e)}")
-                self._status = "Error in pump operation"
-                self._pump_state = "Stopped"
-                self._running = False
-                break
-
-    def get_status_info(self) -> dict:
-        """
-        获取完整的设备状态信息
-
-        Returns:
-            dict: 包含所有设备状态的字典
-        """
-        return {
-        "status": self._status,
-        "pump_state": self._pump_state,
-        "flow_rate": self._flow_rate,
-        "target_flow_rate": self._target_flow_rate,
-        "pressure": self._pressure,
-        "total_volume": self._total_volume,
-        "max_flow_rate": self._max_flow_rate,
-        "max_pressure": self._max_pressure,
-        "current_device": self._current_device,
-        "from_vessel": self._from_vessel,
-        "to_vessel": self._to_vessel,
-        "transfer_volume": self._transfer_volume,
-        "amount": self._amount,
-        "transfer_time": self._transfer_time,
-        "is_viscous": self._is_viscous,
-        "rinsing_solvent": self._rinsing_solvent,
-        "rinsing_volume": self._rinsing_volume,
-        "rinsing_repeats": self._rinsing_repeats,
-        "is_solid": self._is_solid,
-        "time_spent": self._time_spent.total_seconds(),
-        "time_remaining": self._time_remaining.total_seconds()
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    pump = MockPump()
-
-    # 测试基本功能
-    print("启动泵设备测试...")
-    print(f"初始状态: {pump.get_status_info()}")
-
-    # 设置流速并启动
-    pump.set_flow_rate(50.0)
-    pump.start_pump()
-
-    # 模拟运行10秒
-    for i in range(10):
-        time.sleep(1)
-        print(f"第{i+1}秒: 流速={pump.flow_rate:.1f}mL/min, 压力={pump.pressure:.2f}bar, 状态={pump.status}")
-
-    # 测试方向切换
-    print("切换泵方向...")
-
-
-    pump.emergency_stop()
-    print("测试完成")

unilabos/devices/mock/mock_rotavap.py

@@ -1,390 +0,0 @@
-import time
-import threading
-import json
-
-
-class MockRotavap:
-    """
-    模拟旋转蒸发器设备类
-
-    这个类模拟了一个实验室旋转蒸发器的行为，包括旋转控制、
-    真空泵控制、温度控制等功能。参考了现有的 RotavapOne 实现。
-    """
-
-    def __init__(self, port: str = "MOCK"):
-        """
-        初始化MockRotavap实例
-
-        Args:
-            port (str): 设备端口，默认为"MOCK"表示模拟设备
-        """
-        self.port = port
-
-        # 设备基本状态属性
-        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
-
-        # 旋转相关属性
-        self._rotate_state: str = "Stopped"  # 旋转状态：Running, Stopped
-        self._rotate_time: float = 0.0  # 旋转剩余时间 (秒)
-        self._rotate_speed: float = 0.0  # 旋转速度 (rpm)
-        self._max_rotate_speed: float = 300.0  # 最大旋转速度 (rpm)
-
-        # 真空泵相关属性
-        self._pump_state: str = "Stopped"  # 泵状态：Running, Stopped
-        self._pump_time: float = 0.0  # 泵剩余时间 (秒)
-        self._vacuum_level: float = 0.0  # 真空度 (mbar)
-        self._target_vacuum: float = 50.0  # 目标真空度 (mbar)
-
-        # 温度相关属性
-        self._temperature: float = 25.0  # 水浴温度 (°C)
-        self._target_temperature: float = 25.0  # 目标温度 (°C)
-        self._max_temperature: float = 180.0  # 最大温度 (°C)
-
-        # 运行控制线程
-        self._operation_thread = None
-        self._running = False
-        self._thread_lock = threading.Lock()
-
-        # 操作成功标志
-        self.success: str = "True"  # 使用字符串而不是布尔值
-
-    # ==================== 状态属性 ====================
-    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
-
-    @property
-    def status(self) -> str:
-        return self._status
-
-    @property
-    def rotate_state(self) -> str:
-        return self._rotate_state
-
-    @property
-    def rotate_time(self) -> float:
-        return self._rotate_time
-
-    @property
-    def rotate_speed(self) -> float:
-        return self._rotate_speed
-
-    @property
-    def pump_state(self) -> str:
-        return self._pump_state
-
-    @property
-    def pump_time(self) -> float:
-        return self._pump_time
-
-    @property
-    def vacuum_level(self) -> float:
-        return self._vacuum_level
-
-    @property
-    def temperature(self) -> float:
-        return self._temperature
-
-    @property
-    def target_temperature(self) -> float:
-        return self._target_temperature
-
-    # ==================== 设备控制方法 ====================
-    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
-
-    def set_timer(self, command: str) -> str:
-        """
-        设置定时器 - 兼容现有RotavapOne接口
-
-        Args:
-            command (str): JSON格式的命令字符串，包含rotate_time和pump_time
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        try:
-            timer = json.loads(command)
-            rotate_time = timer.get("rotate_time", 0)
-            pump_time = timer.get("pump_time", 0)
-
-            self.success = "False"
-            self._rotate_time = float(rotate_time)
-            self._pump_time = float(pump_time)
-            self.success = "True"
-
-            self._status = "Timer Set"
-            return "Success"
-
-        except (json.JSONDecodeError, ValueError, KeyError) as e:
-            self._status = f"Error: Invalid command format - {str(e)}"
-            self.success = "False"
-            return "Error"
-
-    def set_rotate_time(self, time_seconds: float) -> str:
-        """
-        设置旋转时间
-
-        Args:
-            time_seconds (float): 旋转时间 (秒)
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        self.success = "False"
-        self._rotate_time = max(0.0, float(time_seconds))
-        self.success = "True"
-        self._status = "Rotate time set"
-        return "Success"
-
-    def set_pump_time(self, time_seconds: float) -> str:
-        """
-        设置泵时间
-
-        Args:
-            time_seconds (float): 泵时间 (秒)
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        self.success = "False"
-        self._pump_time = max(0.0, float(time_seconds))
-        self.success = "True"
-        self._status = "Pump time set"
-        return "Success"
-
-    def set_rotate_speed(self, speed: float) -> str:
-        """
-        设置旋转速度
-
-        Args:
-            speed (float): 旋转速度 (rpm)
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        if speed < 0 or speed > self._max_rotate_speed:
-            self._status = f"Error: Speed out of range (0-{self._max_rotate_speed})"
-            return "Error"
-
-        self._rotate_speed = speed
-        self._status = "Rotate speed set"
-        return "Success"
-
-    def set_temperature(self, temperature: float) -> str:
-        """
-        设置水浴温度
-
-        Args:
-            temperature (float): 目标温度 (°C)
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        if temperature < 0 or temperature > self._max_temperature:
-            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
-            return "Error"
-
-        self._target_temperature = temperature
-        self._status = "Temperature set"
-
-        # 启动操作线程以开始温度控制
-        self._start_operation()
-        
-        return "Success"
-
-    def start_rotation(self) -> str:
-        """
-        启动旋转
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        if self._rotate_time <= 0:
-            self._status = "Error: No rotate time set"
-            return "Error"
-
-        self._rotate_state = "Running"
-        self._status = "Rotation started"
-        return "Success"
-
-    def start_pump(self) -> str:
-        """
-        启动真空泵
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-
-        if self._pump_time <= 0:
-            self._status = "Error: No pump time set"
-            return "Error"
-
-        self._pump_state = "Running"
-        self._status = "Pump started"
-        return "Success"
-
-    def stop_all_operations(self) -> str:
-        """
-        停止所有操作
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._rotate_state = "Stopped"
-        self._pump_state = "Stopped"
-        self._stop_operation()
-        self._rotate_time = 0.0
-        self._pump_time = 0.0
-        self._vacuum_level = 0.0
-        self._status = "All operations stopped"
-        return "Success"
-
-    def emergency_stop(self) -> str:
-        """
-        紧急停止
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._status = "Emergency Stop"
-        self.stop_all_operations()
-        return "Success"
-
-    # ==================== 内部控制方法 ====================
-
-    def _start_operation(self):
-        """
-        启动操作线程
-
-        这个方法启动一个后台线程来模拟旋蒸的实际运行过程。
-        """
-        with self._thread_lock:
-            if not self._running:
-                self._running = True
-                self._operation_thread = threading.Thread(target=self._operation_loop)
-                self._operation_thread.daemon = True
-                self._operation_thread.start()
-
-    def _stop_operation(self):
-        """
-        停止操作线程
-
-        安全地停止后台运行线程并等待其完成。
-        """
-        with self._thread_lock:
-            self._running = False
-            if self._operation_thread and self._operation_thread.is_alive():
-                self._operation_thread.join(timeout=2.0)
-
-    def _operation_loop(self):
-        """
-        操作主循环
-
-        这个方法在后台线程中运行，模拟真实旋蒸的工作过程：
-        1. 时间倒计时
-        2. 温度控制
-        3. 真空度控制
-        4. 状态更新
-        """
-        while self._running:
-            try:
-                # 处理旋转时间倒计时
-                if self._rotate_time > 0:
-                    self._rotate_state = "Running"
-                    self._rotate_time = max(0.0, self._rotate_time - 1.0)
-                else:
-                    self._rotate_state = "Stopped"
-
-                # 处理泵时间倒计时
-                if self._pump_time > 0:
-                    self._pump_state = "Running"
-                    self._pump_time = max(0.0, self._pump_time - 1.0)
-                    # 模拟真空度变化
-                    if self._vacuum_level > self._target_vacuum:
-                        self._vacuum_level = max(self._target_vacuum, self._vacuum_level - 5.0)
-                else:
-                    self._pump_state = "Stopped"
-                    # 真空度逐渐回升
-                    self._vacuum_level = min(1013.25, self._vacuum_level + 2.0)
-
-                # 模拟温度控制
-                temp_diff = self._target_temperature - self._temperature
-                if abs(temp_diff) > 0.5:
-                    if temp_diff > 0:
-                        self._temperature += min(1.0, temp_diff * 0.1)
-                    else:
-                        self._temperature += max(-1.0, temp_diff * 0.1)
-
-                # 更新整体状态
-                if self._rotate_state == "Running" or self._pump_state == "Running":
-                    self._status = "Operating"
-                elif self._rotate_time > 0 or self._pump_time > 0:
-                    self._status = "Ready"
-                else:
-                    self._status = "Idle"
-
-                # 等待1秒后继续下一次循环
-                time.sleep(1.0)
-
-            except Exception as e:
-                self._status = f"Error in operation: {str(e)}"
-                break
-
-        # 循环结束时的清理工作
-            self._status = "Idle"
-
-    def get_status_info(self) -> dict:
-        """
-        获取完整的设备状态信息
-
-        Returns:
-            dict: 包含所有设备状态的字典
-        """
-        return {
-            "status": self._status,
-            "rotate_state": self._rotate_state,
-            "rotate_time": self._rotate_time,
-            "rotate_speed": self._rotate_speed,
-            "pump_state": self._pump_state,
-            "pump_time": self._pump_time,
-            "vacuum_level": self._vacuum_level,
-            "temperature": self._temperature,
-            "target_temperature": self._target_temperature,
-            "success": self.success,
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    rotavap = MockRotavap()
-
-    # 测试基本功能
-    print("启动旋转蒸发器测试...")
-    print(f"初始状态: {rotavap.get_status_info()}")
-
-    # 设置定时器
-    timer_command = '{"rotate_time": 300, "pump_time": 600}'
-    rotavap.set_timer(timer_command)
-
-    # 设置温度和转速
-    rotavap.set_temperature(60.0)
-    rotavap.set_rotate_speed(120.0)
-
-    # 启动操作
-    rotavap.start_rotation()
-    rotavap.start_pump()
-
-    # 模拟运行10秒
-    for i in range(10):
-        time.sleep(1)
-        print(
-            f"第{i+1}秒: 旋转={rotavap.rotate_time:.0f}s, 泵={rotavap.pump_time:.0f}s, "
-            f"温度={rotavap.temperature:.1f}°C, 真空={rotavap.vacuum_level:.1f}mbar"
-        )
-
-    rotavap.emergency_stop()
-    print("测试完成")

unilabos/devices/mock/mock_separator.py

@@ -1,399 +0,0 @@
-import time
-import threading
-from datetime import datetime, timedelta
-
-class MockSeparator:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-
-        # 基本状态属性
-        self._status: str = "Idle"  # 当前总体状态
-        self._valve_state: str = "Closed"  # 阀门状态：Open 或 Closed
-        self._settling_time: float = 0.0  # 静置时间（秒）
-
-        # 搅拌相关属性
-        self._shake_time: float = 0.0  # 剩余摇摆时间（秒）
-        self._shake_status: str = "Not Shaking"  # 摇摆状态
-
-        # 用于后台模拟 shake 动作
-        self._operation_thread = None
-        self._thread_lock = threading.Lock()
-        self._running = False
-
-        # Separate action 相关属性
-        self._current_device: str = "MockSeparator1"
-        self._purpose: str = ""  # wash or extract
-        self._product_phase: str = ""  # top or bottom
-        self._from_vessel: str = ""
-        self._separation_vessel: str = ""
-        self._to_vessel: str = ""
-        self._waste_phase_to_vessel: str = ""
-        self._solvent: str = ""
-        self._solvent_volume: float = 0.0
-        self._through: str = ""
-        self._repeats: int = 1
-        self._stir_time: float = 0.0
-        self._stir_speed: float = 0.0
-        self._time_spent = timedelta()
-        self._time_remaining = timedelta()
-        self._start_time = datetime.now()  # 添加这一行
-
-    @property
-    def current_device(self) -> str:
-        return self._current_device
-
-    @property
-    def purpose(self) -> str:
-        return self._purpose
-
-    @property
-    def valve_state(self) -> str:
-        return self._valve_state
-
-    @property
-    def settling_time(self) -> float:
-        return self._settling_time
-
-    @property
-    def status(self) -> str:
-        return self._status
-
-    @property
-    def shake_time(self) -> float:
-        with self._thread_lock:
-            return self._shake_time
-
-    @property
-    def shake_status(self) -> str:
-        with self._thread_lock:
-            return self._shake_status
-    
-    @property
-    def product_phase(self) -> str:
-        return self._product_phase
-
-    @property
-    def from_vessel(self) -> str:
-        return self._from_vessel
-
-    @property
-    def separation_vessel(self) -> str:
-        return self._separation_vessel
-
-    @property
-    def to_vessel(self) -> str:
-        return self._to_vessel
-
-    @property
-    def waste_phase_to_vessel(self) -> str:
-        return self._waste_phase_to_vessel
-
-    @property
-    def solvent(self) -> str:
-        return self._solvent
-
-    @property
-    def solvent_volume(self) -> float:
-        return self._solvent_volume
-
-    @property
-    def through(self) -> str:
-        return self._through
-
-    @property
-    def repeats(self) -> int:
-        return self._repeats
-
-    @property
-    def stir_time(self) -> float:
-        return self._stir_time
-
-    @property
-    def stir_speed(self) -> float:
-        return self._stir_speed
-
-    @property
-    def time_spent(self) -> float:
-        if self._running:
-            self._time_spent = datetime.now() - self._start_time
-        return self._time_spent.total_seconds()
-
-    @property
-    def time_remaining(self) -> float:
-        if self._running:
-            elapsed = (datetime.now() - self._start_time).total_seconds()
-            total_time = (self._stir_time + self._settling_time + 10) * self._repeats
-            remain = max(0, total_time - elapsed)
-            self._time_remaining = timedelta(seconds=remain)
-        return self._time_remaining.total_seconds()
-
-    def separate(self, purpose: str, product_phase: str, from_vessel: str,
-            separation_vessel: str, to_vessel: str, waste_phase_to_vessel: str = "",
-            solvent: str = "", solvent_volume: float = 0.0, through: str = "",
-            repeats: int = 1, stir_time: float = 0.0, stir_speed: float = 0.0,
-            settling_time: float = 60.0) -> dict:
-        """
-        执行分离操作
-        """
-        with self._thread_lock:
-            # 检查是否已经在运行
-            if self._running:
-                return {
-                    "success": False,
-                    "status": "Error: Operation already in progress"
-                }
-        # 必填参数验证
-        if not all([from_vessel, separation_vessel, to_vessel]):
-            self._status = "Error: Missing required vessel parameters"
-            return {"success": False}
-        # 验证参数
-        if purpose not in ["wash", "extract"]:
-            self._status = "Error: Invalid purpose"
-            return {"success": False}
-        
-        if product_phase not in ["top", "bottom"]:
-            self._status = "Error: Invalid product phase"
-            return {"success": False}
-            # 数值参数验证
-        try:
-            solvent_volume = float(solvent_volume)
-            repeats = int(repeats)
-            stir_time = float(stir_time)
-            stir_speed = float(stir_speed)
-            settling_time = float(settling_time)
-        except ValueError:
-            self._status = "Error: Invalid numeric parameters"
-            return {"success": False}
-
-        # 设置参数
-        self._purpose = purpose
-        self._product_phase = product_phase
-        self._from_vessel = from_vessel
-        self._separation_vessel = separation_vessel
-        self._to_vessel = to_vessel
-        self._waste_phase_to_vessel = waste_phase_to_vessel
-        self._solvent = solvent
-        self._solvent_volume = float(solvent_volume)
-        self._through = through
-        self._repeats = int(repeats)
-        self._stir_time = float(stir_time)
-        self._stir_speed = float(stir_speed)
-        self._settling_time = float(settling_time)
-
-        # 重置计时器
-        self._start_time = datetime.now()
-        self._time_spent = timedelta()
-        total_time = (self._stir_time + self._settling_time + 10) * self._repeats
-        self._time_remaining = timedelta(seconds=total_time)
-
-        # 启动分离操作
-        self._status = "Starting Separation"
-        self._running = True
-
-        # 在锁内创建和启动线程
-        self._operation_thread = threading.Thread(target=self._operation_loop)
-        self._operation_thread.daemon = True
-        self._operation_thread.start()
-
-        # 等待确认操作已经开始
-        time.sleep(0.1)  # 短暂等待确保操作线程已启动
-
-        return {
-            "success": True,
-            "status": self._status,
-            "current_device": self._current_device,
-            "time_spent": self._time_spent.total_seconds(),
-            "time_remaining": self._time_remaining.total_seconds()
-        }
-
-    def shake(self, shake_time: float) -> str:
-        """
-        模拟 shake（搅拌）操作：
-         - 进入 "Shaking" 状态，倒计时 shake_time 秒
-         - shake 结束后，进入 "Settling" 状态，静置时间固定为 5 秒
-         - 最后恢复为 Idle
-        """
-        try:
-            shake_time = float(shake_time)
-        except ValueError:
-            self._status = "Error: Invalid shake time"
-            return "Error"
-
-        with self._thread_lock:
-            self._status = "Shaking"
-            self._settling_time = 0.0
-            self._shake_time = shake_time
-            self._shake_status = "Shaking"
-
-        def _run_shake():
-            remaining = shake_time
-            while remaining > 0:
-                time.sleep(1)
-                remaining -= 1
-                with self._thread_lock:
-                    self._shake_time = remaining
-            with self._thread_lock:
-                self._status = "Settling"
-                self._settling_time = 60.0  # 固定静置时间为60秒
-                self._shake_status = "Settling"
-            while True:
-                with self._thread_lock:
-                    if self._settling_time <= 0:
-                        self._status = "Idle"
-                        self._shake_status = "Idle"
-                        break
-                time.sleep(1)
-                with self._thread_lock:
-                    self._settling_time = max(0.0, self._settling_time - 1)
-
-        self._operation_thread = threading.Thread(target=_run_shake)
-        self._operation_thread.daemon = True
-        self._operation_thread.start()
-        return "Success"
-
-    def set_valve(self, command: str) -> str:
-        """
-        阀门控制命令：传入 "open" 或 "close"
-        """
-
-        command = command.lower()
-        if command == "open":
-            self._valve_state = "Open"
-            self._status = "Valve Opened"
-        elif command == "close":
-            self._valve_state = "Closed"
-            self._status = "Valve Closed"
-        else:
-            self._status = "Error: Invalid valve command"
-            return "Error"
-        return "Success"
-    
-    def _operation_loop(self):
-        """分离操作主循环"""
-        try:
-            current_repeat = 1
-            
-            # 立即更新状态，确保不会停留在Starting Separation
-            with self._thread_lock:
-                self._status = f"Separation Cycle {current_repeat}/{self._repeats}"
-            
-            while self._running and current_repeat <= self._repeats:
-                # 第一步：搅拌
-                if self._stir_time > 0:
-                    with self._thread_lock:
-                        self._status = f"Stirring (Repeat {current_repeat}/{self._repeats})"
-                    remaining_stir = self._stir_time
-                    while remaining_stir > 0 and self._running:
-                        time.sleep(1)
-                        remaining_stir -= 1
-
-                # 第二步：静置
-                if self._settling_time > 0:
-                    with self._thread_lock:
-                        self._status = f"Settling (Repeat {current_repeat}/{self._repeats})"
-                    remaining_settle = self._settling_time
-                    while remaining_settle > 0 and self._running:
-                        time.sleep(1)
-                        remaining_settle -= 1
-
-                # 第三步：打开阀门排出
-                with self._thread_lock:
-                    self._valve_state = "Open"
-                    self._status = f"Draining (Repeat {current_repeat}/{self._repeats})"
-                
-                # 模拟排出时间（5秒）
-                time.sleep(10)
-                
-                # 关闭阀门
-                with self._thread_lock:
-                    self._valve_state = "Closed"
-
-                # 检查是否继续下一次重复
-                if current_repeat < self._repeats:
-                    current_repeat += 1
-                else:
-                    with self._thread_lock:
-                        self._status = "Separation Complete"
-                    break
-
-        except Exception as e:
-            with self._thread_lock:
-                self._status = f"Error in separation: {str(e)}"
-        finally:
-            with self._thread_lock:
-                self._running = False
-                self._valve_state = "Closed"
-                if self._status == "Starting Separation":
-                    self._status = "Error: Operation failed to start"
-                elif self._status != "Separation Complete":
-                    self._status = "Stopped"
-
-    def stop_operations(self) -> str:
-        """停止任何正在执行的操作"""
-        with self._thread_lock:
-            self._running = False
-            if self._operation_thread and self._operation_thread.is_alive():
-                self._operation_thread.join(timeout=1.0)
-            self._operation_thread = None
-            self._settling_time = 0.0
-            self._status = "Idle"
-            self._shake_status = "Idle"
-            self._shake_time = 0.0
-            self._time_remaining = timedelta()
-        return "Success"
-
-    def get_status_info(self) -> dict:
-        """获取当前设备状态信息"""
-        with self._thread_lock:
-            current_time = datetime.now()
-            if self._start_time:
-                self._time_spent = current_time - self._start_time
-            
-            return {
-                "status": self._status,
-                "valve_state": self._valve_state,
-                "settling_time": self._settling_time,
-                "shake_time": self._shake_time,
-                "shake_status": self._shake_status,
-                "current_device": self._current_device,
-                "purpose": self._purpose,
-                "product_phase": self._product_phase,
-                "from_vessel": self._from_vessel,
-                "separation_vessel": self._separation_vessel,
-                "to_vessel": self._to_vessel,
-                "waste_phase_to_vessel": self._waste_phase_to_vessel,
-                "solvent": self._solvent,
-                "solvent_volume": self._solvent_volume,
-                "through": self._through,
-                "repeats": self._repeats,
-                "stir_time": self._stir_time,
-                "stir_speed": self._stir_speed,
-                "time_spent": self._time_spent.total_seconds(),
-                "time_remaining": self._time_remaining.total_seconds()
-            }
-
-
-# 主函数用于测试
-if __name__ == "__main__":
-    separator = MockSeparator()
-
-    print("启动简单版分离器测试...")
-    print("初始状态:", separator.get_status_info())
-
-    # 触发 shake 操作，模拟 10 秒的搅拌
-    print("执行 shake 操作...")
-    print(separator.shake(10.0))
-
-    # 循环显示状态变化
-    for i in range(20):
-        time.sleep(1)
-        info = separator.get_status_info()
-        print(
-            f"第{i+1}秒: 状态={info['status']}, 静置时间={info['settling_time']:.1f}秒, "
-            f"阀门状态={info['valve_state']}, shake_time={info['shake_time']:.1f}, "
-            f"shake_status={info['shake_status']}"
-        )
-
-    # 模拟打开阀门
-    print("打开阀门...", separator.set_valve("open"))
-    print("最终状态:", separator.get_status_info())

unilabos/devices/mock/mock_solenoid_valve.py

@@ -1,89 +0,0 @@
-import time
-
-
-class MockSolenoidValve:
-    """
-    模拟电磁阀设备类 - 简化版本
-
-    这个类提供了电磁阀的基本功能：开启、关闭和状态查询
-    """
-
-    def __init__(self, port: str = "MOCK"):
-        """
-        初始化MockSolenoidValve实例
-
-        Args:
-            port (str): 设备端口，默认为"MOCK"表示模拟设备
-        """
-        self.port = port
-        self._status: str = "Idle"
-        self._valve_status: str = "Closed"  # 阀门位置：Open, Closed
-
-    @property
-    def status(self) -> str:
-        """设备状态 - 会被自动识别的设备属性"""
-        return self._status
-
-    @property
-    def valve_status(self) -> str:
-        """阀门状态"""
-        return self._valve_status
-
-    def set_valve_status(self, status: str) -> str:
-        """
-        设置阀门位置
-
-        Args:
-            position (str): 阀门位置，可选值："Open", "Closed"
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        if status not in ["Open", "Closed"]:
-            self._status = "Error: Invalid position"
-            return "Error"
-
-        self._status = "Moving"
-        time.sleep(1)  # 模拟阀门动作时间
-
-        self._valve_status = status
-        self._status = "Idle"
-        return "Success"
-
-    def open_valve(self) -> str:
-        """打开阀门"""
-        return self.set_valve_status("Open")
-
-    def close_valve(self) -> str:
-        """关闭阀门"""
-        return self.set_valve_status("Closed")
-
-    def get_valve_status(self) -> str:
-        """获取阀门位置"""
-        return self._valve_status
-
-    def is_open(self) -> bool:
-        """检查阀门是否打开"""
-        return self._valve_status == "Open"
-
-    def is_closed(self) -> bool:
-        """检查阀门是否关闭"""
-        return self._valve_status == "Closed"
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    valve = MockSolenoidValve()
-
-    print("启动电磁阀测试...")
-    print(f"初始状态: 位置={valve.valve_status}, 状态={valve.status}")
-
-    # 测试开启阀门
-    valve.open_valve()
-    print(f"开启后: 位置={valve.valve_status}, 状态={valve.status}")
-
-    # 测试关闭阀门
-    valve.close_valve()
-    print(f"关闭后: 位置={valve.valve_status}, 状态={valve.status}")
-
-    print("测试完成")

unilabos/devices/mock/mock_stirrer.py

@@ -1,307 +0,0 @@
-import time
-import threading
-
-
-class MockStirrer:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-
-        # 设备基本状态属性
-        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
-
-        # 搅拌相关属性
-        self._stir_speed: float = 0.0  # 当前搅拌速度 (rpm)
-        self._target_stir_speed: float = 0.0  # 目标搅拌速度 (rpm)
-        self._max_stir_speed: float = 2000.0  # 最大搅拌速度 (rpm)
-        self._stir_state: str = "Stopped"  # 搅拌状态：Running, Stopped
-
-        # 温度相关属性
-        self._temperature: float = 25.0  # 当前温度 (°C)
-        self._target_temperature: float = 25.0  # 目标温度 (°C)
-        self._max_temperature: float = 300.0  # 最大温度 (°C)
-        self._heating_state: str = "Off"  # 加热状态：On, Off
-        self._heating_power: float = 0.0  # 加热功率百分比 0-100
-
-        # 运行控制线程
-        self._operation_thread = None
-        self._running = False
-        self._thread_lock = threading.Lock()
-
-    # ==================== 状态属性 ====================
-    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
-
-    @property
-    def status(self) -> str:
-        return self._status
-
-    @property
-    def stir_speed(self) -> float:
-        return self._stir_speed
-
-    @property
-    def target_stir_speed(self) -> float:
-        return self._target_stir_speed
-
-    @property
-    def stir_state(self) -> str:
-        return self._stir_state
-
-    @property
-    def temperature(self) -> float:
-        """
-        当前温度
-
-        Returns:
-            float: 当前温度 (°C)
-        """
-        return self._temperature
-
-    @property
-    def target_temperature(self) -> float:
-        """
-        目标温度
-
-        Returns:
-            float: 目标温度 (°C)
-        """
-        return self._target_temperature
-
-    @property
-    def heating_state(self) -> str:
-        return self._heating_state
-
-    @property
-    def heating_power(self) -> float:
-        return self._heating_power
-
-    @property
-    def max_stir_speed(self) -> float:
-        return self._max_stir_speed
-
-    @property
-    def max_temperature(self) -> float:
-        return self._max_temperature
-
-    # ==================== 设备控制方法 ====================
-    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
-
-    def set_stir_speed(self, speed: float) -> str:
-
-        speed = float(speed)  # 确保传入的速度是浮点数
-
-        if speed < 0 or speed > self._max_stir_speed:
-            self._status = f"Error: Speed out of range (0-{self._max_stir_speed})"
-            return "Error"
-
-        self._target_stir_speed = speed
-        self._status = "Setting Stir Speed"
-
-        # 如果设置了非零速度，启动搅拌
-        if speed > 0:
-            self._stir_state = "Running"
-        else:
-            self._stir_state = "Stopped"
-
-        return "Success"
-
-    def set_temperature(self, temperature: float) -> str:
-        temperature = float(temperature)  # 确保传入的温度是浮点数
-
-        if temperature < 0 or temperature > self._max_temperature:
-            self._status = f"Error: Temperature out of range (0-{self._max_temperature})"
-            return "Error"
-
-        self._target_temperature = temperature
-        self._status = "Setting Temperature"
-
-        return "Success"
-
-    def start_stirring(self) -> str:
-
-        if self._target_stir_speed <= 0:
-            self._status = "Error: No target speed set"
-            return "Error"
-
-        self._stir_state = "Running"
-        self._status = "Stirring Started"
-        return "Success"
-
-    def stop_stirring(self) -> str:
-        self._stir_state = "Stopped"
-        self._target_stir_speed = 0.0
-        self._status = "Stirring Stopped"
-        return "Success"
-
-    def heating_control(self, heating_state: str = "On") -> str:
-
-        if heating_state not in ["On", "Off"]:
-            self._status = "Error: Invalid heating state"
-            return "Error"
-
-        self._heating_state = heating_state
-
-        if heating_state == "On":
-            self._status = "Heating On"
-        else:
-            self._status = "Heating Off"
-            self._heating_power = 0.0
-
-        return "Success"
-
-    def stop_all_operations(self) -> str:
-        self._stir_state = "Stopped"
-        self._heating_state = "Off"
-        self._stop_operation()
-        self._stir_speed = 0.0
-        self._target_stir_speed = 0.0
-        self._heating_power = 0.0
-        self._status = "All operations stopped"
-        return "Success"
-
-    def emergency_stop(self) -> str:
-        """
-        紧急停止
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._status = "Emergency Stop"
-        self.stop_all_operations()
-        return "Success"
-
-    # ==================== 内部控制方法 ====================
-
-    def _start_operation(self):
-        with self._thread_lock:
-            if not self._running:
-                self._running = True
-                self._operation_thread = threading.Thread(target=self._operation_loop)
-                self._operation_thread.daemon = True
-                self._operation_thread.start()
-
-    def _stop_operation(self):
-        """
-        停止操作线程
-
-        安全地停止后台运行线程并等待其完成。
-        """
-        with self._thread_lock:
-            self._running = False
-            if self._operation_thread and self._operation_thread.is_alive():
-                self._operation_thread.join(timeout=2.0)
-
-    def _operation_loop(self):
-        while self._running:
-            try:
-                # 处理搅拌速度控制
-                if self._stir_state == "Running":
-                    speed_diff = self._target_stir_speed - self._stir_speed
-
-                    if abs(speed_diff) < 1.0:  # 速度接近目标值
-                        self._stir_speed = self._target_stir_speed
-                        if self._stir_speed > 0:
-                            self._status = "Stirring at Target Speed"
-                    else:
-                        # 模拟速度调节，每秒调整10%的差值
-                        adjustment = speed_diff * 0.1
-                        self._stir_speed += adjustment
-                        self._status = "Adjusting Stir Speed"
-
-                    # 确保速度在合理范围内
-                    self._stir_speed = max(0.0, min(self._max_stir_speed, self._stir_speed))
-                else:
-                    # 搅拌停止时，速度逐渐降为0
-                    if self._stir_speed > 0:
-                        self._stir_speed = max(0.0, self._stir_speed - 50.0)  # 每秒减少50rpm
-
-                # 处理温度控制
-                if self._heating_state == "On":
-                    temp_diff = self._target_temperature - self._temperature
-
-                    if abs(temp_diff) < 0.5:  # 温度接近目标值
-                        self._heating_power = 20.0  # 维持温度的最小功率
-                    elif temp_diff > 0:  # 需要加热
-                        # 根据温差调整加热功率
-                        if temp_diff > 50:
-                            self._heating_power = 100.0
-                        elif temp_diff > 20:
-                            self._heating_power = 80.0
-                        elif temp_diff > 10:
-                            self._heating_power = 60.0
-                        else:
-                            self._heating_power = 40.0
-
-                        # 模拟加热过程
-                        heating_rate = self._heating_power / 100.0 * 1.5  # 最大每秒升温1.5度
-                        self._temperature += heating_rate
-                    else:  # 目标温度低于当前温度
-                        self._heating_power = 0.0
-                        # 自然冷却
-                        self._temperature -= 0.1
-                else:
-                    self._heating_power = 0.0
-                    # 自然冷却到室温
-                    if self._temperature > 25.0:
-                        self._temperature -= 0.2
-
-                # 限制温度范围
-                self._temperature = max(20.0, min(self._max_temperature, self._temperature))
-
-                # 更新整体状态
-                if self._stir_state == "Running" and self._heating_state == "On":
-                    self._status = "Stirring and Heating"
-                elif self._stir_state == "Running":
-                    self._status = "Stirring Only"
-                elif self._heating_state == "On":
-                    self._status = "Heating Only"
-                else:
-                    self._status = "Idle"
-
-                # 等待1秒后继续下一次循环
-                time.sleep(1.0)
-
-            except Exception as e:
-                self._status = f"Error in operation: {str(e)}"
-                break
-
-        # 循环结束时的清理工作
-            self._status = "Idle"
-
-    def get_status_info(self) -> dict:
-        return {
-            "status": self._status,
-            "stir_speed": self._stir_speed,
-            "target_stir_speed": self._target_stir_speed,
-            "stir_state": self._stir_state,
-            "temperature": self._temperature,
-            "target_temperature": self._target_temperature,
-            "heating_state": self._heating_state,
-            "heating_power": self._heating_power,
-            "max_stir_speed": self._max_stir_speed,
-            "max_temperature": self._max_temperature,
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    stirrer = MockStirrer()
-
-    # 测试基本功能
-    print("启动搅拌器测试...")
-    print(f"初始状态: {stirrer.get_status_info()}")
-
-    # 设置搅拌速度和温度
-    stirrer.set_stir_speed(800.0)
-    stirrer.set_temperature(60.0)
-    stirrer.heating_control("On")
-
-    # 模拟运行15秒
-    for i in range(15):
-        time.sleep(1)
-        print(
-            f"第{i+1}秒: 速度={stirrer.stir_speed:.0f}rpm, 温度={stirrer.temperature:.1f}°C, "
-            f"功率={stirrer.heating_power:.1f}%, 状态={stirrer.status}"
-        )
-
-    stirrer.emergency_stop()
-    print("测试完成")

unilabos/devices/mock/mock_stirrer_new.py

@@ -1,229 +0,0 @@
-import time
-import threading
-from datetime import datetime, timedelta
-
-class MockStirrer_new:
-    def __init__(self, port: str = "MOCK"):
-        self.port = port
-
-        # 基本状态属性
-        self._status: str = "Idle"
-        self._vessel: str = ""
-        self._purpose: str = ""
-
-        # 搅拌相关属性
-        self._stir_speed: float = 0.0
-        self._target_stir_speed: float = 0.0
-        self._max_stir_speed: float = 2000.0
-        self._stir_state: str = "Stopped"
-        
-        # 计时相关
-        self._stir_time: float = 0.0
-        self._settling_time: float = 0.0
-        self._start_time = datetime.now()
-        self._time_remaining = timedelta()
-        
-        # 运行控制
-        self._operation_thread = None
-        self._running = False
-        self._thread_lock = threading.Lock()
-        
-        # 创建操作线程
-        self._operation_thread = threading.Thread(target=self._operation_loop)
-        self._operation_thread.daemon = True
-        self._operation_thread.start()
-
-    # ==================== 状态属性 ====================
-    @property
-    def status(self) -> str:
-        return self._status
-
-    @property
-    def stir_speed(self) -> float:
-        return self._stir_speed
-
-    @property
-    def target_stir_speed(self) -> float:
-        return self._target_stir_speed
-
-    @property
-    def stir_state(self) -> str:
-        return self._stir_state
-    
-    @property
-    def vessel(self) -> str:
-        return self._vessel
-
-    @property
-    def purpose(self) -> str:
-        return self._purpose
-
-    @property
-    def stir_time(self) -> float:
-        return self._stir_time
-
-    @property
-    def settling_time(self) -> float:
-        return self._settling_time
-
-    @property
-    def max_stir_speed(self) -> float:
-        return self._max_stir_speed
-        
-    @property
-    def progress(self) -> float:
-        """返回当前操作的进度（0-100）"""
-        if not self._running:
-            return 0.0
-        elapsed = (datetime.now() - self._start_time).total_seconds()
-        total_time = self._stir_time + self._settling_time
-        if total_time <= 0:
-            return 100.0
-        return min(100.0, (elapsed / total_time) * 100)
-
-    # ==================== Action Server 方法 ====================
-    def start_stir(self, vessel: str, stir_speed: float = 0.0, purpose: str = "") -> dict:
-        """
-        StartStir.action 对应的方法
-        """
-        with self._thread_lock:
-            if self._running:
-                return {
-                    "success": False,
-                    "message": "Operation already in progress"
-                }
-            
-            try:
-                # 重置所有参数
-                self._vessel = vessel
-                self._purpose = purpose
-                self._stir_time = 0.0  # 连续搅拌模式下不设置搅拌时间
-                self._settling_time = 0.0
-                self._start_time = datetime.now()  # 重置开始时间
-                
-                if stir_speed > 0:
-                    self._target_stir_speed = min(stir_speed, self._max_stir_speed)
-                
-                self._stir_state = "Running"
-                self._status = "Stirring Started"
-                self._running = True
-                
-                return {
-                    "success": True,
-                    "message": "Stirring started successfully"
-                }
-                
-            except Exception as e:
-                return {
-                    "success": False,
-                    "message": f"Error: {str(e)}"
-                }
-
-    def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> dict:
-        """
-        Stir.action 对应的方法
-        """
-        with self._thread_lock:
-            try:
-                # 如果已经在运行，先停止当前操作
-                if self._running:
-                    self._running = False
-                    self._stir_state = "Stopped"
-                    self._target_stir_speed = 0.0
-                    time.sleep(0.1)  # 给一个短暂的停止时间
-            
-        
-                # 重置所有参数
-                self._stir_time = float(stir_time)
-                self._settling_time = float(settling_time)
-                self._target_stir_speed = min(float(stir_speed), self._max_stir_speed)
-                self._start_time = datetime.now()  # 重置开始时间
-                self._stir_state = "Running"
-                self._status = "Stirring"
-                self._running = True
-                
-                return {"success": True}
-                
-            except ValueError:
-                self._status = "Error: Invalid parameters"
-                return {"success": False}
-
-    def stop_stir(self, vessel: str) -> dict:
-        """
-        StopStir.action 对应的方法
-        """
-        with self._thread_lock:
-            if vessel != self._vessel:
-                return {
-                    "success": False,
-                    "message": "Vessel mismatch"
-                }
-            
-            self._running = False
-            self._stir_state = "Stopped"
-            self._target_stir_speed = 0.0
-            self._status = "Stirring Stopped"
-            
-            return {
-                "success": True,
-                "message": "Stirring stopped successfully"
-            }
-
-    # ==================== 内部控制方法 ====================
-
-    def _operation_loop(self):
-        """操作主循环"""
-        while True:
-            try:
-                current_time = datetime.now()
-                
-                with self._thread_lock:  # 添加锁保护
-                    if self._stir_state == "Running":
-                        # 实际搅拌逻辑
-                        speed_diff = self._target_stir_speed - self._stir_speed
-                        if abs(speed_diff) > 0.1:
-                            adjustment = speed_diff * 0.1
-                            self._stir_speed += adjustment
-                        else:
-                            self._stir_speed = self._target_stir_speed
-                        
-                        # 更新进度
-                        if self._running:
-                            if self._stir_time > 0:  # 定时搅拌模式
-                                elapsed = (current_time - self._start_time).total_seconds()
-                                if elapsed >= self._stir_time + self._settling_time:
-                                    self._running = False
-                                    self._stir_state = "Stopped"
-                                    self._target_stir_speed = 0.0
-                                    self._stir_speed = 0.0
-                                    self._status = "Stirring Complete"
-                                elif elapsed >= self._stir_time:
-                                    self._status = "Settling"
-                            else:  # 连续搅拌模式
-                                self._status = "Stirring"
-                    else:
-                        # 停止状态下慢慢降低速度
-                        if self._stir_speed > 0:
-                            self._stir_speed = max(0, self._stir_speed - 20.0)
-                
-                time.sleep(0.1)
-                        
-            except Exception as e:
-                print(f"Error in operation loop: {str(e)}")  # 添加错误输出
-                self._status = f"Error: {str(e)}"
-                time.sleep(1.0)  # 错误发生时等待较长时间
-
-    def get_status_info(self) -> dict:
-        """获取设备状态信息"""
-        return {
-            "status": self._status,
-            "vessel": self._vessel,
-            "purpose": self._purpose,
-            "stir_speed": self._stir_speed,
-            "target_stir_speed": self._target_stir_speed,
-            "stir_state": self._stir_state,
-            "stir_time": self._stir_time,         # 添加
-            "settling_time": self._settling_time,  # 添加
-            "progress": self.progress,
-            "max_stir_speed": self._max_stir_speed
-        }

unilabos/devices/mock/mock_vacuum.py

@@ -1,410 +0,0 @@
-import time
-import threading
-
-
-class MockVacuum:
-    """
-    模拟真空泵设备类
-
-    这个类模拟了一个实验室真空泵的行为，包括真空度控制、
-    压力监测、运行状态管理等功能。参考了现有的 VacuumPumpMock 实现。
-    """
-
-    def __init__(self, port: str = "MOCK"):
-        """
-        初始化MockVacuum实例
-
-        Args:
-            port (str): 设备端口，默认为"MOCK"表示模拟设备
-        """
-        self.port = port
-
-        # 设备基本状态属性
-        self._status: str = "Idle"  # 设备状态：Idle, Running, Error, Stopped
-        self._power_state: str = "Off"  # 电源状态：On, Off
-        self._pump_state: str = "Stopped"  # 泵运行状态：Running, Stopped, Paused
-
-        # 真空相关属性
-        self._vacuum_level: float = 1013.25  # 当前真空度 (mbar) - 大气压开始
-        self._target_vacuum: float = 50.0  # 目标真空度 (mbar)
-        self._min_vacuum: float = 1.0  # 最小真空度 (mbar)
-        self._max_vacuum: float = 1013.25  # 最大真空度 (mbar) - 大气压
-
-        # 泵性能相关属性
-        self._pump_speed: float = 0.0  # 泵速 (L/s)
-        self._max_pump_speed: float = 100.0  # 最大泵速 (L/s)
-        self._pump_efficiency: float = 95.0  # 泵效率百分比
-
-        # 运行控制线程
-        self._vacuum_thread = None
-        self._running = False
-        self._thread_lock = threading.Lock()
-
-    # ==================== 状态属性 ====================
-    # 这些属性会被Uni-Lab系统自动识别并定时对外广播
-
-    @property
-    def status(self) -> str:
-        """
-        设备状态 - 会被自动识别的设备属性
-
-        Returns:
-            str: 当前设备状态 (Idle, Running, Error, Stopped)
-        """
-        return self._status
-
-    @property
-    def power_state(self) -> str:
-        """
-        电源状态
-
-        Returns:
-            str: 电源状态 (On, Off)
-        """
-        return self._power_state
-
-    @property
-    def pump_state(self) -> str:
-        """
-        泵运行状态
-
-        Returns:
-            str: 泵状态 (Running, Stopped, Paused)
-        """
-        return self._pump_state
-
-    @property
-    def vacuum_level(self) -> float:
-        """
-        当前真空度
-
-        Returns:
-            float: 当前真空度 (mbar)
-        """
-        return self._vacuum_level
-
-    @property
-    def target_vacuum(self) -> float:
-        """
-        目标真空度
-
-        Returns:
-            float: 目标真空度 (mbar)
-        """
-        return self._target_vacuum
-
-    @property
-    def pump_speed(self) -> float:
-        """
-        泵速
-
-        Returns:
-            float: 泵速 (L/s)
-        """
-        return self._pump_speed
-
-    @property
-    def pump_efficiency(self) -> float:
-        """
-        泵效率
-
-        Returns:
-            float: 泵效率百分比
-        """
-        return self._pump_efficiency
-
-    @property
-    def max_pump_speed(self) -> float:
-        """
-        最大泵速
-
-        Returns:
-            float: 最大泵速 (L/s)
-        """
-        return self._max_pump_speed
-
-    # ==================== 设备控制方法 ====================
-    # 这些方法需要在注册表中添加，会作为ActionServer接受控制指令
-
-    def power_control(self, power_state: str = "On") -> str:
-        """
-        电源控制方法
-
-        Args:
-            power_state (str): 电源状态，可选值："On", "Off"
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        if power_state not in ["On", "Off"]:
-            self._status = "Error: Invalid power state"
-            return "Error"
-
-        self._power_state = power_state
-
-        if power_state == "On":
-            self._status = "Power On"
-            self._start_vacuum_operation()
-        else:
-            self._status = "Power Off"
-            self.stop_vacuum()
-
-        return "Success"
-
-    def set_vacuum_level(self, vacuum_level: float) -> str:
-        """
-        设置目标真空度
-
-        Args:
-            vacuum_level (float): 目标真空度 (mbar)
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        try:
-            vacuum_level = float(vacuum_level)
-        except ValueError:
-            self._status = "Error: Invalid vacuum level"
-            return "Error"
-        if self._power_state != "On":
-            self._status = "Error: Power Off"
-            return "Error"
-
-        if vacuum_level < self._min_vacuum or vacuum_level > self._max_vacuum:
-            self._status = f"Error: Vacuum level out of range ({self._min_vacuum}-{self._max_vacuum})"
-            return "Error"
-
-        self._target_vacuum = vacuum_level
-        self._status = "Setting Vacuum Level"
-
-        return "Success"
-
-    def start_vacuum(self) -> str:
-        """
-        启动真空泵
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        if self._power_state != "On":
-            self._status = "Error: Power Off"
-            return "Error"
-
-        self._pump_state = "Running"
-        self._status = "Starting Vacuum Pump"
-        self._start_vacuum_operation()
-
-        return "Success"
-
-    def stop_vacuum(self) -> str:
-        """
-        停止真空泵
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._pump_state = "Stopped"
-        self._status = "Stopping Vacuum Pump"
-        self._stop_vacuum_operation()
-        self._pump_speed = 0.0
-
-        return "Success"
-
-    def pause_vacuum(self) -> str:
-        """
-        暂停真空泵
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        if self._pump_state != "Running":
-            self._status = "Error: Pump not running"
-            return "Error"
-
-        self._pump_state = "Paused"
-        self._status = "Vacuum Pump Paused"
-        self._stop_vacuum_operation()
-
-        return "Success"
-
-    def resume_vacuum(self) -> str:
-        """
-        恢复真空泵运行
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        if self._pump_state != "Paused":
-            self._status = "Error: Pump not paused"
-            return "Error"
-
-        if self._power_state != "On":
-            self._status = "Error: Power Off"
-            return "Error"
-
-        self._pump_state = "Running"
-        self._status = "Resuming Vacuum Pump"
-        self._start_vacuum_operation()
-
-        return "Success"
-
-    def vent_to_atmosphere(self) -> str:
-        """
-        通大气 - 将真空度恢复到大气压
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._target_vacuum = self._max_vacuum  # 设置为大气压
-        self._status = "Venting to Atmosphere"
-        return "Success"
-
-    def emergency_stop(self) -> str:
-        """
-        紧急停止
-
-        Returns:
-            str: 操作结果状态 ("Success", "Error")
-        """
-        self._status = "Emergency Stop"
-        self._pump_state = "Stopped"
-        self._stop_vacuum_operation()
-        self._pump_speed = 0.0
-
-        return "Success"
-
-    # ==================== 内部控制方法 ====================
-
-    def _start_vacuum_operation(self):
-        """
-        启动真空操作线程
-
-        这个方法启动一个后台线程来模拟真空泵的实际运行过程。
-        """
-        with self._thread_lock:
-            if not self._running and self._power_state == "On":
-                self._running = True
-                self._vacuum_thread = threading.Thread(target=self._vacuum_operation_loop)
-                self._vacuum_thread.daemon = True
-                self._vacuum_thread.start()
-
-    def _stop_vacuum_operation(self):
-        """
-        停止真空操作线程
-
-        安全地停止后台运行线程并等待其完成。
-        """
-        with self._thread_lock:
-            self._running = False
-            if self._vacuum_thread and self._vacuum_thread.is_alive():
-                self._vacuum_thread.join(timeout=2.0)
-
-    def _vacuum_operation_loop(self):
-        """
-        真空操作主循环
-
-        这个方法在后台线程中运行，模拟真空泵的工作过程：
-          1. 检查电源状态和运行状态
-          2. 如果泵状态为 "Running"，根据目标真空调整泵速和真空度
-          3. 否则等待
-        """
-        while self._running and self._power_state == "On":
-            try:
-                with self._thread_lock:
-                    # 只有泵状态为 Running 时才进行更新
-                    if self._pump_state == "Running":
-                        vacuum_diff = self._vacuum_level - self._target_vacuum
-
-                        if abs(vacuum_diff) < 1.0:  # 真空度接近目标值
-                            self._status = "At Target Vacuum"
-                            self._pump_speed = self._max_pump_speed * 0.2  # 维持真空的最小泵速
-                        elif vacuum_diff > 0:  # 需要抽真空（降低压力）
-                            self._status = "Pumping Down"
-                            if vacuum_diff > 500:
-                                self._pump_speed = self._max_pump_speed
-                            elif vacuum_diff > 100:
-                                self._pump_speed = self._max_pump_speed * 0.8
-                            elif vacuum_diff > 50:
-                                self._pump_speed = self._max_pump_speed * 0.6
-                            else:
-                                self._pump_speed = self._max_pump_speed * 0.4
-
-                            # 根据泵速和效率计算真空降幅
-                            pump_rate = (self._pump_speed / self._max_pump_speed) * self._pump_efficiency / 100.0
-                            vacuum_reduction = pump_rate * 10.0  # 每秒最大降低10 mbar
-                            self._vacuum_level = max(self._target_vacuum, self._vacuum_level - vacuum_reduction)
-                        else:  # 目标真空度高于当前值，需要通气
-                            self._status = "Venting"
-                            self._pump_speed = 0.0
-                            self._vacuum_level = min(self._target_vacuum, self._vacuum_level + 5.0)
-
-                        # 限制真空度范围
-                        self._vacuum_level = max(self._min_vacuum, min(self._max_vacuum, self._vacuum_level))
-                    else:
-                        # 当泵状态不是 Running 时，可保持原状态
-                        self._status = "Vacuum Pump Not Running"
-                # 释放锁后等待1秒钟
-                time.sleep(1.0)
-            except Exception as e:
-                with self._thread_lock:
-                    self._status = f"Error in vacuum operation: {str(e)}"
-                break
-
-        # 循环结束后的清理工作
-        if self._pump_state == "Running":
-            self._status = "Idle"
-            # 停止泵后，真空度逐渐回升到大气压
-            while self._vacuum_level < self._max_vacuum * 0.9:
-                with self._thread_lock:
-                    self._vacuum_level += 2.0
-                time.sleep(0.1)
-
-    def get_status_info(self) -> dict:
-        """
-        获取完整的设备状态信息
-
-        Returns:
-            dict: 包含所有设备状态的字典
-        """
-        return {
-            "status": self._status,
-            "power_state": self._power_state,
-            "pump_state": self._pump_state,
-            "vacuum_level": self._vacuum_level,
-            "target_vacuum": self._target_vacuum,
-            "pump_speed": self._pump_speed,
-            "pump_efficiency": self._pump_efficiency,
-            "max_pump_speed": self._max_pump_speed,
-        }
-
-
-# 用于测试的主函数
-if __name__ == "__main__":
-    vacuum = MockVacuum()
-
-    # 测试基本功能
-    print("启动真空泵测试...")
-    vacuum.power_control("On")
-    print(f"初始状态: {vacuum.get_status_info()}")
-
-    # 设置目标真空度并启动
-    vacuum.set_vacuum_level(10.0)  # 设置为10mbar
-    vacuum.start_vacuum()
-
-    # 模拟运行15秒
-    for i in range(15):
-        time.sleep(1)
-        print(
-            f"第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 泵速={vacuum.pump_speed:.1f}L/s, 状态={vacuum.status}"
-        )
-        # 测试通大气
-    print("测试通大气...")
-    vacuum.vent_to_atmosphere()
-
-    # 继续运行5秒观察通大气过程
-    for i in range(5):
-        time.sleep(1)
-        print(f"通大气第{i+1}秒: 真空度={vacuum.vacuum_level:.1f}mbar, 状态={vacuum.status}")
-
-    vacuum.emergency_stop()
-    print("测试完成")

unilabos/devices/pump_and_valve/runze_backbone.py

@@ -3,6 +3,7 @@ from threading import Lock, Event
 from enum import Enum
 from dataclasses import dataclass
 import time
+import traceback
 from typing import Any, Union, Optional, overload
 
 import serial.tools.list_ports
@@ -386,3 +387,8 @@ class RunzeSyringePump:
     def list():
         for item in serial.tools.list_ports.comports():
             yield RunzeSyringePumpInfo(port=item.device)
+
+
+if __name__ == "__main__":
+    r = RunzeSyringePump("/dev/tty.usbserial-D30JUGG5", "1", 25.0)
+    r.initialize()

unilabos/devices/pump_and_valve/runze_multiple_backbone.py

@@ -0,0 +1,386 @@
+"""
+Runze Syringe Pump Controller (SY-03B-T08)
+
+本模块用于控制润泽注射泵 SY-03B-T08 型号的多泵系统。
+支持通过串口同时控制多个具有不同地址的泵。
+泵每次连接前要先进行初始化。
+
+基础用法:
+    # 创建控制器实例
+    pump_controller = RunzeMultiplePump("COM3")  # 或 "/dev/ttyUSB0" (Linux)
+
+    # 初始化特定地址的泵
+    pump_controller.initialize("1")
+
+    # 设置阀门位置
+    pump_controller.set_valve_position("1", 1)  # 设置到位置1
+
+    # 移动到绝对位置
+    pump_controller.set_position("1", 10.0)  # 移动到10ml位置
+
+    # 推拉柱塞操作
+    pump_controller.pull_plunger("1", 5.0)  # 吸取5ml
+    pump_controller.push_plunger("1", 5.0)  # 推出5ml
+
+    # 关闭连接
+    pump_controller.close()
+
+支持的泵地址: 1-8 (字符串格式，如 "1", "2", "3" 等)
+默认最大容量: 25.0 ml
+通信协议: RS485, 9600波特率
+"""
+
+from threading import Lock, Event
+import time
+from dataclasses import dataclass
+from enum import Enum
+from typing import Union, Optional, List, Dict
+
+import serial.tools.list_ports
+from serial import Serial
+from serial.serialutil import SerialException
+
+
+class RunzeSyringePumpMode(Enum):
+    Normal = 0
+    AccuratePos = 1
+    AccuratePosVel = 2
+
+
+pulse_freq_grades = {
+    6000: "0",
+    5600: "1",
+    5000: "2",
+    4400: "3",
+    3800: "4",
+    3200: "5",
+    2600: "6",
+    2200: "7",
+    2000: "8",
+    1800: "9",
+    1600: "10",
+    1400: "11",
+    1200: "12",
+    1000: "13",
+    800: "14",
+    600: "15",
+    400: "16",
+    200: "17",
+    190: "18",
+    180: "19",
+    170: "20",
+    160: "21",
+    150: "22",
+    140: "23",
+    130: "24",
+    120: "25",
+    110: "26",
+    100: "27",
+    90: "28",
+    80: "29",
+    70: "30",
+    60: "31",
+    50: "32",
+    40: "33",
+    30: "34",
+    20: "35",
+    18: "36",
+    16: "37",
+    14: "38",
+    12: "39",
+    10: "40",
+}
+
+
+class RunzeSyringePumpConnectionError(Exception):
+    pass
+
+
+@dataclass
+class PumpConfig:
+    address: str
+    max_volume: float = 25.0
+    mode: RunzeSyringePumpMode = RunzeSyringePumpMode.Normal
+
+
+class RunzeMultiplePump:
+    """
+    Multi-address Runze Syringe Pump Controller
+
+    Supports controlling multiple pumps on the same serial port with different addresses.
+    """
+
+    def __init__(self, port: str):
+        """
+        Initialize multiple pump controller
+
+        Args:
+            port (str): Serial port path
+        """
+        self.port = port
+
+        # Default pump parameters
+        self.max_volume = 25.0
+        self.total_steps = 6000
+        self.total_steps_vel = 6000
+
+        # Connection management
+        try:
+            self.hardware_interface = Serial(baudrate=9600, port=port, timeout=1.0)
+            print(f"✓ 成功连接到串口: {port}")
+        except (OSError, SerialException) as e:
+            print(f"✗ 串口连接失败: {e}")
+            raise RunzeSyringePumpConnectionError(f"无法连接到串口 {port}: {e}") from e
+
+        # Thread safety
+        self._query_lock = Lock()
+        self._run_lock = Lock()
+        self._closing = False
+
+        # Pump status tracking
+        self._pump_status: Dict[str, str] = {}  # address -> status
+
+    def _adjust_total_steps(self, mode: RunzeSyringePumpMode):
+        total_steps = 6000 if mode == RunzeSyringePumpMode.Normal else 48000
+        total_steps_vel = 48000 if mode == RunzeSyringePumpMode.AccuratePosVel else 6000
+        return total_steps, total_steps_vel
+
+    def send_command(self, full_command: str) -> str:
+        """Send command to hardware and get response"""
+        full_command_data = bytearray(full_command, "ascii")
+        self.hardware_interface.write(full_command_data)
+        time.sleep(0.05)
+        response = self.hardware_interface.read_until(b"\n")
+        output = self._receive(response)
+        return output
+
+    def _query(self, address: str, command: str) -> str:
+        """
+        Send query command to specific pump
+
+        Args:
+            address (str): Pump address (e.g., "1", "2", "3")
+            command (str): Command to send
+
+        Returns:
+            str: Response from pump
+        """
+        with self._query_lock:
+            if self._closing:
+                raise RunzeSyringePumpConnectionError("Connection is closing")
+
+            run = "R" if "?" not in command else ""
+            full_command = f"/{address}{command}{run}\r\n"
+
+            output = self.send_command(full_command)[3:-3]
+        return output
+
+    def _receive(self, data: bytes) -> str:
+        if not data:
+            return ""
+        ascii_string = "".join(chr(byte) for byte in data)
+        return ascii_string
+
+    def _run(self, address: str, command: str) -> str:
+        """
+        Run command and wait for completion
+
+        Args:
+            address (str): Pump address
+            command (str): Command to execute
+
+        Returns:
+            str: Command response
+        """
+        with self._run_lock:
+            try:
+                print(f"[泵 {address}] 执行命令: {command}")
+                response = self._query(address, command)
+
+                # Wait for operation completion
+                while True:
+                    time.sleep(0.5)
+                    status = self.get_status(address)
+                    if status == "Idle":
+                        break
+
+            except Exception as e:
+                print(f"[泵 {address}] 命令执行错误: {e}")
+                response = ""
+
+        return response
+
+    def _standardize_status(self, status_raw: str) -> str:
+        """Convert raw status to standard format"""
+        return "Idle" if status_raw == "`" else "Busy"
+
+    # === Core Operations ===
+
+    def initialize(self, address: str) -> str:
+        """Initialize specific pump"""
+        print(f"[泵 {address}] 正在初始化...")
+        response = self._run(address, "Z")
+        print(f"[泵 {address}] 初始化完成")
+        return response
+
+    # === Status Queries ===
+
+    def get_status(self, address: str) -> str:
+        """Get pump status"""
+        try:
+            status_raw = self._query(address, "Q")
+            status = self._standardize_status(status_raw)
+            self._pump_status[address] = status
+            return status
+        except Exception:
+            return "Error"
+
+    # === Velocity Control ===
+
+    def set_max_velocity(self, address: str, velocity: float, max_volume: float = None) -> str:
+        """Set maximum velocity for pump"""
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        pulse_freq = int(velocity / max_volume * self.total_steps_vel)
+        pulse_freq = min(6000, pulse_freq)
+        return self._run(address, f"V{pulse_freq}")
+
+    def get_max_velocity(self, address: str, max_volume: float = None) -> float:
+        """Get maximum velocity of pump"""
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        response = self._query(address, "?2")
+        status_raw, pulse_freq = response[0], int(response[1:])
+        velocity = pulse_freq / self.total_steps_vel * max_volume
+        return velocity
+
+    def set_velocity_grade(self, address: str, velocity: Union[int, str]) -> str:
+        """Set velocity grade"""
+        return self._run(address, f"S{velocity}")
+
+    # === Position Control ===
+
+    def get_position(self, address: str, max_volume: float = None) -> float:
+        """Get current plunger position in ml"""
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        response = self._query(address, "?0")
+        status_raw, pos_step = response[0], int(response[1:])
+        position = pos_step / self.total_steps * max_volume
+        return position
+
+    def set_position(self, address: str, position: float, max_velocity: float = None, max_volume: float = None) -> str:
+        """
+        Move to absolute volume position
+
+        Args:
+            address (str): Pump address
+            position (float): Target position in ml
+            max_velocity (float): Maximum velocity in ml/s
+            max_volume (float): Maximum syringe volume in ml
+        """
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        velocity_cmd = ""
+        if max_velocity is not None:
+            pulse_freq = int(max_velocity / max_volume * self.total_steps_vel)
+            pulse_freq = min(6000, pulse_freq)
+            velocity_cmd = f"V{pulse_freq}"
+
+        pos_step = int(position / max_volume * self.total_steps)
+        return self._run(address, f"{velocity_cmd}A{pos_step}")
+
+    def pull_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
+        """Pull plunger by specified volume"""
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        pos_step = int(volume / max_volume * self.total_steps)
+        return self._run(address, f"P{pos_step}")
+
+    def push_plunger(self, address: str, volume: float, max_volume: float = None) -> str:
+        """Push plunger by specified volume"""
+        if max_volume is None:
+            max_volume = self.max_volume
+
+        pos_step = int(volume / max_volume * self.total_steps)
+        return self._run(address, f"D{pos_step}")
+
+    # === Valve Control ===
+
+    def set_valve_position(self, address: str, position: Union[int, str, float]) -> str:
+        """Set valve position"""
+        if isinstance(position, float):
+            position = round(position / 120)
+        command = f"I{position}" if isinstance(position, int) or ord(str(position)) <= 57 else str(position).upper()
+        return self._run(address, command)
+
+    def get_valve_position(self, address: str) -> str:
+        """Get current valve position"""
+        response = self._query(address, "?6")
+        status_raw, pos_valve = response[0], response[1].upper()
+        return pos_valve
+
+    # === Utility Functions ===
+
+    def stop_operation(self, address: str) -> str:
+        """Stop current operation"""
+        return self._run(address, "T")
+
+    def close(self):
+        """Close connection"""
+        if self._closing:
+            raise RunzeSyringePumpConnectionError("Already closing")
+
+        self._closing = True
+        self.hardware_interface.close()
+        print("✓ 串口连接已关闭")
+
+
+if __name__ == "__main__":
+    """
+    示例：初始化3个泵（地址1、2、3），然后断开连接
+    """
+    try:
+        # 请根据实际串口修改端口号
+        # Windows: "COM3", "COM4", 等
+        # Linux/Mac: "/dev/ttyUSB0", "/dev/ttyACM0", 等
+        port = "/dev/cn."  # 修改为实际使用的串口
+
+        print("正在创建泵控制器...")
+        pump_controller = RunzeMultiplePump(port)
+
+        # 初始化3个泵 (地址: 1, 2, 3)
+        pump_addresses = ["1", "2", "3"]
+
+        for address in pump_addresses:
+            try:
+                print(f"\n正在初始化泵 {address}...")
+                pump_controller.initialize(address)
+
+                # 检查泵状态
+                status = pump_controller.get_status(address)
+                print(f"泵 {address} 状态: {status}")
+            except Exception as e:
+                print(f"泵 {address} 初始化失败: {e}")
+
+        print("\n所有泵初始化完成！")
+
+        # 断开连接
+        print("\n正在断开连接...")
+        pump_controller.close()
+        print("程序结束")
+
+    except RunzeSyringePumpConnectionError as e:
+        print(f"连接错误: {e}")
+        print("请检查:")
+        print("1. 串口是否正确")
+        print("2. 设备是否已连接")
+        print("3. 串口是否被其他程序占用")
+
+    except Exception as e:
+        print(f"未知错误: {e}")

unilabos/devices/separator/chinwe.py

@@ -0,0 +1,282 @@
+import sys
+import threading
+import serial
+import serial.tools.list_ports
+import re
+import time
+from typing import Optional, List, Dict, Tuple
+
+class ChinweDevice:
+    """
+    ChinWe设备控制类
+    提供串口通信、电机控制、传感器数据读取等功能
+    """
+    
+    def __init__(self, port: str, baudrate: int = 115200, debug: bool = False):
+        """
+        初始化ChinWe设备
+        
+        Args:
+            port: 串口名称，如果为None则自动检测
+            baudrate: 波特率，默认115200
+        """
+        self.debug = debug
+        self.port = port
+        self.baudrate = baudrate
+        self.serial_port: Optional[serial.Serial] = None
+        self._voltage: float = 0.0
+        self._ec_value: float = 0.0
+        self._ec_adc_value: int = 0
+        self._is_connected = False
+        self.connect()
+    
+    @property
+    def is_connected(self) -> bool:
+        """获取连接状态"""
+        return self._is_connected and self.serial_port and self.serial_port.is_open
+    
+    @property
+    def voltage(self) -> float:
+        """获取电源电压值"""
+        return self._voltage
+    
+    @property
+    def ec_value(self) -> float:
+        """获取电导率值 (ms/cm)"""
+        return self._ec_value
+
+    @property
+    def ec_adc_value(self) -> int:
+        """获取EC ADC原始值"""
+        return self._ec_adc_value
+    
+
+    @property
+    def device_status(self) -> Dict[str, any]:
+        """
+        获取设备状态信息
+        
+        Returns:
+            包含设备状态的字典
+        """
+        return {
+            "connected": self.is_connected,
+            "port": self.port,
+            "baudrate": self.baudrate,
+            "voltage": self.voltage,
+            "ec_value": self.ec_value,
+            "ec_adc_value": self.ec_adc_value
+        }
+    
+    def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool:
+        """
+        连接到串口设备
+        
+        Args:
+            port: 串口名称，如果为None则使用初始化时的port或自动检测
+            baudrate: 波特率，如果为None则使用初始化时的baudrate
+            
+        Returns:
+            连接是否成功
+        """
+        if self.is_connected:
+            return True
+            
+        target_port = port or self.port
+        target_baudrate = baudrate or self.baudrate
+        
+        try:
+            self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5)
+            self._is_connected = True
+            self.port = target_port
+            self.baudrate = target_baudrate
+            connect_allow_times = 5
+            while not self.serial_port.is_open and connect_allow_times > 0:
+                time.sleep(0.5)
+                connect_allow_times -= 1
+                print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug)
+                raise ValueError("串口未打开，请检查设备连接")
+            print(f"已连接到 {target_port} @ {target_baudrate}", self.debug)
+            threading.Thread(target=self._read_data, daemon=True).start()
+            return True
+        except Exception as e:
+            print(f"ChinweDevice连接失败: {e}")
+            self._is_connected = False
+            return False
+    
+    def disconnect(self) -> bool:
+        """
+        断开串口连接
+        
+        Returns:
+            断开是否成功
+        """
+        if self.serial_port and self.serial_port.is_open:
+            try:
+                self.serial_port.close()
+                self._is_connected = False
+                print("已断开串口连接")
+                return True
+            except Exception as e:
+                print(f"断开连接失败: {e}")
+                return False
+        return True
+    
+    def _send_motor_command(self, command: str) -> bool:
+        """
+        发送电机控制命令
+        
+        Args:
+            command: 电机命令字符串，例如 "M 1 CW 1.5"
+            
+        Returns:
+            发送是否成功
+        """
+        if not self.is_connected:
+            print("设备未连接")
+            return False
+            
+        try:
+            self.serial_port.write((command + "\n").encode('utf-8'))
+            print(f"发送命令: {command}")
+            return True
+        except Exception as e:
+            print(f"发送命令失败: {e}")
+            return False
+    
+    def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool:
+        """
+        使电机转动指定圈数
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            turns: 转动圈数，支持小数
+            clockwise: True为顺时针，False为逆时针
+            
+        Returns:
+            命令发送是否成功
+        """
+        if clockwise:
+            command = f"M {motor_id} CW {turns}"
+        else:
+            command = f"M {motor_id} CCW {turns}"
+        return self._send_motor_command(command)
+
+    def set_motor_speed(self, motor_id: int, speed: float) -> bool:
+        """
+        设置电机转速（如果设备支持）
+        
+        Args:
+            motor_id: 电机ID（1, 2, 3...）
+            speed: 转速值
+            
+        Returns:
+            命令发送是否成功
+        """
+        command = f"M {motor_id} SPEED {speed}"
+        return self._send_motor_command(command)
+
+    def _read_data(self) -> List[str]:
+        """
+        读取串口数据并解析
+        
+        Returns:
+            读取到的数据行列表
+        """
+        print("开始读取串口数据...")
+        if not self.is_connected:
+            return []
+            
+        data_lines = []
+        try:
+            while self.serial_port.in_waiting:
+                time.sleep(0.1)  # 等待数据稳定
+                try:
+                    line = self.serial_port.readline().decode('utf-8', errors='ignore').strip()
+                    if line:
+                        data_lines.append(line)
+                        self._parse_sensor_data(line)
+                except Exception as ex:
+                    print(f"解码数据错误: {ex}")
+        except Exception as e:
+            print(f"读取串口数据错误: {e}")
+            
+        return data_lines
+    
+    def _parse_sensor_data(self, line: str) -> None:
+        """
+        解析传感器数据
+        
+        Args:
+            line: 接收到的数据行
+        """
+        # 解析电源电压
+        if "电源电压" in line:
+            try:
+                val = float(line.split("：")[1].replace("V", "").strip())
+                self._voltage = val
+                if self.debug:
+                    print(f"电源电压更新: {val}V")
+            except Exception:
+                pass
+
+        # 解析电导率和ADC原始值（支持两种格式）
+        if "电导率" in line and "ADC原始值" in line:
+            try:
+                # 支持格式如：电导率：2.50ms/cm, ADC原始值：2052
+                ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line)
+                adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line)
+                if ec_match:
+                    ec_val = float(ec_match.group(1))
+                    self._ec_value = ec_val
+                    if self.debug:
+                        print(f"电导率更新: {ec_val:.2f} ms/cm")
+                if adc_match:
+                    adc_val = int(adc_match.group(1))
+                    self._ec_adc_value = adc_val
+                    if self.debug:
+                        print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+        # 仅电导率，无ADC原始值
+        elif "电导率" in line:
+            try:
+                val = float(line.split("：")[1].replace("ms/cm", "").strip())
+                self._ec_value = val
+                if self.debug:
+                    print(f"电导率更新: {val:.2f} ms/cm")
+            except Exception:
+                pass
+        # 仅ADC原始值（如有分开回传场景）
+        elif "ADC原始值" in line:
+            try:
+                adc_val = int(line.split("：")[1].strip())
+                self._ec_adc_value = adc_val
+                if self.debug:
+                    print(f"EC ADC原始值更新: {adc_val}")
+            except Exception:
+                pass
+    
+    def spin_when_ec_ge_0():
+        pass
+    
+
+def main():
+    """测试函数"""
+    print("=== ChinWe设备测试 ===")
+    
+    # 创建设备实例
+    device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True)
+    try:
+        # 测试5: 发送电机命令
+        print("\n5. 发送电机命令测试:")
+        print("  5.3 使用通用函数控制电机20顺时针转2圈:")
+        device.rotate_motor(2, 20.0, clockwise=True)
+        time.sleep(0.5)
+    finally:
+        time.sleep(10)
+        # 测试7: 断开连接
+        print("\n7. 断开连接:")
+        device.disconnect()
+if __name__ == "__main__":
+    main()

unilabos/devices/virtual/virtual_filter.py

@@ -3,6 +3,8 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 
+from unilabos.compile.utils.vessel_parser import get_vessel
+
 
 class VirtualFilter:
     """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
@@ -40,7 +42,6 @@ class VirtualFilter:
             "progress": 0.0,           # Filter.action feedback
             "current_temp": 25.0,      # Filter.action feedback
             "filtered_volume": 0.0,    # Filter.action feedback
-            "current_status": "Ready for filtration",  # Filter.action feedback
             "message": "Ready for filtration"
         })
         
@@ -52,9 +53,7 @@ class VirtualFilter:
         self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
         
         self.data.update({
-            "status": "Offline",
-            "current_status": "System offline",
-            "message": "System offline"
+            "status": "Offline"
         })
         
         self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
@@ -62,8 +61,8 @@ class VirtualFilter:
     
     async def filter(
         self, 
-        vessel: str, 
-        filtrate_vessel: str = "", 
+        vessel: dict,
+        filtrate_vessel: dict = {},
         stir: bool = False, 
         stir_speed: float = 300.0, 
         temp: float = 25.0, 
@@ -71,7 +70,9 @@ class VirtualFilter:
         volume: float = 0.0
     ) -> bool:
         """Execute filter action - 完全按照 Filter.action 参数 🌊"""
-        
+        vessel_id, _ = get_vessel(vessel)
+        filtrate_vessel_id, _ = get_vessel(filtrate_vessel) if filtrate_vessel else (f"{vessel_id}_filtrate", {})
+
         # 🔧 新增：温度自动调整
         original_temp = temp
         if temp == 0.0:
@@ -81,7 +82,7 @@ class VirtualFilter:
             temp = 4.0   # 小于4度自动设置为4度
             self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
         
-        self.logger.info(f"🌊 开始过滤操作: {vessel} → {filtrate_vessel} 🚰")
+        self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
         self.logger.info(f"  🌪️ 搅拌: {stir} ({stir_speed} RPM)")
         self.logger.info(f"  🌡️ 温度: {temp}°C")
         self.logger.info(f"  💧 体积: {volume}mL")
@@ -93,7 +94,6 @@ class VirtualFilter:
             self.logger.error(f"❌ {error_msg}")
             self.data.update({
                 "status": f"Error: 温度超出范围 ⚠️",
-                "current_status": f"Error: 温度超出范围 ⚠️",
                 "message": error_msg
             })
             return False
@@ -103,7 +103,6 @@ class VirtualFilter:
             self.logger.error(f"❌ {error_msg}")
             self.data.update({
                 "status": f"Error: 搅拌速度超出范围 ⚠️",
-                "current_status": f"Error: 搅拌速度超出范围 ⚠️",
                 "message": error_msg
             })
             return False
@@ -112,8 +111,7 @@ class VirtualFilter:
             error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
             self.logger.error(f"❌ {error_msg}")
             self.data.update({
-                "status": f"Error: 体积超出范围 ⚠️",
-                "current_status": f"Error: 体积超出范围 ⚠️",
+                "status": f"Error",
                 "message": error_msg
             })
             return False
@@ -123,12 +121,11 @@ class VirtualFilter:
         self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
         
         self.data.update({
-            "status": f"🌊 过滤中: {vessel}",
+            "status": f"Running",
             "current_temp": temp,
             "filtered_volume": 0.0,
             "progress": 0.0,
-            "current_status": f"🌊 Filtering {vessel} → {filtrate_vessel}",
-            "message": f"🚀 Starting filtration: {vessel} → {filtrate_vessel}"
+            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
         })
         
         try:
@@ -164,8 +161,7 @@ class VirtualFilter:
                     "progress": progress,               # Filter.action feedback
                     "current_temp": temp,              # Filter.action feedback
                     "filtered_volume": current_filtered, # Filter.action feedback
-                    "current_status": f"🌊 Filtering: {progress:.1f}% complete", # Filter.action feedback
-                    "status": status_msg,
+                    "status": "Running",
                     "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
                 })
                 
@@ -190,11 +186,10 @@ class VirtualFilter:
                 "progress": 100.0,                    # Filter.action feedback
                 "current_temp": final_temp,           # Filter.action feedback
                 "filtered_volume": filter_volume,     # Filter.action feedback
-                "current_status": f"✅ Filtration completed: {filter_volume}mL", # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel}"
+                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
             })
             
-            self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel} 过滤到 {filtrate_vessel} ✨")
+            self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
             self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
             return True
             
@@ -202,8 +197,7 @@ class VirtualFilter:
             error_msg = f"过滤过程中发生错误: {str(e)} 💥"
             self.logger.error(f"❌ {error_msg}")
             self.data.update({
-                "status": f"❌ 过滤错误: {str(e)}",
-                "current_status": f"❌ Filtration failed: {str(e)}",
+                "status": f"Error",
                 "message": f"❌ Filtration failed: {str(e)}"
             })
             return False
@@ -222,17 +216,17 @@ class VirtualFilter:
     def current_temp(self) -> float:
         """Filter.action feedback 字段 🌡️"""
         return self.data.get("current_temp", 25.0)
-    
-    @property
-    def filtered_volume(self) -> float:
-        """Filter.action feedback 字段 💧"""
-        return self.data.get("filtered_volume", 0.0)
-    
+
     @property
     def current_status(self) -> str:
         """Filter.action feedback 字段 📋"""
         return self.data.get("current_status", "")
-    
+
+    @property
+    def filtered_volume(self) -> float:
+        """Filter.action feedback 字段 💧"""
+        return self.data.get("filtered_volume", 0.0)
+
     @property
     def message(self) -> str:
         return self.data.get("message", "")

unilabos/devices/virtual/virtual_heatchill.py

@@ -67,8 +67,8 @@ class VirtualHeatChill:
         self.logger.info(f"✅ 温控设备 {self.device_id} 清理完成 💤")
         return True
     
-    async def heat_chill(self, vessel: str, temp: float, time, stir: bool, 
-                        stir_speed: float, purpose: str) -> bool:
+    async def heat_chill(self, temp: float, time, stir: bool,
+                        stir_speed: float, purpose: str, vessel: dict = {}) -> bool:
         """Execute heat chill action - 🔧 修复：确保参数类型正确"""
         
         # 🔧 关键修复：确保所有参数类型正确
@@ -77,7 +77,6 @@ class VirtualHeatChill:
             time_value = float(time)  # 强制转换为浮点数
             stir_speed = float(stir_speed)
             stir = bool(stir)
-            vessel = str(vessel)
             purpose = str(purpose)
         except (ValueError, TypeError) as e:
             error_msg = f"参数类型转换错误: temp={temp}({type(temp)}), time={time}({type(time)}), error={str(e)}"
@@ -102,8 +101,7 @@ class VirtualHeatChill:
             operation_mode = "Maintaining"
             status_action = "保温"
         
-        self.logger.info(f"🌡️ 开始温控操作: {vessel} → {temp}°C {temp_emoji}")
-        self.logger.info(f"  🥽 容器: {vessel}")
+        self.logger.info(f"🌡️ 开始温控操作: {temp}°C {temp_emoji}")
         self.logger.info(f"  🎯 目标温度: {temp}°C {temp_emoji}")
         self.logger.info(f"  ⏰ 持续时间: {time_value}s")
         self.logger.info(f"  🌪️ 搅拌: {stir} ({stir_speed} RPM)")
@@ -147,7 +145,7 @@ class VirtualHeatChill:
         stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
         
         self.data.update({
-            "status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
+            "status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {total_time:.0f}s{stir_info}",
             "operation_mode": operation_mode,
             "is_stirring": stir,
             "stir_speed": stir_speed if stir else 0.0,
@@ -165,7 +163,7 @@ class VirtualHeatChill:
             # 更新剩余时间和状态
             self.data.update({
                 "remaining_time": remaining,
-                "status": f"{temp_emoji} 运行中: {status_action} {vessel} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
+                "status": f"{temp_emoji} 运行中: {status_action} 至 {temp}°C | ⏰ 剩余: {remaining:.0f}s{stir_info}",
                 "progress": progress
             })
             
@@ -185,7 +183,7 @@ class VirtualHeatChill:
         final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
         
         self.data.update({
-            "status": f"✅ 完成: {vessel} 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
+            "status": f"✅ 完成: 已达到 {temp}°C {temp_emoji} | ⏱️ 用时: {total_time:.0f}s{final_stir_info}",
             "operation_mode": "Completed",
             "remaining_time": 0.0,
             "is_stirring": False,
@@ -195,7 +193,6 @@ class VirtualHeatChill:
         
         self.logger.info(f"🎉 温控操作完成! ✨")
         self.logger.info(f"📊 操作结果:")
-        self.logger.info(f"  🥽 容器: {vessel}")
         self.logger.info(f"  🌡️ 达到温度: {temp}°C {temp_emoji}")
         self.logger.info(f"  ⏱️ 总用时: {total_time:.0f}s")
         if stir:
@@ -204,13 +201,12 @@ class VirtualHeatChill:
         
         return True
     
-    async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
+    async def heat_chill_start(self, temp: float, purpose: str, vessel: dict = {}) -> bool:
         """Start continuous heat chill 🔄"""
         
         # 🔧 添加类型转换
         try:
             temp = float(temp)
-            vessel = str(vessel)
             purpose = str(purpose)
         except (ValueError, TypeError) as e:
             error_msg = f"参数类型转换错误: {str(e)}"
@@ -235,8 +231,7 @@ class VirtualHeatChill:
             operation_mode = "Maintaining"
             status_action = "恒温保持"
         
-        self.logger.info(f"🔄 启动持续温控: {vessel} → {temp}°C {temp_emoji}")
-        self.logger.info(f"  🥽 容器: {vessel}")
+        self.logger.info(f"🔄 启动持续温控: {temp}°C {temp_emoji}")
         self.logger.info(f"  🎯 目标温度: {temp}°C {temp_emoji}")
         self.logger.info(f"  🔄 模式: {status_action}")
         self.logger.info(f"  📝 目的: {purpose}")
@@ -252,7 +247,7 @@ class VirtualHeatChill:
             return False
         
         self.data.update({
-            "status": f"🔄 启动: {status_action} {vessel} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
+            "status": f"🔄 启动: {status_action} 至 {temp}°C {temp_emoji} | ♾️ 持续运行",
             "operation_mode": operation_mode,
             "is_stirring": False,
             "stir_speed": 0.0,
@@ -262,28 +257,20 @@ class VirtualHeatChill:
         self.logger.info(f"✅ 持续温控已启动! {temp_emoji} {status_action}模式 🚀")
         return True
     
-    async def heat_chill_stop(self, vessel: str) -> bool:
+    async def heat_chill_stop(self, vessel: dict = {}) -> bool:
         """Stop heat chill 🛑"""
         
-        # 🔧 添加类型转换
-        try:
-            vessel = str(vessel)
-        except (ValueError, TypeError) as e:
-            error_msg = f"参数类型转换错误: {str(e)}"
-            self.logger.error(f"❌ {error_msg}")
-            return False
-        
-        self.logger.info(f"🛑 停止温控: {vessel}")
+        self.logger.info(f"🛑 停止温控:")
         
         self.data.update({
-            "status": f"🛑 已停止: {vessel} 温控停止",
+            "status": f"🛑 {self.device_id} 温控停止",
             "operation_mode": "Stopped",
             "is_stirring": False,
             "stir_speed": 0.0,
             "remaining_time": 0.0,
         })
         
-        self.logger.info(f"✅ 温控设备已停止 {vessel} 的温度控制 🏁")
+        self.logger.info(f"✅ 温控设备已停止 {self.device_id} 温度控制 🏁")
         return True
     
     # 状态属性

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -21,19 +21,6 @@ class VirtualMultiwayValve:
         self._current_position = 0  # 默认在0号位（transfer pump位置）
         self._target_position = 0
         
-        # 位置映射说明
-        self.position_map = {
-            0: "transfer_pump",  # 0号位连接转移泵
-            1: "port_1",         # 1号位
-            2: "port_2",         # 2号位
-            3: "port_3",         # 3号位
-            4: "port_4",         # 4号位
-            5: "port_5",         # 5号位
-            6: "port_6",         # 6号位
-            7: "port_7",         # 7号位
-            8: "port_8"          # 8号位
-        }
-        
         print(f"🔄 === 虚拟多通阀门已创建 === ✨")
         print(f"🎯 端口: {port} | 📊 位置范围: 0-{self.max_positions} | 🏠 初始位置: 0 (transfer_pump)")
         self.logger.info(f"🔧 多通阀门初始化: 端口={port}, 最大位置={self.max_positions}")
@@ -60,7 +47,7 @@ class VirtualMultiwayValve:
 
     def get_current_port(self) -> str:
         """获取当前连接的端口名称 🔌"""
-        return self.position_map.get(self._current_position, "unknown")
+        return self._current_position
 
     def set_position(self, command: Union[int, str]):
         """
@@ -115,7 +102,7 @@ class VirtualMultiwayValve:
             old_position = self._current_position
             old_port = self.get_current_port()
             
-            self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos}({self.position_map.get(pos, 'unknown')}) {pos_emoji}")
+            self.logger.info(f"🔄 阀门切换: {old_position}({old_port}) → {pos} {pos_emoji}")
             
             self._status = "Busy"
             self._valve_state = "Moving"
@@ -190,6 +177,17 @@ class VirtualMultiwayValve:
         """获取阀门位置 - 兼容性方法 📍"""
         return self._current_position
 
+    def set_valve_position(self, command: Union[int, str]):
+        """
+        设置阀门位置 - 兼容pump_protocol调用 🎯
+        这是set_position的别名方法，用于兼容pump_protocol.py
+
+        Args:
+            command: 目标位置 (0-8) 或位置字符串
+        """
+        # 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
+        return self.set_position(command)
+
     def is_at_position(self, position: int) -> bool:
         """检查是否在指定位置 🎯"""
         result = self._current_position == position
@@ -210,17 +208,6 @@ class VirtualMultiwayValve:
         # 删除debug日志：self.logger.debug(f"🔌 端口{port_number}检查: {port_status} (当前位置: {self._current_position})")
         return result
 
-    def get_available_positions(self) -> list:
-        """获取可用位置列表 📋"""
-        positions = list(range(0, self.max_positions + 1))
-        # 删除debug日志：self.logger.debug(f"📋 可用位置: {positions}")
-        return positions
-
-    def get_available_ports(self) -> Dict[int, str]:
-        """获取可用端口映射 🗺️"""
-        # 删除debug日志：self.logger.debug(f"🗺️ 端口映射: {self.position_map}")
-        return self.position_map.copy()
-
     def reset(self):
         """重置阀门到transfer pump位置（0号位）🔄"""
         self.logger.info(f"🔄 重置阀门到泵位置...")
@@ -253,41 +240,12 @@ class VirtualMultiwayValve:
         # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
         return flow_path
 
-    def get_info(self) -> dict:
-        """获取阀门详细信息 📊"""
-        info = {
-            "port": self.port,
-            "max_positions": self.max_positions,
-            "total_positions": self.total_positions,
-            "current_position": self._current_position,
-            "current_port": self.get_current_port(),
-            "target_position": self._target_position,
-            "status": self._status,
-            "valve_state": self._valve_state,
-            "flow_path": self.get_flow_path(),
-            "position_map": self.position_map
-        }
-        
-        # 删除debug日志：self.logger.debug(f"📊 阀门信息: 位置={self._current_position}, 状态={self._status}, 端口={self.get_current_port()}")
-        return info
-
     def __str__(self):
         current_port = self.get_current_port()
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
 
-    def set_valve_position(self, command: Union[int, str]):
-        """
-        设置阀门位置 - 兼容pump_protocol调用 🎯
-        这是set_position的别名方法，用于兼容pump_protocol.py
-        
-        Args:
-            command: 目标位置 (0-8) 或位置字符串
-        """
-        # 删除debug日志：self.logger.debug(f"🎯 兼容性调用: set_valve_position({command})")
-        return self.set_position(command)
-
 
 # 使用示例
 if __name__ == "__main__":
@@ -309,13 +267,6 @@ if __name__ == "__main__":
     print(f"\n🔌 切换到2号位: {valve.set_to_port(2)}")
     print(f"📍 当前状态: {valve}")
     
-    # 显示所有可用位置
-    print(f"\n📋 可用位置: {valve.get_available_positions()}")
-    print(f"🗺️ 端口映射: {valve.get_available_ports()}")
-    
-    # 获取详细信息
-    print(f"\n📊 详细信息: {valve.get_info()}")
-    
     # 测试切换功能
     print(f"\n🔄 智能切换测试:")
     print(f"当前位置: {valve._current_position}")

unilabos/devices/virtual/virtual_pump.py

@@ -1,197 +0,0 @@
-import asyncio
-import logging
-from typing import Dict, Any, Optional
-
-class VirtualPump:
-    """Virtual pump device for transfer and cleaning operations"""
-    
-    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
-        # 处理可能的不同调用方式
-        if device_id is None and 'id' in kwargs:
-            device_id = kwargs.pop('id')
-        if config is None and 'config' in kwargs:
-            config = kwargs.pop('config')
-        
-        # 设置默认值
-        self.device_id = device_id or "unknown_pump"
-        self.config = config or {}
-        
-        self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
-        self.data = {}
-        
-        # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
-        self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 10.0)
-        
-        print(f"=== VirtualPump {self.device_id} created with max_volume={self._max_volume}, transfer_rate={self._transfer_rate} ===")
-    
-    async def initialize(self) -> bool:
-        """Initialize virtual pump"""
-        self.logger.info(f"Initializing virtual pump {self.device_id}")
-        self.data.update({
-            "status": "Idle",
-            "valve_position": 0,
-            "current_volume": 0.0,
-            "max_volume": self._max_volume,
-            "transfer_rate": self._transfer_rate,
-            "from_vessel": "",
-            "to_vessel": "",
-            "progress": 0.0,
-            "transferred_volume": 0.0,
-            "current_status": "Ready"
-        })
-        return True
-    
-    async def cleanup(self) -> bool:
-        """Cleanup virtual pump"""
-        self.logger.info(f"Cleaning up virtual pump {self.device_id}")
-        return True
-    
-    async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
-                      amount: str = "", time: float = 0.0, viscous: bool = False,
-                      rinsing_solvent: str = "", rinsing_volume: float = 0.0,
-                      rinsing_repeats: int = 0, solid: bool = False) -> bool:
-        """Execute transfer operation"""
-        self.logger.info(f"Transferring {volume}mL from {from_vessel} to {to_vessel}")
-        
-        # 计算转移时间
-        transfer_time = volume / self._transfer_rate if time == 0 else time
-        
-        self.data.update({
-            "status": "Running",
-            "from_vessel": from_vessel,
-            "to_vessel": to_vessel,
-            "current_status": "Transferring",
-            "progress": 0.0,
-            "transferred_volume": 0.0
-        })
-        
-        # 模拟转移过程
-        steps = 10
-        step_time = transfer_time / steps
-        step_volume = volume / steps
-        
-        for i in range(steps):
-            await asyncio.sleep(step_time)
-            progress = (i + 1) / steps * 100
-            current_volume = step_volume * (i + 1)
-            
-            self.data.update({
-                "progress": progress,
-                "transferred_volume": current_volume,
-                "current_status": f"Transferring: {progress:.1f}%"
-            })
-            
-            self.logger.info(f"Transfer progress: {progress:.1f}%")
-        
-        self.data.update({
-            "status": "Idle",
-            "current_status": "Transfer completed",
-            "progress": 100.0,
-            "transferred_volume": volume
-        })
-        
-        return True
-    
-    async def clean_vessel(self, vessel: str, solvent: str, volume: float, 
-                      temp: float, repeats: int = 1) -> bool:
-        """Execute vessel cleaning operation - matches CleanVessel action"""
-        self.logger.info(f"Starting vessel cleaning: {vessel} with {solvent} ({volume}mL at {temp}°C, {repeats} repeats)")
-        
-        # 更新设备状态
-        self.data.update({
-            "status": "Running",
-            "from_vessel": f"flask_{solvent}",
-            "to_vessel": vessel,
-            "current_status": "Cleaning in progress",
-            "progress": 0.0,
-            "transferred_volume": 0.0
-        })
-        
-        # 计算清洗时间（基于体积和重复次数）
-        # 假设清洗速度为 transfer_rate 的一半（因为需要加载和排放）
-        cleaning_rate = self._transfer_rate / 2
-        cleaning_time_per_cycle = volume / cleaning_rate
-        total_cleaning_time = cleaning_time_per_cycle * repeats
-        
-        # 模拟清洗过程
-        steps_per_repeat = 10  # 每次重复清洗分10个步骤
-        total_steps = steps_per_repeat * repeats
-        step_time = total_cleaning_time / total_steps
-        
-        for repeat in range(repeats):
-            self.logger.info(f"Starting cleaning cycle {repeat + 1}/{repeats}")
-            
-            for step in range(steps_per_repeat):
-                await asyncio.sleep(step_time)
-                
-                # 计算当前进度
-                current_step = repeat * steps_per_repeat + step + 1
-                progress = (current_step / total_steps) * 100
-                
-                # 计算已处理的体积
-                volume_processed = (current_step / total_steps) * volume * repeats
-                
-                # 更新状态
-                self.data.update({
-                    "progress": progress,
-                    "transferred_volume": volume_processed,
-                    "current_status": f"Cleaning cycle {repeat + 1}/{repeats} - Step {step + 1}/{steps_per_repeat} ({progress:.1f}%)"
-                })
-                
-                self.logger.info(f"Cleaning progress: {progress:.1f}% (Cycle {repeat + 1}/{repeats})")
-    
-        # 清洗完成
-        self.data.update({
-            "status": "Idle",
-            "current_status": "Cleaning completed successfully",
-            "progress": 100.0,
-            "transferred_volume": volume * repeats,
-            "from_vessel": "",
-            "to_vessel": ""
-        })
-        
-        self.logger.info(f"Vessel cleaning completed: {vessel}")
-        return True
-    
-    # 状态属性
-    @property
-    def status(self) -> str:
-        return self.data.get("status", "Unknown")
-    
-    @property
-    def valve_position(self) -> int:
-        return self.data.get("valve_position", 0)
-    
-    @property
-    def current_volume(self) -> float:
-        return self.data.get("current_volume", 0.0)
-    
-    @property
-    def max_volume(self) -> float:
-        return self.data.get("max_volume", 0.0)
-    
-    @property
-    def transfer_rate(self) -> float:
-        return self.data.get("transfer_rate", 0.0)
-    
-    @property
-    def from_vessel(self) -> str:
-        return self.data.get("from_vessel", "")
-    
-    @property
-    def to_vessel(self) -> str:
-        return self.data.get("to_vessel", "")
-    
-    @property
-    def progress(self) -> float:
-        return self.data.get("progress", 0.0)
-    
-    @property
-    def transferred_volume(self) -> float:
-        return self.data.get("transferred_volume", 0.0)
-    
-    @property
-    def current_status(self) -> str:
-        return self.data.get("current_status", "Ready")

unilabos/devices/virtual/virtual_rotavap.py

@@ -99,8 +99,8 @@ class VirtualRotavap:
             self.logger.error(f"❌ 时间参数类型无效: {type(time)}，使用默认值180.0秒")
             time = 180.0
         
-        # 确保time是float类型
-        time = float(time)
+        # 确保time是float类型; 并加速
+        time = float(time) / 10.0
         
         # 🔧 简化处理：如果vessel就是设备自己，直接操作
         if vessel == self.device_id:

unilabos/devices/virtual/virtual_solenoid_valve.py

@@ -48,20 +48,6 @@ class VirtualSolenoidValve:
         """获取阀门位置状态"""
         return "OPEN" if self._is_open else "CLOSED"
 
-    @property
-    def state(self) -> dict:
-        """获取阀门完整状态"""
-        return {
-            "device_id": self.device_id,
-            "port": self.port,
-            "voltage": self.voltage,
-            "response_time": self.response_time,
-            "is_open": self._is_open,
-            "valve_state": self._valve_state,
-            "status": self._status,
-            "position": self.valve_position
-        }
-
     async def set_valve_position(self, command: str = None, **kwargs):
         """
         设置阀门位置 - ROS动作接口

unilabos/devices/virtual/virtual_solid_dispenser.py

@@ -319,21 +319,6 @@ class VirtualSolidDispenser:
     def total_operations(self) -> int:
         return self._total_operations
     
-    def get_device_info(self) -> Dict[str, Any]:
-        """获取设备状态信息 📊"""
-        info = {
-            "device_id": self.device_id,
-            "status": self._status,
-            "current_reagent": self._current_reagent,
-            "last_dispensed_amount": self._dispensed_amount,
-            "total_operations": self._total_operations,
-            "max_capacity": self.max_capacity,
-            "precision": self.precision
-        }
-        
-        self.logger.debug(f"📊 设备信息: 状态={self._status}, 试剂={self._current_reagent}, 加样量={self._dispensed_amount:.6f}g")
-        return info
-    
     def __str__(self):
         status_emoji = "✅" if self._status == "Ready" else "🔄" if self._status == "Dispensing" else "❌" if self._status == "Error" else "🏠"
         return f"⚗️ VirtualSolidDispenser({status_emoji} {self.device_id}: {self._status}, 最后加样 {self._dispensed_amount:.3f}g)"
@@ -380,8 +365,6 @@ async def test_solid_dispenser():
         mass="150 g"  # 超过100g限制
     )
     print(f"📊 测试4结果: {result4}")
-    
-    print(f"\n📊 最终设备信息: {dispenser.get_device_info()}")
     print(f"✅ === 测试完成 === 🎉")
 
 

unilabos/devices/virtual/virtual_stirrer.py

@@ -321,7 +321,7 @@ class VirtualStirrer:
             "min_speed": self._min_speed
         }
         
-        self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
+        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
         return info
     
     def __str__(self):

unilabos/devices/virtual/virtual_transferpump.py

@@ -380,22 +380,6 @@ class VirtualTransferPump:
         """检查是否已满"""
         return self._current_volume >= (self.max_volume - 0.01)  # 允许小量误差
     
-    # 调试和状态信息
-    def get_pump_info(self) -> dict:
-        """获取泵的详细信息"""
-        return {
-            "device_id": self.device_id,
-            "status": self._status,
-            "position": self._position,
-            "current_volume": self._current_volume,
-            "max_volume": self.max_volume,
-            "max_velocity": self._max_velocity,
-            "mode": self.mode.name,
-            "is_empty": self.is_empty(),
-            "is_full": self.is_full(),
-            "remaining_capacity": self.get_remaining_capacity()
-        }
-    
     def __str__(self):
         return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
     
@@ -425,8 +409,6 @@ async def demo():
     result = await pump.set_position(0.0)
     print(f"Empty result: {result}")
     print(f"After emptying: {pump}")
-    
-    print("\nPump info:", pump.get_pump_info())
 
 
 if __name__ == "__main__":

unilabos/registry/device_comms/communication_devices.yaml

@@ -1,6 +1,6 @@
 serial:
   category:
-  - serial
+  - communication_devices
   class:
     action_value_mappings:
       auto-handle_serial_request:

unilabos/registry/devices/camera.yaml

@@ -1,4 +1,4 @@
-camera:
+camera.USB:
   category:
   - camera
   class:

unilabos/registry/devices/characterization_chromatic.yaml

@@ -0,0 +1,404 @@
+hplc.agilent:
+  category:
+  - characterization_chromatic
+  class:
+    action_value_mappings:
+      auto-check_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-extract_data_from_txt:
+        feedback: {}
+        goal: {}
+        goal_default:
+          file_path: null
+        handles: []
+        result: {}
+        schema:
+          description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                file_path:
+                  type: string
+              required:
+              - file_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: extract_data_from_txt参数
+          type: object
+        type: UniLabJsonCommand
+      auto-start_sequence:
+        feedback: {}
+        goal: {}
+        goal_default:
+          params: null
+          resource: null
+          wf_name: null
+        handles: []
+        result: {}
+        schema:
+          description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                params:
+                  type: string
+                resource:
+                  type: object
+                wf_name:
+                  type: string
+              required:
+              - wf_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: start_sequence参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_close_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_name:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_close_sub_device参数
+          type: object
+        type: UniLabJsonCommand
+      auto-try_open_sub_device:
+        feedback: {}
+        goal: {}
+        goal_default:
+          device_name: null
+        handles: []
+        result: {}
+        schema:
+          description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                device_name:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: try_open_sub_device参数
+          type: object
+        type: UniLabJsonCommand
+      execute_command_from_outer:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result:
+          success: success
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
+    status_types:
+      could_run: bool
+      data_file: list
+      device_status: str
+      driver_init_ok: bool
+      finish_status: str
+      is_running: bool
+      status_text: str
+      success: bool
+    type: python
+  config_info: []
+  description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        driver_debug:
+          default: false
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        could_run:
+          type: boolean
+        data_file:
+          type: array
+        device_status:
+          type: string
+        driver_init_ok:
+          type: boolean
+        finish_status:
+          type: string
+        is_running:
+          type: boolean
+        status_text:
+          type: string
+        success:
+          type: boolean
+      required:
+      - status_text
+      - device_status
+      - could_run
+      - driver_init_ok
+      - is_running
+      - success
+      - finish_status
+      - data_file
+      type: object
+  version: 1.0.0
+hplc.agilent-zhida:
+  category:
+  - characterization_chromatic
+  class:
+    action_value_mappings:
+      abort:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      get_methods:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: EmptyIn_Feedback
+              type: object
+            goal:
+              properties: {}
+              required: []
+              title: EmptyIn_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+              required:
+              - return_info
+              title: EmptyIn_Result
+              type: object
+          required:
+          - goal
+          title: EmptyIn
+          type: object
+        type: EmptyIn
+      start:
+        feedback: {}
+        goal:
+          string: string
+        goal_default:
+          string: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: StrSingleInput_Feedback
+              type: object
+            goal:
+              properties:
+                string:
+                  type: string
+              required:
+              - string
+              title: StrSingleInput_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: StrSingleInput_Result
+              type: object
+          required:
+          - goal
+          title: StrSingleInput
+          type: object
+        type: StrSingleInput
+    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
+    status_types:
+      methods: dict
+      status: dict
+    type: python
+  config_info: []
+  description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        host:
+          default: 192.168.1.47
+          type: string
+        port:
+          default: 5792
+          type: string
+        timeout:
+          default: 10.0
+          type: string
+      required: []
+      type: object
+    data:
+      properties:
+        methods:
+          type: object
+        status:
+          type: object
+      required:
+      - status
+      - methods
+      type: object
+  version: 1.0.0

unilabos/registry/devices/characterization_optic.yaml

@@ -1,225 +1,4 @@
-hplc.agilent:
-  category:
-  - characterization_optic
-  class:
-    action_value_mappings:
-      auto-check_status:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: check_status参数
-          type: object
-        type: UniLabJsonCommand
-      auto-extract_data_from_txt:
-        feedback: {}
-        goal: {}
-        goal_default:
-          file_path: null
-        handles: []
-        result: {}
-        schema:
-          description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                file_path:
-                  type: string
-              required:
-              - file_path
-              type: object
-            result: {}
-          required:
-          - goal
-          title: extract_data_from_txt参数
-          type: object
-        type: UniLabJsonCommand
-      auto-start_sequence:
-        feedback: {}
-        goal: {}
-        goal_default:
-          params: null
-          resource: null
-          wf_name: null
-        handles: []
-        result: {}
-        schema:
-          description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                params:
-                  type: string
-                resource:
-                  type: object
-                wf_name:
-                  type: string
-              required:
-              - wf_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_sequence参数
-          type: object
-        type: UniLabJsonCommand
-      auto-try_close_sub_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_name: null
-        handles: []
-        result: {}
-        schema:
-          description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_name:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: try_close_sub_device参数
-          type: object
-        type: UniLabJsonCommand
-      auto-try_open_sub_device:
-        feedback: {}
-        goal: {}
-        goal_default:
-          device_name: null
-        handles: []
-        result: {}
-        schema:
-          description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                device_name:
-                  type: string
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: try_open_sub_device参数
-          type: object
-        type: UniLabJsonCommand
-      execute_command_from_outer:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result:
-          success: success
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
-    status_types:
-      could_run: bool
-      data_file: list
-      device_status: str
-      driver_init_ok: bool
-      finish_status: str
-      is_running: bool
-      status_text: str
-      success: bool
-    type: python
-  config_info: []
-  description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        driver_debug:
-          default: false
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        could_run:
-          type: boolean
-        data_file:
-          type: array
-        device_status:
-          type: string
-        driver_init_ok:
-          type: boolean
-        finish_status:
-          type: string
-        is_running:
-          type: boolean
-        status_text:
-          type: string
-        success:
-          type: boolean
-      required:
-      - status_text
-      - device_status
-      - could_run
-      - driver_init_ok
-      - is_running
-      - success
-      - finish_status
-      - data_file
-      type: object
-  version: 1.0.0
-raman_home_made:
+raman.home_made:
   category:
   - characterization_optic
   class:

unilabos/registry/devices/gas_handler.yaml

@@ -1,6 +1,6 @@
 gas_source.mock:
   category:
-  - vacuum_and_purge
+  - gas_handler
   class:
     action_value_mappings:
       auto-is_closed:
@@ -180,6 +180,7 @@ gas_source.mock:
 vacuum_pump.mock:
   category:
   - vacuum_and_purge
+  - gas_handler
   class:
     action_value_mappings:
       auto-is_closed:

unilabos/registry/devices/moveit_config.yaml

@@ -1,704 +0,0 @@
-moveit.arm_slider:
-  category:
-  - moveit_config
-  class:
-    action_value_mappings:
-      auto-check_tf_update_actions:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: check_tf_update_actions的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: check_tf_update_actions参数
-          type: object
-        type: UniLabJsonCommand
-      auto-moveit_joint_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          joint_names: null
-          joint_positions: null
-          move_group: null
-          retry: 10
-          speed: 1
-        handles: []
-        result: {}
-        schema:
-          description: moveit_joint_task的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                joint_names:
-                  type: string
-                joint_positions:
-                  type: string
-                move_group:
-                  type: string
-                retry:
-                  default: 10
-                  type: string
-                speed:
-                  default: 1
-                  type: string
-              required:
-              - move_group
-              - joint_positions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: moveit_joint_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-moveit_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          cartesian: false
-          move_group: null
-          offsets:
-          - 0
-          - 0
-          - 0
-          position: null
-          quaternion: null
-          retry: 10
-          speed: 1
-          target_link: null
-        handles: []
-        result: {}
-        schema:
-          description: moveit_task的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                cartesian:
-                  default: false
-                  type: string
-                move_group:
-                  type: string
-                offsets:
-                  default:
-                  - 0
-                  - 0
-                  - 0
-                  type: string
-                position:
-                  type: string
-                quaternion:
-                  type: string
-                retry:
-                  default: 10
-                  type: string
-                speed:
-                  default: 1
-                  type: string
-                target_link:
-                  type: string
-              required:
-              - move_group
-              - position
-              - quaternion
-              type: object
-            result: {}
-          required:
-          - goal
-          title: moveit_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: []
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
-      auto-resource_manager:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parent_link: null
-          resource: null
-        handles: []
-        result: {}
-        schema:
-          description: resource_manager的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parent_link:
-                  type: string
-                resource:
-                  type: string
-              required:
-              - resource
-              - parent_link
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_manager参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_resource_action:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: wait_for_resource_action的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_resource_action参数
-          type: object
-        type: UniLabJsonCommand
-      pick_and_place:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      set_position:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      set_status:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    status_types: {}
-    type: python
-  config_info: []
-  description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        device_config:
-          type: string
-        joint_poses:
-          type: string
-        moveit_type:
-          type: string
-        rotation:
-          type: string
-      required:
-      - moveit_type
-      - joint_poses
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  model:
-    mesh: arm_slider
-    type: device
-  version: 1.0.0
-moveit.toyo_xyz:
-  category:
-  - moveit_config
-  class:
-    action_value_mappings:
-      auto-check_tf_update_actions:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: check_tf_update_actions的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: check_tf_update_actions参数
-          type: object
-        type: UniLabJsonCommand
-      auto-moveit_joint_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          joint_names: null
-          joint_positions: null
-          move_group: null
-          retry: 10
-          speed: 1
-        handles: []
-        result: {}
-        schema:
-          description: moveit_joint_task的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                joint_names:
-                  type: string
-                joint_positions:
-                  type: string
-                move_group:
-                  type: string
-                retry:
-                  default: 10
-                  type: string
-                speed:
-                  default: 1
-                  type: string
-              required:
-              - move_group
-              - joint_positions
-              type: object
-            result: {}
-          required:
-          - goal
-          title: moveit_joint_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-moveit_task:
-        feedback: {}
-        goal: {}
-        goal_default:
-          cartesian: false
-          move_group: null
-          offsets:
-          - 0
-          - 0
-          - 0
-          position: null
-          quaternion: null
-          retry: 10
-          speed: 1
-          target_link: null
-        handles: []
-        result: {}
-        schema:
-          description: moveit_task的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                cartesian:
-                  default: false
-                  type: string
-                move_group:
-                  type: string
-                offsets:
-                  default:
-                  - 0
-                  - 0
-                  - 0
-                  type: string
-                position:
-                  type: string
-                quaternion:
-                  type: string
-                retry:
-                  default: 10
-                  type: string
-                speed:
-                  default: 1
-                  type: string
-                target_link:
-                  type: string
-              required:
-              - move_group
-              - position
-              - quaternion
-              type: object
-            result: {}
-          required:
-          - goal
-          title: moveit_task参数
-          type: object
-        type: UniLabJsonCommand
-      auto-post_init:
-        feedback: {}
-        goal: {}
-        goal_default:
-          ros_node: null
-        handles: []
-        result: {}
-        schema:
-          description: post_init的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                ros_node:
-                  type: string
-              required:
-              - ros_node
-              type: object
-            result: {}
-          required:
-          - goal
-          title: post_init参数
-          type: object
-        type: UniLabJsonCommand
-      auto-resource_manager:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parent_link: null
-          resource: null
-        handles: []
-        result: {}
-        schema:
-          description: resource_manager的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parent_link:
-                  type: string
-                resource:
-                  type: string
-              required:
-              - resource
-              - parent_link
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_manager参数
-          type: object
-        type: UniLabJsonCommand
-      auto-wait_for_resource_action:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: wait_for_resource_action的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: wait_for_resource_action参数
-          type: object
-        type: UniLabJsonCommand
-      pick_and_place:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      set_position:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-      set_status:
-        feedback: {}
-        goal:
-          command: command
-        goal_default:
-          command: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties:
-                status:
-                  type: string
-              required:
-              - status
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              properties:
-                command:
-                  type: string
-              required:
-              - command
-              title: SendCmd_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: SendCmd_Result
-              type: object
-          required:
-          - goal
-          title: SendCmd
-          type: object
-        type: SendCmd
-    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
-    status_types: {}
-    type: python
-  config_info: []
-  description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        device_config:
-          type: string
-        joint_poses:
-          type: string
-        moveit_type:
-          type: string
-        rotation:
-          type: string
-      required:
-      - moveit_type
-      - joint_poses
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  model:
-    mesh: toyo_xyz
-    type: device
-  version: 1.0.0

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -336,7 +336,7 @@ separator.homemade:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -350,12 +350,12 @@ separator.homemade:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -372,7 +372,7 @@ separator.homemade:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel

unilabos/registry/devices/pump_and_valve.yaml

@@ -366,7 +366,7 @@ solenoid_valve.mock:
       - valve_position
       type: object
   version: 1.0.0
-syringe_pump_with_valve.runze:
+syringe_pump_with_valve.runze.SY03B-T06:
   category:
   - pump_and_valve
   class:
@@ -764,7 +764,583 @@ syringe_pump_with_valve.runze:
     type: python
   config_info: []
   description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
-  handles: []
+  handles:
+  - data_key: fluid_port_1
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口1
+    handler_key: '1'
+    io_type: source
+    label: '1'
+    side: NORTH
+  - data_key: fluid_port_2
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口2
+    handler_key: '2'
+    io_type: source
+    label: '2'
+    side: EAST
+  - data_key: fluid_port_3
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口3
+    handler_key: '3'
+    io_type: source
+    label: '3'
+    side: SOUTH
+  - data_key: fluid_port_4
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口4
+    handler_key: '4'
+    io_type: source
+    label: '4'
+    side: SOUTH
+  - data_key: fluid_port_5
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口5
+    handler_key: '5'
+    io_type: source
+    label: '5'
+    side: EAST
+  - data_key: fluid_port_6
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口6
+    handler_key: '6'
+    io_type: source
+    label: '6'
+    side: NORTH
+  - data_key: fluid_port_6
+    data_source: executor
+    data_type: fluid
+    description: 六通阀门端口6-特殊输入
+    handler_key: '6'
+    io_type: target
+    label: 6-in
+    side: WEST
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        address:
+          default: '1'
+          type: string
+        max_volume:
+          default: 25.0
+          type: number
+        mode:
+          type: string
+        port:
+          type: string
+      required:
+      - port
+      type: object
+    data:
+      properties:
+        max_velocity:
+          type: number
+        mode:
+          type: integer
+        plunger_position:
+          type: string
+        position:
+          type: number
+        status:
+          type: string
+        valve_position:
+          type: string
+        velocity_end:
+          type: string
+        velocity_grade:
+          type: string
+        velocity_init:
+          type: string
+      required:
+      - status
+      - mode
+      - max_velocity
+      - velocity_grade
+      - velocity_init
+      - velocity_end
+      - valve_position
+      - position
+      - plunger_position
+      type: object
+  version: 1.0.0
+syringe_pump_with_valve.runze.SY03B-T08:
+  category:
+  - pump_and_valve
+  class:
+    action_value_mappings:
+      auto-close:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: close的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: close参数
+          type: object
+        type: UniLabJsonCommand
+      auto-initialize:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: initialize的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: initialize参数
+          type: object
+        type: UniLabJsonCommand
+      auto-pull_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: pull_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: pull_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-push_plunger:
+        feedback: {}
+        goal: {}
+        goal_default:
+          volume: null
+        handles: []
+        result: {}
+        schema:
+          description: push_plunger的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                volume:
+                  type: number
+              required:
+              - volume
+              type: object
+            result: {}
+          required:
+          - goal
+          title: push_plunger参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_1:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_1的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_1参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_aux_input_status_2:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_aux_input_status_2的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_aux_input_status_2参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_backlash_position:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_backlash_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_backlash_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_command_buffer_status:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_command_buffer_status的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_command_buffer_status参数
+          type: object
+        type: UniLabJsonCommand
+      auto-query_software_version:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: query_software_version的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: query_software_version参数
+          type: object
+        type: UniLabJsonCommand
+      auto-send_command:
+        feedback: {}
+        goal: {}
+        goal_default:
+          full_command: null
+        handles: []
+        result: {}
+        schema:
+          description: send_command的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                full_command:
+                  type: string
+              required:
+              - full_command
+              type: object
+            result: {}
+          required:
+          - goal
+          title: send_command参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_baudrate:
+        feedback: {}
+        goal: {}
+        goal_default:
+          baudrate: null
+        handles: []
+        result: {}
+        schema:
+          description: set_baudrate的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                baudrate:
+                  type: string
+              required:
+              - baudrate
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_baudrate参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_max_velocity:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_max_velocity的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: number
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_max_velocity参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          max_velocity: null
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                max_velocity:
+                  type: number
+                position:
+                  type: number
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_valve_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          position: null
+        handles: []
+        result: {}
+        schema:
+          description: set_valve_position的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                position:
+                  type: string
+              required:
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_valve_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_velocity_grade:
+        feedback: {}
+        goal: {}
+        goal_default:
+          velocity: null
+        handles: []
+        result: {}
+        schema:
+          description: set_velocity_grade的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                velocity:
+                  type: string
+              required:
+              - velocity
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_velocity_grade参数
+          type: object
+        type: UniLabJsonCommand
+      auto-stop_operation:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: stop_operation的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: stop_operation参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_error:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_error的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_error参数
+          type: object
+        type: UniLabJsonCommand
+    hardware_interface:
+      name: hardware_interface
+      read: send_command
+      write: send_command
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    status_types:
+      max_velocity: float
+      mode: int
+      plunger_position: String
+      position: float
+      status: str
+      valve_position: str
+      velocity_end: String
+      velocity_grade: String
+      velocity_init: String
+    type: python
+  config_info: []
+  description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
+  handles:
+  - data_key: fluid_port_1
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口1
+    handler_key: '1'
+    io_type: source
+    label: '1'
+    side: NORTH
+  - data_key: fluid_port_2
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口2
+    handler_key: '2'
+    io_type: source
+    label: '2'
+    side: EAST
+  - data_key: fluid_port_3
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口3
+    handler_key: '3'
+    io_type: source
+    label: '3'
+    side: EAST
+  - data_key: fluid_port_4
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口4
+    handler_key: '4'
+    io_type: source
+    label: '4'
+    side: SOUTH
+  - data_key: fluid_port_5
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口5
+    handler_key: '5'
+    io_type: source
+    label: '5'
+    side: SOUTH
+  - data_key: fluid_port_6
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口6
+    handler_key: '6'
+    io_type: source
+    label: '6'
+    side: WEST
+  - data_key: fluid_port_7
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口7
+    handler_key: '7'
+    io_type: source
+    label: '7'
+    side: WEST
+  - data_key: fluid_port_8
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口8-特殊输入
+    handler_key: '8'
+    io_type: target
+    label: '8'
+    side: WEST
+  - data_key: fluid_port_8
+    data_source: executor
+    data_type: fluid
+    description: 八通阀门端口8
+    handler_key: '8'
+    io_type: source
+    label: '8'
+    side: NORTH
   icon: ''
   init_param_schema:
     config:

unilabos/registry/devices/robot_arm.yaml

@@ -1,3 +1,355 @@
+robotic_arm.SCARA_with_slider.virtual:
+  category:
+  - robot_arm
+  class:
+    action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: check_tf_update_actions的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: moveit_joint_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                joint_names:
+                  type: string
+                joint_positions:
+                  type: string
+                move_group:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: moveit_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cartesian:
+                  default: false
+                  type: string
+                move_group:
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  type: string
+                position:
+                  type: string
+                quaternion:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+                target_link:
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: resource_manager的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parent_link:
+                  type: string
+                resource:
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_resource_action的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action参数
+          type: object
+        type: UniLabJsonCommand
+      pick_and_place:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_status:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  config_info: []
+  description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_config:
+          type: string
+        joint_poses:
+          type: string
+        moveit_type:
+          type: string
+        rotation:
+          type: string
+      required:
+      - moveit_type
+      - joint_poses
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  model:
+    mesh: arm_slider
+    type: device
+  version: 1.0.0
 robotic_arm.UR:
   category:
   - robot_arm

unilabos/registry/devices/robot_gripper.yaml

@@ -533,7 +533,7 @@ gripper.mock:
                   required:
                   - position
                   - max_effort
-                  title: GripperCommand
+                  title: command
                   type: object
               required:
               - command

unilabos/registry/devices/robot_linear_motion.yaml

@@ -139,12 +139,12 @@ linear_motion.grbl:
                           required:
                           - sec
                           - nanosec
-                          title: Time
+                          title: stamp
                           type: object
                       required:
                       - stamp
                       - frame_id
-                      title: Header
+                      title: header
                       type: object
                     pose:
                       properties:
@@ -163,7 +163,7 @@ linear_motion.grbl:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -177,17 +177,17 @@ linear_motion.grbl:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                   required:
                   - header
                   - pose
-                  title: PoseStamped
+                  title: current_pose
                   type: object
                 distance_remaining:
                   type: number
@@ -204,7 +204,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: estimated_time_remaining
                   type: object
                 navigation_time:
                   properties:
@@ -219,7 +219,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: navigation_time
                   type: object
                 number_of_poses_remaining:
                   maximum: 32767
@@ -262,12 +262,12 @@ linear_motion.grbl:
                             required:
                             - sec
                             - nanosec
-                            title: Time
+                            title: stamp
                             type: object
                         required:
                         - stamp
                         - frame_id
-                        title: Header
+                        title: header
                         type: object
                       pose:
                         properties:
@@ -286,7 +286,7 @@ linear_motion.grbl:
                             - y
                             - z
                             - w
-                            title: Quaternion
+                            title: orientation
                             type: object
                           position:
                             properties:
@@ -300,17 +300,17 @@ linear_motion.grbl:
                             - x
                             - y
                             - z
-                            title: Point
+                            title: position
                             type: object
                         required:
                         - position
                         - orientation
-                        title: Pose
+                        title: pose
                         type: object
                     required:
                     - header
                     - pose
-                    title: PoseStamped
+                    title: poses
                     type: object
                   type: array
               required:
@@ -323,7 +323,7 @@ linear_motion.grbl:
                 result:
                   properties: {}
                   required: []
-                  title: Empty
+                  title: result
                   type: object
               required:
               - result
@@ -371,12 +371,12 @@ linear_motion.grbl:
                       required:
                       - sec
                       - nanosec
-                      title: Time
+                      title: stamp
                       type: object
                   required:
                   - stamp
                   - frame_id
-                  title: Header
+                  title: header
                   type: object
                 position:
                   type: number
@@ -406,7 +406,7 @@ linear_motion.grbl:
                   required:
                   - sec
                   - nanosec
-                  title: Duration
+                  title: min_duration
                   type: object
                 position:
                   type: number
@@ -470,6 +470,358 @@ linear_motion.grbl:
       - spindle_speed
       type: object
   version: 1.0.0
+linear_motion.toyo_xyz.sim:
+  category:
+  - robot_linear_motion
+  class:
+    action_value_mappings:
+      auto-check_tf_update_actions:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: check_tf_update_actions的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: check_tf_update_actions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_joint_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          joint_names: null
+          joint_positions: null
+          move_group: null
+          retry: 10
+          speed: 1
+        handles: []
+        result: {}
+        schema:
+          description: moveit_joint_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                joint_names:
+                  type: string
+                joint_positions:
+                  type: string
+                move_group:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+              required:
+              - move_group
+              - joint_positions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_joint_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-moveit_task:
+        feedback: {}
+        goal: {}
+        goal_default:
+          cartesian: false
+          move_group: null
+          offsets:
+          - 0
+          - 0
+          - 0
+          position: null
+          quaternion: null
+          retry: 10
+          speed: 1
+          target_link: null
+        handles: []
+        result: {}
+        schema:
+          description: moveit_task的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                cartesian:
+                  default: false
+                  type: string
+                move_group:
+                  type: string
+                offsets:
+                  default:
+                  - 0
+                  - 0
+                  - 0
+                  type: string
+                position:
+                  type: string
+                quaternion:
+                  type: string
+                retry:
+                  default: 10
+                  type: string
+                speed:
+                  default: 1
+                  type: string
+                target_link:
+                  type: string
+              required:
+              - move_group
+              - position
+              - quaternion
+              type: object
+            result: {}
+          required:
+          - goal
+          title: moveit_task参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: []
+        result: {}
+        schema:
+          description: post_init的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-resource_manager:
+        feedback: {}
+        goal: {}
+        goal_default:
+          parent_link: null
+          resource: null
+        handles: []
+        result: {}
+        schema:
+          description: resource_manager的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                parent_link:
+                  type: string
+                resource:
+                  type: string
+              required:
+              - resource
+              - parent_link
+              type: object
+            result: {}
+          required:
+          - goal
+          title: resource_manager参数
+          type: object
+        type: UniLabJsonCommand
+      auto-wait_for_resource_action:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: wait_for_resource_action的参数schema
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: wait_for_resource_action参数
+          type: object
+        type: UniLabJsonCommand
+      pick_and_place:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_position:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+      set_status:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
+    status_types: {}
+    type: python
+  config_info: []
+  description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        device_config:
+          type: string
+        joint_poses:
+          type: string
+        moveit_type:
+          type: string
+        rotation:
+          type: string
+      required:
+      - moveit_type
+      - joint_poses
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  model:
+    mesh: toyo_xyz
+    type: device
+  version: 1.0.0
 motor.iCL42:
   category:
   - robot_linear_motion

unilabos/registry/devices/sim_nodes.yaml

@@ -1,315 +0,0 @@
-lh_joint_publisher:
-  category:
-  - sim_nodes
-  class:
-    action_value_mappings:
-      auto-check_tf_update_actions:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: check_tf_update_actions的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: check_tf_update_actions参数
-          type: object
-        type: UniLabJsonCommand
-      auto-find_resource_parent:
-        feedback: {}
-        goal: {}
-        goal_default:
-          resource_id: null
-        handles: []
-        result: {}
-        schema:
-          description: find_resource_parent的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                resource_id:
-                  type: string
-              required:
-              - resource_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: find_resource_parent参数
-          type: object
-        type: UniLabJsonCommand
-      auto-inverse_kinematics:
-        feedback: {}
-        goal: {}
-        goal_default:
-          parent_id: null
-          x: null
-          x_joint: null
-          y: null
-          y_joint: null
-          z: null
-          z_joint: null
-        handles: []
-        result: {}
-        schema:
-          description: inverse_kinematics的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                parent_id:
-                  type: string
-                x:
-                  type: string
-                x_joint:
-                  type: object
-                y:
-                  type: string
-                y_joint:
-                  type: object
-                z:
-                  type: string
-                z_joint:
-                  type: object
-              required:
-              - x
-              - y
-              - z
-              - parent_id
-              - x_joint
-              - y_joint
-              - z_joint
-              type: object
-            result: {}
-          required:
-          - goal
-          title: inverse_kinematics参数
-          type: object
-        type: UniLabJsonCommand
-      auto-lh_joint_action_callback:
-        feedback: {}
-        goal: {}
-        goal_default:
-          goal_handle: null
-        handles: []
-        result: {}
-        schema:
-          description: lh_joint_action_callback的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                goal_handle:
-                  type: string
-              required:
-              - goal_handle
-              type: object
-            result: {}
-          required:
-          - goal
-          title: lh_joint_action_callback参数
-          type: object
-        type: UniLabJsonCommand
-      auto-lh_joint_pub_callback:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: lh_joint_pub_callback的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: lh_joint_pub_callback参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_joints:
-        feedback: {}
-        goal: {}
-        goal_default:
-          option: null
-          resource_names: null
-          speed: 0.1
-          x: null
-          x_joint: null
-          y: null
-          y_joint: null
-          z: null
-          z_joint: null
-        handles: []
-        result: {}
-        schema:
-          description: move_joints的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                option:
-                  type: string
-                resource_names:
-                  type: string
-                speed:
-                  default: 0.1
-                  type: string
-                x:
-                  type: string
-                x_joint:
-                  type: string
-                y:
-                  type: string
-                y_joint:
-                  type: string
-                z:
-                  type: string
-                z_joint:
-                  type: string
-              required:
-              - resource_names
-              - x
-              - y
-              - z
-              - option
-              type: object
-            result: {}
-          required:
-          - goal
-          title: move_joints参数
-          type: object
-        type: UniLabJsonCommand
-      auto-move_to:
-        feedback: {}
-        goal: {}
-        goal_default:
-          joint_positions: null
-          parent_id: null
-          speed: null
-        handles: []
-        result: {}
-        schema:
-          description: move_to的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                joint_positions:
-                  type: string
-                parent_id:
-                  type: string
-                speed:
-                  type: string
-              required:
-              - joint_positions
-              - speed
-              - parent_id
-              type: object
-            result: {}
-          required:
-          - goal
-          title: move_to参数
-          type: object
-        type: UniLabJsonCommand
-      auto-resource_move:
-        feedback: {}
-        goal: {}
-        goal_default:
-          channels: null
-          link_name: null
-          resource_id: null
-        handles: []
-        result: {}
-        schema:
-          description: resource_move的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                channels:
-                  type: array
-                link_name:
-                  type: string
-                resource_id:
-                  type: string
-              required:
-              - resource_id
-              - link_name
-              - channels
-              type: object
-            result: {}
-          required:
-          - goal
-          title: resource_move参数
-          type: object
-        type: UniLabJsonCommand
-      auto-send_resource_action:
-        feedback: {}
-        goal: {}
-        goal_default:
-          link_name: null
-          resource_id_list: null
-        handles: []
-        result: {}
-        schema:
-          description: send_resource_action的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                link_name:
-                  type: string
-                resource_id_list:
-                  type: array
-              required:
-              - resource_id_list
-              - link_name
-              type: object
-            result: {}
-          required:
-          - goal
-          title: send_resource_action参数
-          type: object
-        type: UniLabJsonCommand
-    module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
-    status_types: {}
-    type: ros2
-  config_info: []
-  description: 液体处理器关节发布器，用于ROS2仿真系统中的液体处理设备运动控制。该节点通过发布关节状态驱动仿真模型中的机械臂运动，支持三维坐标到关节空间的逆运动学转换、多关节协调控制、资源跟踪和TF变换。具备精确的位置控制、速度调节、pick-and-place操作等功能。适用于液体处理系统的虚拟仿真、运动规划验证、系统集成测试等应用场景。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        device_id:
-          default: lh_joint_publisher
-          type: string
-        rate:
-          default: 50
-          type: string
-        resource_tracker:
-          type: string
-        resources_config:
-          type: array
-      required:
-      - resources_config
-      - resource_tracker
-      type: object
-    data:
-      properties: {}
-      required: []
-      type: object
-  version: 1.0.0

unilabos/registry/devices/solid_dispenser.yaml

@@ -1,6 +1,6 @@
-laiyu_add_solid:
+solid_dispenser.laiyu:
   category:
-  - laiyu_add_solid
+  - solid_dispenser
   class:
     action_value_mappings:
       add_powder_tube:
@@ -353,7 +353,7 @@ laiyu_add_solid:
           title: EmptyIn
           type: object
         type: EmptyIn
-    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
+    module: unilabos.devices.powder_dispense.laiyu:Laiyu
     status_types:
       status: str
     type: python

unilabos/registry/devices/temperature.yaml

@@ -362,7 +362,7 @@ heaterstirrer.dalong:
                           - y
                           - z
                           - w
-                          title: Quaternion
+                          title: orientation
                           type: object
                         position:
                           properties:
@@ -376,12 +376,12 @@ heaterstirrer.dalong:
                           - x
                           - y
                           - z
-                          title: Point
+                          title: position
                           type: object
                       required:
                       - position
                       - orientation
-                      title: Pose
+                      title: pose
                       type: object
                     sample_id:
                       type: string
@@ -398,7 +398,7 @@ heaterstirrer.dalong:
                   - pose
                   - config
                   - data
-                  title: Resource
+                  title: vessel
                   type: object
               required:
               - vessel

unilabos/registry/devices/work_station.yaml

@@ -1262,6 +1262,11 @@ workstation:
             data_type: resource
             handler_key: solvent
             label: Solvent
+          - data_key: reagent
+            data_source: handle
+            data_type: resource
+            handler_key: reagent
+            label: Reagent
           output:
           - data_key: vessel
             data_source: executor
@@ -1798,13 +1803,18 @@ workstation:
           - data_key: vessel
             data_source: handle
             data_type: resource
-            handler_key: vessel
+            handler_key: Vessel
             label: Evaporation Vessel
+          - data_key: solvent
+            data_source: handle
+            data_type: resource
+            handler_key: solvent
+            label: Eluting Solvent
           output:
           - data_key: vessel
             data_source: handle
             data_type: resource
-            handler_key: vessel_out
+            handler_key: VesselOut
             label: Evaporation Vessel
         placeholder_keys:
           vessel: unilabos_nodes
@@ -2031,7 +2041,7 @@ workstation:
           - data_key: filtrate_vessel
             data_source: handle
             data_type: resource
-            handler_key: filtrate_vessel
+            handler_key: FiltrateVessel
             label: Filtrate Vessel
           output:
           - data_key: vessel
@@ -2042,7 +2052,7 @@ workstation:
           - data_key: filtrate_vessel
             data_source: executor
             data_type: resource
-            handler_key: filtrate_out
+            handler_key: FiltrateOut
             label: Filtrate Vessel
         placeholder_keys:
           filtrate_vessel: unilabos_resources
@@ -6131,3 +6141,109 @@ workstation:
       required: []
       type: object
   version: 1.0.0
+workstation.example:
+  category:
+  - work_station
+  class:
+    action_value_mappings:
+      auto-append_resource:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: append_resource参数
+          type: object
+        type: UniLabJsonCommand
+      auto-create_resource:
+        feedback: {}
+        goal: {}
+        goal_default:
+          bind_location: null
+          bind_parent_id: null
+          liquid_input_slot: null
+          liquid_type: null
+          liquid_volume: null
+          resource_tracker: null
+          resources: null
+          slot_on_deck: null
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                bind_location:
+                  type: object
+                bind_parent_id:
+                  type: string
+                liquid_input_slot:
+                  type: array
+                liquid_type:
+                  type: array
+                liquid_volume:
+                  type: array
+                resource_tracker:
+                  type: string
+                resources:
+                  type: array
+                slot_on_deck:
+                  type: integer
+              required:
+              - resource_tracker
+              - resources
+              - bind_parent_id
+              - bind_location
+              - liquid_input_slot
+              - liquid_type
+              - liquid_volume
+              - slot_on_deck
+              type: object
+            result: {}
+          required:
+          - goal
+          title: create_resource参数
+          type: object
+        type: UniLabJsonCommand
+    module: unilabos.ros.nodes.presets.workstation:WorkStationExample
+    status_types: {}
+    type: ros2
+  config_info: []
+  description: ''
+  handles: []
+  icon: ''
+  init_param_schema:
+    config:
+      properties:
+        children:
+          type: object
+        device_id:
+          type: string
+        protocol_type:
+          type: string
+        resource_tracker:
+          type: string
+      required:
+      - device_id
+      - children
+      - protocol_type
+      - resource_tracker
+      type: object
+    data:
+      properties: {}
+      required: []
+      type: object
+  version: 1.0.0

unilabos/registry/devices/zhida_hplc.yaml

@@ -1,183 +0,0 @@
-zhida_hplc:
-  category:
-  - zhida_hplc
-  class:
-    action_value_mappings:
-      abort:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: EmptyIn_Feedback
-              type: object
-            goal:
-              properties: {}
-              required: []
-              title: EmptyIn_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: EmptyIn_Result
-              type: object
-          required:
-          - goal
-          title: EmptyIn
-          type: object
-        type: EmptyIn
-      auto-close:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: close参数
-          type: object
-        type: UniLabJsonCommand
-      auto-connect:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: connect参数
-          type: object
-        type: UniLabJsonCommand
-      get_methods:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: EmptyIn_Feedback
-              type: object
-            goal:
-              properties: {}
-              required: []
-              title: EmptyIn_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-              required:
-              - return_info
-              title: EmptyIn_Result
-              type: object
-          required:
-          - goal
-          title: EmptyIn
-          type: object
-        type: EmptyIn
-      start:
-        feedback: {}
-        goal:
-          string: string
-        goal_default:
-          string: ''
-        handles: []
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback:
-              properties: {}
-              required: []
-              title: StrSingleInput_Feedback
-              type: object
-            goal:
-              properties:
-                string:
-                  type: string
-              required:
-              - string
-              title: StrSingleInput_Goal
-              type: object
-            result:
-              properties:
-                return_info:
-                  type: string
-                success:
-                  type: boolean
-              required:
-              - return_info
-              - success
-              title: StrSingleInput_Result
-              type: object
-          required:
-          - goal
-          title: StrSingleInput
-          type: object
-        type: StrSingleInput
-    module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
-    status_types:
-      methods: dict
-      status: dict
-    type: python
-  config_info: []
-  description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
-  handles: []
-  icon: ''
-  init_param_schema:
-    config:
-      properties:
-        host:
-          default: 192.168.1.47
-          type: string
-        port:
-          default: 5792
-          type: string
-        timeout:
-          default: 10.0
-          type: string
-      required: []
-      type: object
-    data:
-      properties:
-        methods:
-          type: object
-        status:
-          type: object
-      required:
-      - status
-      - methods
-      type: object
-  version: 1.0.0

unilabos/registry/registry.py

@@ -53,7 +53,7 @@ class Registry:
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
-    def setup(self, complete_registry=False):
+    def setup(self, complete_registry=False, upload_registry=False):
         # 检查是否已调用过setup
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -152,22 +152,22 @@ class Registry:
                 }
             }
         )
-        logger.debug(f"[UniLab Registry] ----------Setup----------")
+        logger.trace(f"[UniLab Registry] ----------Setup----------")
         self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
         for i, path in enumerate(self.registry_paths):
             sys_path = path.parent
-            logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
+            logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
             sys.path.append(str(sys_path))
             self.load_device_types(path, complete_registry)
             if BasicConfig.enable_resource_load:
-                self.load_resource_types(path, complete_registry)
+                self.load_resource_types(path, complete_registry, upload_registry)
             else:
                 logger.warning("跳过了资源注册表加载！")
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True
 
-    def load_resource_types(self, path: os.PathLike, complete_registry: bool):
+    def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
@@ -194,7 +194,12 @@ class Registry:
                         resource_info["handles"] = []
                     if "init_param_schema" not in resource_info:
                         resource_info["init_param_schema"] = {}
-                    if complete_registry:
+                    if "config_info" in resource_info:
+                        del resource_info["config_info"]
+                    if "file_path" in resource_info:
+                        del resource_info["file_path"]
+                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
+                    if upload_registry:
                         class_info = resource_info.get("class", {})
                         if len(class_info) and "module" in class_info:
                             if class_info.get("type") == "pylabrobot":
@@ -205,7 +210,6 @@ class Registry:
                                     res_instance = res_class(res_class.__name__)
                                     res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
                                     resource_info["config_info"] = res_ulr
-                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))  # 稍后dump到文件
                     resource_info["registry_type"] = "resource"
                     resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
                 complete_data = dict(sorted(complete_data.items()))
@@ -215,7 +219,7 @@ class Registry:
                         yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
 
                 self.resource_type_registry.update(data)
-                logger.debug(
+                logger.trace(
                     f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
                     + f"Add {list(data.keys())}"
                 )
@@ -402,7 +406,7 @@ class Registry:
         devices_path = abs_path / "devices"
         device_comms_path = abs_path / "device_comms"
         files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
-        logger.debug(
+        logger.trace(
             f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
             + f"total: {len(files)}"
         )
@@ -447,6 +451,8 @@ class Registry:
                         if complete_registry:
                             device_config["class"]["status_types"].clear()
                             enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
+                            if not enhanced_info.get("dynamic_import_success", False):
+                                continue
                             device_config["class"]["status_types"].update(
                                 {k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
                             )
@@ -565,7 +571,7 @@ class Registry:
                             }
                     device_config["file_path"] = str(file.absolute()).replace("\\", "/")
                     device_config["registry_type"] = "device"
-                    logger.debug(
+                    logger.trace(
                         f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
                         + f"[{data[device_id].get('name', '未命名设备')}]"
                     )
@@ -627,7 +633,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, complete_registry=False):
+def build_registry(registry_paths=None, complete_registry=False, upload_registry=False):
     """
     构建或获取Registry单例实例
 
@@ -651,6 +657,6 @@ def build_registry(registry_paths=None, complete_registry=False):
                 lab_registry.registry_paths.append(path)
 
     # 初始化注册表
-    lab_registry.setup(complete_registry)
+    lab_registry.setup(complete_registry, upload_registry)
 
     return lab_registry

unilabos/registry/resources/common/resource_container.yaml

@@ -4,9 +4,7 @@ hplc_plate:
   class:
     module: unilabos.devices.resource_container.container:PlateContainer
     type: python
-  config_info: []
   description: HPLC板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -28,9 +26,7 @@ plate_96_high:
   class:
     module: unilabos.devices.resource_container.container:PlateContainer
     type: python
-  config_info: []
   description: 96孔板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -52,9 +48,7 @@ tiprack_96_high:
   class:
     module: unilabos.devices.resource_container.container:TipRackContainer
     type: python
-  config_info: []
   description: 96孔板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/opentrons/deck.yaml

@@ -4,9 +4,7 @@ OTDeck:
   class:
     module: pylabrobot.resources.opentrons.deck:OTDeck
     type: pylabrobot
-  config_info: []
   description: Opentrons deck
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -21,9 +19,7 @@ hplc_station:
   class:
     module: unilabos.devices.resource_container.container:DeckContainer
     type: python
-  config_info: []
   description: hplc_station deck
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -4,34 +4,7 @@ Opentrons_96_adapter_Vb:
   class:
     module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
     type: pylabrobot
-  config_info:
-  - children: []
-    class: ''
-    config:
-      barcode: null
-      category: plate_adapter
-      model: Opentrons_96_adapter_Vb
-      rotation:
-        type: Rotation
-        x: 0
-        y: 0
-        z: 0
-      size_x: 127.76
-      size_y: 85.48
-      size_z: 18.55
-      type: PlateAdapter
-    data: {}
-    id: Opentrons_96_adapter_Vb
-    name: Opentrons_96_adapter_Vb
-    parent: null
-    position:
-      x: 0
-      y: 0
-      z: 0
-    sample_id: null
-    type: container
   description: Opentrons 96 adapter Vb
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/plate_adapters.yaml
   handles: []
   icon: ''
   init_param_schema: {}