Fix port error

(cherry picked from commit f1ad0c9c96)

.conda/recipe.yaml

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

docs/developer_guide/http_api.md

@@ -1,334 +0,0 @@
-# HTTP API 指南
-
-本文档介绍如何通过 HTTP API 与 Uni-Lab-OS 进行交互，包括查询设备、提交任务和获取结果。
-
-## 概述
-
-Uni-Lab-OS 提供 RESTful HTTP API，允许外部系统通过标准 HTTP 请求控制实验室设备。API 基于 FastAPI 构建，默认运行在 `http://localhost:8002`。
-
-### 基础信息
-
-- **Base URL**: `http://localhost:8002/api/v1`
-- **Content-Type**: `application/json`
-- **响应格式**: JSON
-
-### 通用响应结构
-
-```json
-{
-    "code": 0,
-    "data": { ... },
-    "message": "success"
-}
-```
-
-| 字段      | 类型   | 说明               |
-| --------- | ------ | ------------------ |
-| `code`    | int    | 状态码，0 表示成功 |
-| `data`    | object | 响应数据           |
-| `message` | string | 响应消息           |
-
-## 快速开始
-
-以下是一个完整的工作流示例：查询设备 → 获取动作 → 提交任务 → 获取结果。
-
-### 步骤 1: 获取在线设备
-
-```bash
-curl -X GET "http://localhost:8002/api/v1/online-devices"
-```
-
-**响应示例**:
-
-```json
-{
-  "code": 0,
-  "data": {
-    "online_devices": {
-      "host_node": {
-        "device_key": "/host_node",
-        "namespace": "",
-        "machine_name": "本地",
-        "uuid": "xxx-xxx-xxx",
-        "node_name": "host_node"
-      }
-    },
-    "total_count": 1,
-    "timestamp": 1732612345.123
-  },
-  "message": "success"
-}
-```
-
-### 步骤 2: 获取设备可用动作
-
-```bash
-curl -X GET "http://localhost:8002/api/v1/devices/host_node/actions"
-```
-
-**响应示例**:
-
-```json
-{
-  "code": 0,
-  "data": {
-    "device_id": "host_node",
-    "actions": {
-      "test_latency": {
-        "type_name": "unilabos_msgs.action._empty_in.EmptyIn",
-        "type_name_convert": "unilabos_msgs/action/_empty_in/EmptyIn",
-        "action_path": "/devices/host_node/test_latency",
-        "goal_info": "{}",
-        "is_busy": false,
-        "current_job_id": null
-      },
-      "create_resource": {
-        "type_name": "unilabos_msgs.action._resource_create_from_outer_easy.ResourceCreateFromOuterEasy",
-        "action_path": "/devices/host_node/create_resource",
-        "goal_info": "{res_id: '', device_id: '', class_name: '', ...}",
-        "is_busy": false,
-        "current_job_id": null
-      }
-    },
-    "action_count": 5
-  },
-  "message": "success"
-}
-```
-
-**动作状态字段说明**:
-
-| 字段             | 说明                          |
-| ---------------- | ----------------------------- |
-| `type_name`      | 动作类型的完整名称            |
-| `action_path`    | ROS2 动作路径                 |
-| `goal_info`      | 动作参数模板                  |
-| `is_busy`        | 动作是否正在执行              |
-| `current_job_id` | 当前执行的任务 ID（如果繁忙） |
-
-### 步骤 3: 提交任务
-
-```bash
-curl -X POST "http://localhost:8002/api/v1/job/add" \
-  -H "Content-Type: application/json" \
-  -d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
-```
-
-**请求体**:
-
-```json
-{
-  "device_id": "host_node",
-  "action": "test_latency",
-  "action_args": {}
-}
-```
-
-**请求参数说明**:
-
-| 字段          | 类型   | 必填 | 说明                               |
-| ------------- | ------ | ---- | ---------------------------------- |
-| `device_id`   | string | ✓    | 目标设备 ID                        |
-| `action`      | string | ✓    | 动作名称                           |
-| `action_args` | object | ✓    | 动作参数（根据动作类型不同而变化） |
-
-**响应示例**:
-
-```json
-{
-  "code": 0,
-  "data": {
-    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
-    "status": 1,
-    "result": {}
-  },
-  "message": "success"
-}
-```
-
-**任务状态码**:
-
-| 状态码 | 含义      | 说明                           |
-| ------ | --------- | ------------------------------ |
-| 0      | UNKNOWN   | 未知状态                       |
-| 1      | ACCEPTED  | 任务已接受，等待执行           |
-| 2      | EXECUTING | 任务执行中                     |
-| 3      | CANCELING | 任务取消中                     |
-| 4      | SUCCEEDED | 任务成功完成                   |
-| 5      | CANCELED  | 任务已取消                     |
-| 6      | ABORTED   | 任务中止（设备繁忙或执行失败） |
-
-### 步骤 4: 查询任务状态和结果
-
-```bash
-curl -X GET "http://localhost:8002/api/v1/job/b6acb586-733a-42ab-9f73-55c9a52aa8bd/status"
-```
-
-**响应示例（执行中）**:
-
-```json
-{
-  "code": 0,
-  "data": {
-    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
-    "status": 2,
-    "result": {}
-  },
-  "message": "success"
-}
-```
-
-**响应示例（执行完成）**:
-
-```json
-{
-  "code": 0,
-  "data": {
-    "jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
-    "status": 4,
-    "result": {
-      "error": "",
-      "suc": true,
-      "return_value": {
-        "avg_rtt_ms": 103.99,
-        "avg_time_diff_ms": 7181.55,
-        "max_time_error_ms": 7210.57,
-        "task_delay_ms": -1,
-        "raw_delay_ms": 33.19,
-        "test_count": 5,
-        "status": "success"
-      }
-    }
-  },
-  "message": "success"
-}
-```
-
-> **注意**: 任务结果在首次查询后会被自动删除，请确保保存返回的结果数据。
-
-## API 端点列表
-
-### 设备相关
-
-| 端点                                                       | 方法 | 说明                   |
-| ---------------------------------------------------------- | ---- | ---------------------- |
-| `/api/v1/online-devices`                                   | GET  | 获取在线设备列表       |
-| `/api/v1/devices`                                          | GET  | 获取设备配置           |
-| `/api/v1/devices/{device_id}/actions`                      | GET  | 获取指定设备的可用动作 |
-| `/api/v1/devices/{device_id}/actions/{action_name}/schema` | GET  | 获取动作参数 Schema    |
-| `/api/v1/actions`                                          | GET  | 获取所有设备的可用动作 |
-
-### 任务相关
-
-| 端点                          | 方法 | 说明               |
-| ----------------------------- | ---- | ------------------ |
-| `/api/v1/job/add`             | POST | 提交新任务         |
-| `/api/v1/job/{job_id}/status` | GET  | 查询任务状态和结果 |
-
-### 资源相关
-
-| 端点                | 方法 | 说明         |
-| ------------------- | ---- | ------------ |
-| `/api/v1/resources` | GET  | 获取资源列表 |
-
-## 常见动作示例
-
-### test_latency - 延迟测试
-
-测试系统延迟，无需参数。
-
-```bash
-curl -X POST "http://localhost:8002/api/v1/job/add" \
-  -H "Content-Type: application/json" \
-  -d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
-```
-
-### create_resource - 创建资源
-
-在设备上创建新资源。
-
-```bash
-curl -X POST "http://localhost:8002/api/v1/job/add" \
-  -H "Content-Type: application/json" \
-  -d '{
-    "device_id": "host_node",
-    "action": "create_resource",
-    "action_args": {
-        "res_id": "my_plate",
-        "device_id": "host_node",
-        "class_name": "Plate",
-        "parent": "deck",
-        "bind_locations": {"x": 0, "y": 0, "z": 0}
-    }
-}'
-```
-
-## 错误处理
-
-### 设备繁忙
-
-当设备正在执行其他任务时，提交新任务会返回 `status: 6`（ABORTED）：
-
-```json
-{
-  "code": 0,
-  "data": {
-    "jobId": "xxx",
-    "status": 6,
-    "result": {}
-  },
-  "message": "success"
-}
-```
-
-此时应等待当前任务完成后重试，或使用 `/devices/{device_id}/actions` 检查动作的 `is_busy` 状态。
-
-### 参数错误
-
-```json
-{
-    "code": 2002,
-    "data": { ... },
-    "message": "device_id is required"
-}
-```
-
-## 轮询策略
-
-推荐的任务状态轮询策略：
-
-```python
-import requests
-import time
-
-def wait_for_job(job_id, timeout=60, interval=0.5):
-    """等待任务完成并返回结果"""
-    start_time = time.time()
-
-    while time.time() - start_time < timeout:
-        response = requests.get(f"http://localhost:8002/api/v1/job/{job_id}/status")
-        data = response.json()["data"]
-
-        status = data["status"]
-        if status in (4, 5, 6):  # SUCCEEDED, CANCELED, ABORTED
-            return data
-
-        time.sleep(interval)
-
-    raise TimeoutError(f"Job {job_id} did not complete within {timeout} seconds")
-
-# 使用示例
-response = requests.post(
-    "http://localhost:8002/api/v1/job/add",
-    json={"device_id": "host_node", "action": "test_latency", "action_args": {}}
-)
-job_id = response.json()["data"]["jobId"]
-result = wait_for_job(job_id)
-print(result)
-```
-
-## 相关文档
-
-- [设备注册指南](add_device.md)
-- [动作定义指南](add_action.md)
-- [网络架构概述](networking_overview.md)

docs/index.md

@@ -7,17 +7,3 @@ Uni-Lab-OS 是一个开源的实验室自动化操作系统，提供统一的设
 
 intro.md
 ```
-
-## 开发者指南
-
-```{toctree}
-:maxdepth: 2
-
-developer_guide/http_api.md
-developer_guide/networking_overview.md
-developer_guide/add_device.md
-developer_guide/add_action.md
-developer_guide/add_registry.md
-developer_guide/add_yaml.md
-developer_guide/action_includes.md
-```

recipes/msgs/recipe.yaml

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

recipes/unilabos/recipe.yaml

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

setup.py

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

unilabos/__init__.py

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

unilabos/app/communication.py

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

unilabos/app/main.py

@@ -218,7 +218,7 @@ def main():
 
     if hasattr(BasicConfig, "log_level"):
         logger.info(f"Log level set to '{BasicConfig.log_level}' from config file.")
-    configure_logger(loglevel=BasicConfig.log_level, working_dir=working_dir)
+        configure_logger(loglevel=BasicConfig.log_level)
 
     if args_dict["addr"] == "test":
         print_status("使用测试环境地址", "info")

unilabos/app/model.py

@@ -51,25 +51,21 @@ class Resp(BaseModel):
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
     action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
-    action_type: str = Field(
+    action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
-        examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
+    action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
-    )
+    task_id: str = Field(examples=["task_id"], description="task uuid")
-    action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
+    job_id: str = Field(examples=["job_id"], description="goal uuid")
-    task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
+    node_id: str = Field(examples=["node_id"], description="node uuid")
-    job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
+    server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
-    node_id: str = Field(examples=["node_id"], description="node uuid", default="")
-    server_info: dict = Field(
-        examples=[{"send_timestamp": 1717000000.0}],
-        description="server info (auto-generated if empty)",
-        default_factory=dict,
-    )
 
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default_factory=dict)
+    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
 
 
 class JobStepFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
+    request_time: str = Field(
+        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
+    )
     data: dict = Field(
         examples=[
             {
@@ -87,7 +83,9 @@ class JobStepFinishReq(BaseModel):
 
 class JobPreintakeFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
+    request_time: str = Field(
+        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
+    )
     data: dict = Field(
         examples=[
             {
@@ -104,7 +102,9 @@ class JobPreintakeFinishReq(BaseModel):
 
 class JobFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")
-    request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
+    request_time: str = Field(
+        examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
+    )
     data: dict = Field(
         examples=[
             {
@@ -133,10 +133,6 @@ class JobData(BaseModel):
         default=0,
         description="0:UNKNOWN, 1:ACCEPTED, 2:EXECUTING, 3:CANCELING, 4:SUCCEEDED, 5:CANCELED, 6:ABORTED",
     )
-    result: dict = Field(
-        default_factory=dict,
-        description="Job result data (available when status is SUCCEEDED/CANCELED/ABORTED)",
-    )
 
 
 class JobStatusResp(Resp):

unilabos/app/oss_upload.py

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

unilabos/app/web/api.py

@@ -9,22 +9,13 @@ import asyncio
 
 import yaml
 
-from unilabos.app.web.controller import (
+from unilabos.app.web.controler import devices, job_add, job_info
-    devices,
-    job_add,
-    job_info,
-    get_online_devices,
-    get_device_actions,
-    get_action_schema,
-    get_all_available_actions,
-)
 from unilabos.app.model import (
     Resp,
     RespCode,
     JobStatusResp,
     JobAddResp,
     JobAddReq,
-    JobData,
 )
 from unilabos.app.web.utils.host_utils import get_host_node_info
 from unilabos.registry.registry import lab_registry
@@ -1243,65 +1234,6 @@ def get_devices():
     return Resp(data=dict(data))
 
 
-@api.get("/online-devices", summary="Online devices list", response_model=Resp)
-def api_get_online_devices():
-    """获取在线设备列表
-
-    返回当前在线的设备列表，包含设备ID、命名空间、机器名等信息
-    """
-    isok, data = get_online_devices()
-    if not isok:
-        return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
-
-    return Resp(data=data)
-
-
-@api.get("/devices/{device_id}/actions", summary="Device actions list", response_model=Resp)
-def api_get_device_actions(device_id: str):
-    """获取设备可用的动作列表
-
-    Args:
-        device_id: 设备ID
-
-    返回指定设备的所有可用动作，包含动作名称、类型、是否繁忙等信息
-    """
-    isok, data = get_device_actions(device_id)
-    if not isok:
-        return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
-
-    return Resp(data=data)
-
-
-@api.get("/devices/{device_id}/actions/{action_name}/schema", summary="Action schema", response_model=Resp)
-def api_get_action_schema(device_id: str, action_name: str):
-    """获取动作的Schema详情
-
-    Args:
-        device_id: 设备ID
-        action_name: 动作名称
-
-    返回动作的参数Schema、默认值、类型等详细信息
-    """
-    isok, data = get_action_schema(device_id, action_name)
-    if not isok:
-        return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
-
-    return Resp(data=data)
-
-
-@api.get("/actions", summary="All available actions", response_model=Resp)
-def api_get_all_actions():
-    """获取所有设备的可用动作
-
-    返回所有已注册设备的动作列表，包含设备信息和各动作的状态
-    """
-    isok, data = get_all_available_actions()
-    if not isok:
-        return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
-
-    return Resp(data=data)
-
-
 @api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
 def job_status(id: str):
     """获取任务状态"""
@@ -1312,22 +1244,11 @@ def job_status(id: str):
 @api.post("/job/add", summary="Create job", response_model=JobAddResp)
 def post_job_add(req: JobAddReq):
     """创建任务"""
-    # 检查必要参数：device_id 和 action
+    device_id = req.device_id
-    if not req.device_id:
+    if not req.data:
-        return JobAddResp(
+        return Resp(code=RespCode.ErrorInvalidReq, message="Invalid request data")
-            data=JobData(jobId="", status=6),
-            code=RespCode.ErrorInvalidReq,
-            message="device_id is required",
-        )
-
-    action_name = req.data.get("action", req.action) if req.data else req.action
-    if not action_name:
-        return JobAddResp(
-            data=JobData(jobId="", status=6),
-            code=RespCode.ErrorInvalidReq,
-            message="action is required",
-        )
 
+    req.device_id = device_id
     data = job_add(req)
     return JobAddResp(data=data)
 

unilabos/app/web/controler.py

@@ -0,0 +1,45 @@
+
+import json
+import traceback
+import uuid
+from unilabos.app.model import JobAddReq, JobData
+from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.utils.type_check import serialize_result_info
+
+
+def get_resources() -> tuple:
+    if HostNode.get_instance() is None:
+        return False, "Host node not initialized"
+
+    return True, HostNode.get_instance().resources_config
+
+def devices() -> tuple:
+    if HostNode.get_instance() is None:
+        return False, "Host node not initialized"
+    
+    return True, HostNode.get_instance().devices_config
+
+def job_info(id: str):
+    get_goal_status = HostNode.get_instance().get_goal_status(id)
+    return JobData(jobId=id, status=get_goal_status)
+
+def job_add(req: JobAddReq) -> JobData:
+    if req.job_id is None:
+        req.job_id = str(uuid.uuid4())
+    action_name = req.data["action"]
+    action_type = req.data.get("action_type", "LocalUnknown")
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
+    if action_args is None:
+        action_args = req.data.get("action_args")
+    else:
+        if "command" in action_args:
+            action_args = action_args["command"]
+    # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
+    try:
+        HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
+    except Exception as e:
+        for bridge in HostNode.get_instance().bridges:
+            traceback.print_exc()
+            if hasattr(bridge, "publish_job_status"):
+                bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
+    return JobData(jobId=req.job_id)

unilabos/app/web/controller.py

@@ -1,587 +0,0 @@
-"""
-Web API Controller
-
-提供Web API的控制器函数，处理设备、任务和动作相关的业务逻辑
-"""
-
-import threading
-import time
-import traceback
-import uuid
-from dataclasses import dataclass, field
-from typing import Optional, Dict, Any, Tuple
-
-from unilabos.app.model import JobAddReq, JobData
-from unilabos.ros.nodes.presets.host_node import HostNode
-from unilabos.utils import logger
-
-
-@dataclass
-class JobResult:
-    """任务结果数据"""
-
-    job_id: str
-    status: int  # 4:SUCCEEDED, 5:CANCELED, 6:ABORTED
-    result: Dict[str, Any] = field(default_factory=dict)
-    feedback: Dict[str, Any] = field(default_factory=dict)
-    timestamp: float = field(default_factory=time.time)
-
-
-class JobResultStore:
-    """任务结果存储（单例）"""
-
-    _instance: Optional["JobResultStore"] = None
-    _lock = threading.Lock()
-
-    def __init__(self):
-        if not hasattr(self, "_initialized"):
-            self._results: Dict[str, JobResult] = {}
-            self._results_lock = threading.RLock()
-            self._initialized = True
-
-    def __new__(cls):
-        if cls._instance is None:
-            with cls._lock:
-                if cls._instance is None:
-                    cls._instance = super().__new__(cls)
-        return cls._instance
-
-    def store_result(
-        self, job_id: str, status: int, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
-    ):
-        """存储任务结果"""
-        with self._results_lock:
-            self._results[job_id] = JobResult(
-                job_id=job_id,
-                status=status,
-                result=result or {},
-                feedback=feedback or {},
-                timestamp=time.time(),
-            )
-            logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
-
-    def get_and_remove(self, job_id: str) -> Optional[JobResult]:
-        """获取并删除任务结果"""
-        with self._results_lock:
-            result = self._results.pop(job_id, None)
-            if result:
-                logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
-            return result
-
-    def get_result(self, job_id: str) -> Optional[JobResult]:
-        """仅获取任务结果（不删除）"""
-        with self._results_lock:
-            return self._results.get(job_id)
-
-    def cleanup_old_results(self, max_age_seconds: float = 3600):
-        """清理过期的结果"""
-        current_time = time.time()
-        with self._results_lock:
-            expired_jobs = [
-                job_id for job_id, result in self._results.items() if current_time - result.timestamp > max_age_seconds
-            ]
-            for job_id in expired_jobs:
-                del self._results[job_id]
-                logger.debug(f"[JobResultStore] Cleaned up expired result for job {job_id[:8]}")
-
-
-# 全局结果存储实例
-job_result_store = JobResultStore()
-
-
-def store_job_result(
-    job_id: str, status: str, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
-):
-    """存储任务结果（供外部调用）
-
-    Args:
-        job_id: 任务ID
-        status: 状态字符串 ("success", "failed", "cancelled")
-        result: 结果数据
-        feedback: 反馈数据
-    """
-    # 转换状态字符串为整数
-    status_map = {
-        "success": 4,  # SUCCEEDED
-        "failed": 6,  # ABORTED
-        "cancelled": 5,  # CANCELED
-        "running": 2,  # EXECUTING
-    }
-    status_int = status_map.get(status, 0)
-
-    # 只存储最终状态
-    if status_int in (4, 5, 6):
-        job_result_store.store_result(job_id, status_int, result, feedback)
-
-
-def get_resources() -> Tuple[bool, Any]:
-    """获取资源配置
-
-    Returns:
-        Tuple[bool, Any]: (是否成功, 资源配置或错误信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, "Host node not initialized"
-
-    return True, host_node.resources_config
-
-
-def devices() -> Tuple[bool, Any]:
-    """获取设备配置
-
-    Returns:
-        Tuple[bool, Any]: (是否成功, 设备配置或错误信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, "Host node not initialized"
-
-    return True, host_node.devices_config
-
-
-def job_info(job_id: str, remove_after_read: bool = True) -> JobData:
-    """获取任务信息
-
-    Args:
-        job_id: 任务ID
-        remove_after_read: 是否在读取后删除结果（默认True）
-
-    Returns:
-        JobData: 任务数据
-    """
-    # 首先检查结果存储中是否有已完成的结果
-    if remove_after_read:
-        stored_result = job_result_store.get_and_remove(job_id)
-    else:
-        stored_result = job_result_store.get_result(job_id)
-
-    if stored_result:
-        # 有存储的结果，直接返回
-        return JobData(
-            jobId=job_id,
-            status=stored_result.status,
-            result=stored_result.result,
-        )
-
-    # 没有存储的结果，从 HostNode 获取当前状态
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return JobData(jobId=job_id, status=0)
-
-    get_goal_status = host_node.get_goal_status(job_id)
-    return JobData(jobId=job_id, status=get_goal_status)
-
-
-def check_device_action_busy(device_id: str, action_name: str) -> Tuple[bool, Optional[str]]:
-    """检查设备动作是否正在执行（被占用）
-
-    Args:
-        device_id: 设备ID
-        action_name: 动作名称
-
-    Returns:
-        Tuple[bool, Optional[str]]: (是否繁忙, 当前执行的job_id或None)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, None
-
-    device_action_key = f"/devices/{device_id}/{action_name}"
-
-    # 检查 _device_action_status 中是否有正在执行的任务
-    if device_action_key in host_node._device_action_status:
-        status = host_node._device_action_status[device_action_key]
-        if status.job_ids:
-            # 返回第一个正在执行的job_id
-            current_job_id = next(iter(status.job_ids.keys()), None)
-            return True, current_job_id
-
-    return False, None
-
-
-def _get_action_type(device_id: str, action_name: str) -> Optional[str]:
-    """从注册表自动获取动作类型
-
-    Args:
-        device_id: 设备ID
-        action_name: 动作名称
-
-    Returns:
-        动作类型字符串，未找到返回None
-    """
-    try:
-        from unilabos.ros.nodes.base_device_node import registered_devices
-
-        # 方法1: 从运行时注册设备获取
-        if device_id in registered_devices:
-            device_info = registered_devices[device_id]
-            base_node = device_info.get("base_node_instance")
-            if base_node and hasattr(base_node, "_action_value_mappings"):
-                action_mappings = base_node._action_value_mappings
-                # 尝试直接匹配或 auto- 前缀匹配
-                for key in [action_name, f"auto-{action_name}"]:
-                    if key in action_mappings:
-                        action_type = action_mappings[key].get("type")
-                        if action_type:
-                            # 转换为字符串格式
-                            if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
-                                return f"{action_type.__module__}.{action_type.__name__}"
-                            return str(action_type)
-
-        # 方法2: 从lab_registry获取
-        from unilabos.registry.registry import lab_registry
-
-        host_node = HostNode.get_instance(0)
-        if host_node and lab_registry:
-            devices_config = host_node.devices_config
-            device_class = None
-
-            for tree in devices_config.trees:
-                node = tree.root_node
-                if node.res_content.id == device_id:
-                    device_class = node.res_content.klass
-                    break
-
-            if device_class and device_class in lab_registry.device_type_registry:
-                device_type_info = lab_registry.device_type_registry[device_class]
-                class_info = device_type_info.get("class", {})
-                action_mappings = class_info.get("action_value_mappings", {})
-
-                for key in [action_name, f"auto-{action_name}"]:
-                    if key in action_mappings:
-                        action_type = action_mappings[key].get("type")
-                        if action_type:
-                            if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
-                                return f"{action_type.__module__}.{action_type.__name__}"
-                            return str(action_type)
-
-    except Exception as e:
-        logger.warning(f"[Controller] Failed to get action type for {device_id}/{action_name}: {str(e)}")
-
-    return None
-
-
-def job_add(req: JobAddReq) -> JobData:
-    """添加任务（检查设备是否繁忙，繁忙则返回失败）
-
-    Args:
-        req: 任务添加请求
-
-    Returns:
-        JobData: 任务数据（包含状态）
-    """
-    # 服务端自动生成 job_id 和 task_id
-    job_id = str(uuid.uuid4())
-    task_id = str(uuid.uuid4())
-
-    # 服务端自动生成 server_info
-    server_info = {"send_timestamp": time.time()}
-
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        logger.error(f"[Controller] Host node not initialized for job: {job_id[:8]}")
-        return JobData(jobId=job_id, status=6)  # 6 = ABORTED
-
-    # 解析动作信息
-    action_name = req.data.get("action", req.action) if req.data else req.action
-    action_args = req.data.get("action_kwargs") or req.data.get("action_args") if req.data else req.action_args
-
-    if action_args is None:
-        action_args = req.action_args or {}
-    elif isinstance(action_args, dict) and "command" in action_args:
-        action_args = action_args["command"]
-
-    # 自动获取 action_type
-    action_type = _get_action_type(req.device_id, action_name)
-    if action_type is None:
-        logger.error(f"[Controller] Action type not found for {req.device_id}/{action_name}")
-        return JobData(jobId=job_id, status=6)  # ABORTED
-
-    # 检查设备动作是否繁忙
-    is_busy, current_job_id = check_device_action_busy(req.device_id, action_name)
-
-    if is_busy:
-        logger.warning(
-            f"[Controller] Device action busy: {req.device_id}/{action_name}, "
-            f"current job: {current_job_id[:8] if current_job_id else 'unknown'}"
-        )
-        # 返回失败状态，status=6 表示 ABORTED
-        return JobData(jobId=job_id, status=6)
-
-    # 设备空闲，提交任务执行
-    try:
-        from unilabos.app.ws_client import QueueItem
-
-        device_action_key = f"/devices/{req.device_id}/{action_name}"
-        queue_item = QueueItem(
-            task_type="job_call_back_status",
-            device_id=req.device_id,
-            action_name=action_name,
-            task_id=task_id,
-            job_id=job_id,
-            device_action_key=device_action_key,
-        )
-
-        host_node.send_goal(
-            queue_item,
-            action_type=action_type,
-            action_kwargs=action_args,
-            server_info=server_info,
-        )
-
-        logger.info(f"[Controller] Job submitted: {job_id[:8]} -> {req.device_id}/{action_name}")
-        # 返回已接受状态，status=1 表示 ACCEPTED
-        return JobData(jobId=job_id, status=1)
-
-    except ValueError as e:
-        # ActionClient not found 等错误
-        logger.error(f"[Controller] Action not available: {str(e)}")
-        return JobData(jobId=job_id, status=6)  # ABORTED
-
-    except Exception as e:
-        logger.error(f"[Controller] Error submitting job: {str(e)}")
-        traceback.print_exc()
-        return JobData(jobId=job_id, status=6)  # ABORTED
-
-
-def get_online_devices() -> Tuple[bool, Dict[str, Any]]:
-    """获取在线设备列表
-
-    Returns:
-        Tuple[bool, Dict]: (是否成功, 在线设备信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, {"error": "Host node not initialized"}
-
-    try:
-        from unilabos.ros.nodes.base_device_node import registered_devices
-
-        online_devices = {}
-        for device_key in host_node._online_devices:
-            # device_key 格式: "namespace/device_id"
-            parts = device_key.split("/")
-            if len(parts) >= 2:
-                device_id = parts[-1]
-            else:
-                device_id = device_key
-
-            # 获取设备详细信息
-            device_info = registered_devices.get(device_id, {})
-            machine_name = host_node.device_machine_names.get(device_id, "未知")
-
-            online_devices[device_id] = {
-                "device_key": device_key,
-                "namespace": host_node.devices_names.get(device_id, ""),
-                "machine_name": machine_name,
-                "uuid": device_info.get("uuid", "") if device_info else "",
-                "node_name": device_info.get("node_name", "") if device_info else "",
-            }
-
-        return True, {
-            "online_devices": online_devices,
-            "total_count": len(online_devices),
-            "timestamp": time.time(),
-        }
-
-    except Exception as e:
-        logger.error(f"[Controller] Error getting online devices: {str(e)}")
-        traceback.print_exc()
-        return False, {"error": str(e)}
-
-
-def get_device_actions(device_id: str) -> Tuple[bool, Dict[str, Any]]:
-    """获取设备可用的动作列表
-
-    Args:
-        device_id: 设备ID
-
-    Returns:
-        Tuple[bool, Dict]: (是否成功, 动作列表信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, {"error": "Host node not initialized"}
-
-    try:
-        from unilabos.ros.nodes.base_device_node import registered_devices
-        from unilabos.app.web.utils.action_utils import get_action_info
-
-        # 检查设备是否已注册
-        if device_id not in registered_devices:
-            return False, {"error": f"Device not found: {device_id}"}
-
-        device_info = registered_devices[device_id]
-        actions = device_info.get("actions", {})
-
-        actions_list = {}
-        for action_name, action_server in actions.items():
-            try:
-                action_info = get_action_info(action_server, action_name)
-                # 检查动作是否繁忙
-                is_busy, current_job = check_device_action_busy(device_id, action_name)
-                actions_list[action_name] = {
-                    **action_info,
-                    "is_busy": is_busy,
-                    "current_job_id": current_job[:8] if current_job else None,
-                }
-            except Exception as e:
-                logger.warning(f"[Controller] Error getting action info for {action_name}: {str(e)}")
-                actions_list[action_name] = {
-                    "type_name": "unknown",
-                    "action_path": f"/devices/{device_id}/{action_name}",
-                    "is_busy": False,
-                    "error": str(e),
-                }
-
-        return True, {
-            "device_id": device_id,
-            "actions": actions_list,
-            "action_count": len(actions_list),
-        }
-
-    except Exception as e:
-        logger.error(f"[Controller] Error getting device actions: {str(e)}")
-        traceback.print_exc()
-        return False, {"error": str(e)}
-
-
-def get_action_schema(device_id: str, action_name: str) -> Tuple[bool, Dict[str, Any]]:
-    """获取动作的Schema详情
-
-    Args:
-        device_id: 设备ID
-        action_name: 动作名称
-
-    Returns:
-        Tuple[bool, Dict]: (是否成功, Schema信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, {"error": "Host node not initialized"}
-
-    try:
-        from unilabos.registry.registry import lab_registry
-        from unilabos.ros.nodes.base_device_node import registered_devices
-
-        result = {
-            "device_id": device_id,
-            "action_name": action_name,
-            "schema": None,
-            "goal_default": None,
-            "action_type": None,
-            "is_busy": False,
-        }
-
-        # 检查动作是否繁忙
-        is_busy, current_job = check_device_action_busy(device_id, action_name)
-        result["is_busy"] = is_busy
-        result["current_job_id"] = current_job[:8] if current_job else None
-
-        # 方法1: 从 registered_devices 获取运行时信息
-        if device_id in registered_devices:
-            device_info = registered_devices[device_id]
-            base_node = device_info.get("base_node_instance")
-
-            if base_node and hasattr(base_node, "_action_value_mappings"):
-                action_mappings = base_node._action_value_mappings
-                if action_name in action_mappings:
-                    mapping = action_mappings[action_name]
-                    result["schema"] = mapping.get("schema")
-                    result["goal_default"] = mapping.get("goal_default")
-                    result["action_type"] = str(mapping.get("type", ""))
-
-        # 方法2: 从 lab_registry 获取注册表信息（如果运行时没有）
-        if result["schema"] is None and lab_registry:
-            # 尝试查找设备类型
-            devices_config = host_node.devices_config
-            device_class = None
-
-            # 从配置中获取设备类型
-            for tree in devices_config.trees:
-                node = tree.root_node
-                if node.res_content.id == device_id:
-                    device_class = node.res_content.klass
-                    break
-
-            if device_class and device_class in lab_registry.device_type_registry:
-                device_type_info = lab_registry.device_type_registry[device_class]
-                class_info = device_type_info.get("class", {})
-                action_mappings = class_info.get("action_value_mappings", {})
-
-                # 尝试直接匹配或 auto- 前缀匹配
-                for key in [action_name, f"auto-{action_name}"]:
-                    if key in action_mappings:
-                        mapping = action_mappings[key]
-                        result["schema"] = mapping.get("schema")
-                        result["goal_default"] = mapping.get("goal_default")
-                        result["action_type"] = str(mapping.get("type", ""))
-                        result["handles"] = mapping.get("handles", {})
-                        result["placeholder_keys"] = mapping.get("placeholder_keys", {})
-                        break
-
-        if result["schema"] is None:
-            return False, {"error": f"Action schema not found: {device_id}/{action_name}"}
-
-        return True, result
-
-    except Exception as e:
-        logger.error(f"[Controller] Error getting action schema: {str(e)}")
-        traceback.print_exc()
-        return False, {"error": str(e)}
-
-
-def get_all_available_actions() -> Tuple[bool, Dict[str, Any]]:
-    """获取所有设备的可用动作
-
-    Returns:
-        Tuple[bool, Dict]: (是否成功, 所有设备的动作信息)
-    """
-    host_node = HostNode.get_instance(0)
-    if host_node is None:
-        return False, {"error": "Host node not initialized"}
-
-    try:
-        from unilabos.ros.nodes.base_device_node import registered_devices
-        from unilabos.app.web.utils.action_utils import get_action_info
-
-        all_actions = {}
-        total_action_count = 0
-
-        for device_id, device_info in registered_devices.items():
-            actions = device_info.get("actions", {})
-            device_actions = {}
-
-            for action_name, action_server in actions.items():
-                try:
-                    action_info = get_action_info(action_server, action_name)
-                    is_busy, current_job = check_device_action_busy(device_id, action_name)
-                    device_actions[action_name] = {
-                        "type_name": action_info.get("type_name", ""),
-                        "action_path": action_info.get("action_path", ""),
-                        "is_busy": is_busy,
-                        "current_job_id": current_job[:8] if current_job else None,
-                    }
-                    total_action_count += 1
-                except Exception as e:
-                    logger.warning(f"[Controller] Error processing action {device_id}/{action_name}: {str(e)}")
-
-            if device_actions:
-                all_actions[device_id] = {
-                    "actions": device_actions,
-                    "action_count": len(device_actions),
-                    "machine_name": host_node.device_machine_names.get(device_id, "未知"),
-                }
-
-        return True, {
-            "devices": all_actions,
-            "device_count": len(all_actions),
-            "total_action_count": total_action_count,
-            "timestamp": time.time(),
-        }
-
-    except Exception as e:
-        logger.error(f"[Controller] Error getting all available actions: {str(e)}")
-        traceback.print_exc()
-        return False, {"error": str(e)}

unilabos/app/ws_client.py

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

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -147,9 +147,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
         offsets: Optional[List[Coordinate]] = None,
         **backend_kwargs,
     ):
-        # 如果 use_channels 为 None，使用默认值（所有通道）
-        if use_channels is None:
-            use_channels = list(range(self.channel_num))
         if not offsets or (isinstance(offsets, list) and len(offsets) != len(use_channels)):
             offsets = [Coordinate.zero()] * len(use_channels)
         if self._simulator:
@@ -762,7 +759,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None and len(delays) > 1:
+                        if delays is not None:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()        
@@ -836,19 +833,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             spread=spread,
                         )
 
-                        if delays is not None and len(delays) > 1:
+                        if delays is not None:
                             await self.custom_delay(seconds=delays[1])
-                        # 只有在 mix_time 有效时才调用 mix
+                        await self.mix(
-                        if mix_time is not None and mix_time > 0:
+                            targets=[targets[_]],
-                            await self.mix(
+                            mix_time=mix_time,
-                                targets=[targets[_]],
+                            mix_vol=mix_vol,
-                                mix_time=mix_time,
+                            offsets=offsets if offsets else None,
-                                mix_vol=mix_vol,
+                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                                offsets=offsets if offsets else None,
+                            mix_rate=mix_rate if mix_rate else None,
-                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        )
-                                mix_rate=mix_rate if mix_rate else None,
+                        if delays is not None:
-                            )
-                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(targets[_])
                         await self.discard_tips()
@@ -898,20 +893,18 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                             blow_out_air_volume=current_dis_blow_out_air_volume,
                             spread=spread,
                         )
-                        if delays is not None and len(delays) > 1:
+                        if delays is not None:
                             await self.custom_delay(seconds=delays[1])
 
-                        # 只有在 mix_time 有效时才调用 mix
+                        await self.mix(
-                        if mix_time is not None and mix_time > 0:
+                            targets=current_targets,
-                            await self.mix(
+                            mix_time=mix_time,
-                                targets=current_targets,
+                            mix_vol=mix_vol,
-                                mix_time=mix_time,
+                            offsets=offsets if offsets else None,
-                                mix_vol=mix_vol,
+                            height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                                offsets=offsets if offsets else None,
+                            mix_rate=mix_rate if mix_rate else None,
-                                height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        )
-                                mix_rate=mix_rate if mix_rate else None,
+                        if delays is not None:
-                            )
-                        if delays is not None and len(delays) > 1:
                             await self.custom_delay(seconds=delays[1])
                         await self.touch_tip(current_targets)
                         await self.discard_tips()
@@ -949,146 +942,60 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         delays: Optional[List[int]] = None,
         none_keys: List[str] = [],
     ):
-        """Transfer liquid with automatic mode detection.
+        """Transfer liquid from each *source* well/plate to the corresponding *target*.
-
-        Supports three transfer modes:
-        1. One-to-many (1 source -> N targets): Distribute from one source to multiple targets
-        2. One-to-one (N sources -> N targets): Standard transfer, each source to corresponding target
-        3. Many-to-one (N sources -> 1 target): Combine multiple sources into one target
 
         Parameters
         ----------
         asp_vols, dis_vols
-            Single volume (µL) or list. Automatically expanded based on transfer mode.
+            Single volume (µL) or list matching the number of transfers.
         sources, targets
-            Containers (wells or plates). Length determines transfer mode:
+            Same‑length sequences of containers (wells or plates). In 96‑well mode
-            - len(sources) == 1, len(targets) > 1: One-to-many mode
+            each must contain exactly one plate.
-            - len(sources) == len(targets): One-to-one mode
-            - len(sources) > 1, len(targets) == 1: Many-to-one mode
         tip_racks
             One or more TipRacks providing fresh tips.
         is_96_well
             Set *True* to use the 96‑channel head.
         """
-        
+
-        # 确保 use_channels 有默认值
+
-        if use_channels is None:
-            use_channels = [0] if self.channel_num >= 1 else list(range(self.channel_num))
-        
         if is_96_well:
             pass  # This mode is not verified.
         else:
-            # 转换体积参数为列表
+            if len(asp_vols) != len(targets):
-            if isinstance(asp_vols, (int, float)):
+                raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
-                asp_vols = [float(asp_vols)]
-            else:
-                asp_vols = [float(v) for v in asp_vols]
-            
-            if isinstance(dis_vols, (int, float)):
-                dis_vols = [float(dis_vols)]
-            else:
-                dis_vols = [float(v) for v in dis_vols]
-            
-            # 识别传输模式
-            num_sources = len(sources)
-            num_targets = len(targets)
-            
-            if num_sources == 1 and num_targets > 1:
-                # 模式1: 一对多 (1 source -> N targets)
-                await self._transfer_one_to_many(
-                    sources[0], targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources > 1 and num_targets == 1:
-                # 模式2: 多对一 (N sources -> 1 target)
-                await self._transfer_many_to_one(
-                    sources, targets[0], tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            elif num_sources == num_targets:
-                # 模式3: 一对一 (N sources -> N targets) - 原有逻辑
-                await self._transfer_one_to_one(
-                    sources, targets, tip_racks, use_channels,
-                    asp_vols, dis_vols, asp_flow_rates, dis_flow_rates,
-                    offsets, touch_tip, liquid_height, blow_out_air_volume,
-                    spread, mix_stage, mix_times, mix_vol, mix_rate,
-                    mix_liquid_height, delays
-                )
-            else:
-                raise ValueError(
-                    f"Unsupported transfer mode: {num_sources} sources -> {num_targets} targets. "
-                    "Supported modes: 1->N, N->1, or N->N."
-                )
 
-    async def _transfer_one_to_one(
+            # 首先应该对任务分组，然后每次1个/8个进行操作处理
-        self,
+            if len(use_channels) == 1:
-        sources: Sequence[Container],
+                for _ in range(len(targets)):
-        targets: Sequence[Container],
+                    tip = []
-        tip_racks: Sequence[TipRack],
+                    for ___ in range(len(use_channels)):
-        use_channels: List[int],
+                        tip.extend(next(self.current_tip))
-        asp_vols: List[float],
+                    await self.pick_up_tips(tip)
-        dis_vols: List[float],
-        asp_flow_rates: Optional[List[Optional[float]]],
-        dis_flow_rates: Optional[List[Optional[float]]],
-        offsets: Optional[List[Coordinate]],
-        touch_tip: bool,
-        liquid_height: Optional[List[Optional[float]]],
-        blow_out_air_volume: Optional[List[Optional[float]]],
-        spread: Literal["wide", "tight", "custom"],
-        mix_stage: Optional[Literal["none", "before", "after", "both"]],
-        mix_times: Optional[int],
-        mix_vol: Optional[int],
-        mix_rate: Optional[int],
-        mix_liquid_height: Optional[float],
-        delays: Optional[List[int]],
-    ):
-        """一对一传输模式：N sources -> N targets"""
-        # 验证参数长度
-        if len(asp_vols) != len(targets):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `targets` {len(targets)}.")
-        if len(dis_vols) != len(targets):
-            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
-        if len(sources) != len(targets):
-            raise ValueError(f"Length of `sources` {len(sources)} must match `targets` {len(targets)}.")
 
-        if len(use_channels) == 1:
+                    await self.aspirate(
-            for _ in range(len(targets)):
+                        resources=[sources[_]],
-                tip = []
+                        vols=[asp_vols[_]],
-                for ___ in range(len(use_channels)):
+                        use_channels=use_channels,
-                    tip.extend(next(self.current_tip))
+                        flow_rates=[asp_flow_rates[0]] if asp_flow_rates else None,
-                await self.pick_up_tips(tip)
+                        offsets=[offsets[0]] if offsets else None,
-
+                        liquid_height=[liquid_height[0]] if liquid_height else None,
-                await self.aspirate(
+                        blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
-                    resources=[sources[_]],
+                        spread=spread,
-                    vols=[asp_vols[_]],
+                    )
-                    use_channels=use_channels,
+                    if delays is not None:
-                    flow_rates=[asp_flow_rates[_]] if asp_flow_rates and len(asp_flow_rates) > _ else None,
+                        await self.custom_delay(seconds=delays[0])
-                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
+                    await self.dispense(
-                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
+                        resources=[targets[_]],
-                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
+                        vols=[dis_vols[_]],
-                    spread=spread,
+                        use_channels=use_channels,
-                )
+                        flow_rates=[dis_flow_rates[1]] if dis_flow_rates else None,
-                if delays is not None:
+                        offsets=[offsets[1]] if offsets else None,
-                    await self.custom_delay(seconds=delays[0])
+                        blow_out_air_volume=[blow_out_air_volume[1]] if blow_out_air_volume else None,
-                await self.dispense(
+                        liquid_height=[liquid_height[1]] if liquid_height else None,
-                    resources=[targets[_]],
+                        spread=spread,
-                    vols=[dis_vols[_]],
+                    )
-                    use_channels=use_channels,
+                    if delays is not None:
-                    flow_rates=[dis_flow_rates[_]] if dis_flow_rates and len(dis_flow_rates) > _ else None,
+                        await self.custom_delay(seconds=delays[1])
-                    offsets=[offsets[_]] if offsets and len(offsets) > _ else None,
-                    blow_out_air_volume=[blow_out_air_volume[_]] if blow_out_air_volume and len(blow_out_air_volume) > _ else None,
-                    liquid_height=[liquid_height[_]] if liquid_height and len(liquid_height) > _ else None,
-                    spread=spread,
-                )
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
                     await self.mix(
                         targets=[targets[_]],
                         mix_time=mix_times,
@@ -1097,425 +1004,75 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                         height_to_bottom=mix_liquid_height if mix_liquid_height else None,
                         mix_rate=mix_rate if mix_rate else None,
                     )
-                if delays is not None and len(delays) > 1:
+                    if delays is not None:
-                    await self.custom_delay(seconds=delays[1])
+                        await self.custom_delay(seconds=delays[1])
-                await self.touch_tip(targets[_])
+                    await self.touch_tip(targets[_])
-                await self.discard_tips(use_channels=use_channels)
+                    await self.discard_tips()
 
-        elif len(use_channels) == 8:
+            elif len(use_channels) == 8:
-            if len(targets) % 8 != 0:
+                # 对于8个的情况，需要判断此时任务是不是能被8通道移液站来成功处理
-                raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
+                if len(targets) % 8 != 0:
+                    raise ValueError(f"Length of `targets` {len(targets)} must be a multiple of 8 for 8-channel mode.")
 
-            for i in range(0, len(targets), 8):
+                # 8个8个来取任务序列
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-                current_targets = targets[i:i + 8]
-                current_reagent_sources = sources[i:i + 8]
-                current_asp_vols = asp_vols[i:i + 8]
-                current_dis_vols = dis_vols[i:i + 8]
-                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
-                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
-                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
 
-                await self.aspirate(
+                for i in range(0, len(targets), 8):
-                    resources=current_reagent_sources,
+                    # 取出8个任务
-                    vols=current_asp_vols,
+                    tip = []
-                    use_channels=use_channels,
+                    for _ in range(len(use_channels)):
-                    flow_rates=current_asp_flow_rates,
+                        tip.extend(next(self.current_tip))
-                    offsets=current_asp_offset,
+                    await self.pick_up_tips(tip)
-                    blow_out_air_volume=current_asp_blow_out_air_volume,
+                    current_targets = targets[i:i + 8]
-                    liquid_height=current_asp_liquid_height,
+                    current_reagent_sources = sources[i:i + 8]
-                    spread=spread,
+                    current_asp_vols = asp_vols[i:i + 8]
-                )
-
-                if delays is not None:
-                    await self.custom_delay(seconds=delays[0])
-                await self.dispense(
-                    resources=current_targets,
-                    vols=current_dis_vols,
-                    use_channels=use_channels,
-                    flow_rates=current_dis_flow_rates,
-                    offsets=current_dis_offset,
-                    blow_out_air_volume=current_dis_blow_out_air_volume,
-                    liquid_height=current_dis_liquid_height,
-                    spread=spread,
-                )
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-
-                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
-                    await self.mix(
-                        targets=current_targets,
-                        mix_time=mix_times,
-                        mix_vol=mix_vol,
-                        offsets=offsets if offsets else None,
-                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                        mix_rate=mix_rate if mix_rate else None,
-                    )
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-                await self.touch_tip(current_targets)
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
-    async def _transfer_one_to_many(
-        self,
-        source: Container,
-        targets: Sequence[Container],
-        tip_racks: Sequence[TipRack],
-        use_channels: List[int],
-        asp_vols: List[float],
-        dis_vols: List[float],
-        asp_flow_rates: Optional[List[Optional[float]]],
-        dis_flow_rates: Optional[List[Optional[float]]],
-        offsets: Optional[List[Coordinate]],
-        touch_tip: bool,
-        liquid_height: Optional[List[Optional[float]]],
-        blow_out_air_volume: Optional[List[Optional[float]]],
-        spread: Literal["wide", "tight", "custom"],
-        mix_stage: Optional[Literal["none", "before", "after", "both"]],
-        mix_times: Optional[int],
-        mix_vol: Optional[int],
-        mix_rate: Optional[int],
-        mix_liquid_height: Optional[float],
-        delays: Optional[List[int]],
-    ):
-        """一对多传输模式：1 source -> N targets"""
-        # 验证和扩展体积参数
-        if len(asp_vols) == 1:
-            # 如果只提供一个吸液体积，计算总吸液体积（所有分液体积之和）
-            total_asp_vol = sum(dis_vols)
-            asp_vol = asp_vols[0] if asp_vols[0] >= total_asp_vol else total_asp_vol
-        else:
-            raise ValueError("For one-to-many mode, `asp_vols` should be a single value or list with one element.")
-        
-        if len(dis_vols) != len(targets):
-            raise ValueError(f"Length of `dis_vols` {len(dis_vols)} must match `targets` {len(targets)}.")
-
-        if len(use_channels) == 1:
-            # 单通道模式：一次吸液，多次分液
-            tip = []
-            for _ in range(len(use_channels)):
-                tip.extend(next(self.current_tip))
-            await self.pick_up_tips(tip)
-
-            # 从源容器吸液（总体积）
-            await self.aspirate(
-                resources=[source],
-                vols=[asp_vol],
-                use_channels=use_channels,
-                flow_rates=[asp_flow_rates[0]] if asp_flow_rates and len(asp_flow_rates) > 0 else None,
-                offsets=[offsets[0]] if offsets and len(offsets) > 0 else None,
-                liquid_height=[liquid_height[0]] if liquid_height and len(liquid_height) > 0 else None,
-                blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None,
-                spread=spread,
-            )
-            
-            if delays is not None:
-                await self.custom_delay(seconds=delays[0])
-            
-            # 分多次分液到不同的目标容器
-            for idx, target in enumerate(targets):
-                await self.dispense(
-                    resources=[target],
-                    vols=[dis_vols[idx]],
-                    use_channels=use_channels,
-                    flow_rates=[dis_flow_rates[idx]] if dis_flow_rates and len(dis_flow_rates) > idx else None,
-                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
-                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
-                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
-                    spread=spread,
-                )
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
-                    await self.mix(
-                        targets=[target],
-                        mix_time=mix_times,
-                        mix_vol=mix_vol,
-                        offsets=offsets[idx:idx+1] if offsets else None,
-                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                        mix_rate=mix_rate if mix_rate else None,
-                    )
-                if touch_tip:
-                    await self.touch_tip([target])
-            
-            await self.discard_tips(use_channels=use_channels)
-        
-        elif len(use_channels) == 8:
-            # 8通道模式：需要确保目标数量是8的倍数
-            if len(targets) % 8 != 0:
-                raise ValueError(f"For 8-channel mode, number of targets {len(targets)} must be a multiple of 8.")
-            
-            # 每次处理8个目标
-            for i in range(0, len(targets), 8):
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-                
-                current_targets = targets[i:i + 8]
-                current_dis_vols = dis_vols[i:i + 8]
-                
-                # 8个通道都从同一个源容器吸液，每个通道的吸液体积等于对应的分液体积
-                current_asp_flow_rates = asp_flow_rates[0:1] * 8 if asp_flow_rates and len(asp_flow_rates) > 0 else None
-                current_asp_offset = offsets[0:1] * 8 if offsets and len(offsets) > 0 else [None] * 8
-                current_asp_liquid_height = liquid_height[0:1] * 8 if liquid_height and len(liquid_height) > 0 else [None] * 8
-                current_asp_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume and len(blow_out_air_volume) > 0 else [None] * 8
-                
-                # 从源容器吸液（8个通道都从同一个源，但每个通道的吸液体积不同）
-                await self.aspirate(
-                    resources=[source] * 8,  # 8个通道都从同一个源
-                    vols=current_dis_vols,  # 每个通道的吸液体积等于对应的分液体积
-                    use_channels=use_channels,
-                    flow_rates=current_asp_flow_rates,
-                    offsets=current_asp_offset,
-                    liquid_height=current_asp_liquid_height,
-                    blow_out_air_volume=current_asp_blow_out_air_volume,
-                    spread=spread,
-                )
-                
-                if delays is not None:
-                    await self.custom_delay(seconds=delays[0])
-                
-                # 分液到8个目标
-                current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
-                current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
-                current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                
-                await self.dispense(
-                    resources=current_targets,
-                    vols=current_dis_vols,
-                    use_channels=use_channels,
-                    flow_rates=current_dis_flow_rates,
-                    offsets=current_dis_offset,
-                    blow_out_air_volume=current_dis_blow_out_air_volume,
-                    liquid_height=current_dis_liquid_height,
-                    spread=spread,
-                )
-                
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-                
-                if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
-                    await self.mix(
-                        targets=current_targets,
-                        mix_time=mix_times,
-                        mix_vol=mix_vol,
-                        offsets=offsets if offsets else None,
-                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                        mix_rate=mix_rate if mix_rate else None,
-                    )
-                
-                if touch_tip:
-                    await self.touch_tip(current_targets)
-                
-                await self.discard_tips([0,1,2,3,4,5,6,7])
-
-    async def _transfer_many_to_one(
-        self,
-        sources: Sequence[Container],
-        target: Container,
-        tip_racks: Sequence[TipRack],
-        use_channels: List[int],
-        asp_vols: List[float],
-        dis_vols: List[float],
-        asp_flow_rates: Optional[List[Optional[float]]],
-        dis_flow_rates: Optional[List[Optional[float]]],
-        offsets: Optional[List[Coordinate]],
-        touch_tip: bool,
-        liquid_height: Optional[List[Optional[float]]],
-        blow_out_air_volume: Optional[List[Optional[float]]],
-        spread: Literal["wide", "tight", "custom"],
-        mix_stage: Optional[Literal["none", "before", "after", "both"]],
-        mix_times: Optional[int],
-        mix_vol: Optional[int],
-        mix_rate: Optional[int],
-        mix_liquid_height: Optional[float],
-        delays: Optional[List[int]],
-    ):
-        """多对一传输模式：N sources -> 1 target（汇总/混合）"""
-        # 验证和扩展体积参数
-        if len(asp_vols) != len(sources):
-            raise ValueError(f"Length of `asp_vols` {len(asp_vols)} must match `sources` {len(sources)}.")
-        
-        # 支持两种模式：
-        # 1. dis_vols 为单个值：所有源汇总，使用总吸液体积或指定分液体积
-        # 2. dis_vols 长度等于 asp_vols：每个源按不同比例分液（按比例混合）
-        if len(dis_vols) == 1:
-            # 模式1：使用单个分液体积
-            total_dis_vol = sum(asp_vols)
-            dis_vol = dis_vols[0] if dis_vols[0] >= total_dis_vol else total_dis_vol
-            use_proportional_mixing = False
-        elif len(dis_vols) == len(asp_vols):
-            # 模式2：按不同比例混合
-            use_proportional_mixing = True
-        else:
-            raise ValueError(
-                f"For many-to-one mode, `dis_vols` should be a single value or list with length {len(asp_vols)} "
-                f"(matching `asp_vols`). Got length {len(dis_vols)}."
-            )
-
-        if len(use_channels) == 1:
-            # 单通道模式：多次吸液，一次分液
-            # 先混合前（如果需要）
-            if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
-                # 注意：在吸液前混合源容器通常不常见，这里跳过
-                pass
-            
-            # 从每个源容器吸液并分液到目标容器
-            for idx, source in enumerate(sources):
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-
-                await self.aspirate(
-                    resources=[source],
-                    vols=[asp_vols[idx]],
-                    use_channels=use_channels,
-                    flow_rates=[asp_flow_rates[idx]] if asp_flow_rates and len(asp_flow_rates) > idx else None,
-                    offsets=[offsets[idx]] if offsets and len(offsets) > idx else None,
-                    liquid_height=[liquid_height[idx]] if liquid_height and len(liquid_height) > idx else None,
-                    blow_out_air_volume=[blow_out_air_volume[idx]] if blow_out_air_volume and len(blow_out_air_volume) > idx else None,
-                    spread=spread,
-                )
-                
-                if delays is not None:
-                    await self.custom_delay(seconds=delays[0])
-                
-                # 分液到目标容器
-                if use_proportional_mixing:
-                    # 按不同比例混合：使用对应的 dis_vols
-                    dis_vol = dis_vols[idx]
-                    dis_flow_rate = dis_flow_rates[idx] if dis_flow_rates and len(dis_flow_rates) > idx else None
-                    dis_offset = offsets[idx] if offsets and len(offsets) > idx else None
-                    dis_liquid_height = liquid_height[idx] if liquid_height and len(liquid_height) > idx else None
-                    dis_blow_out = blow_out_air_volume[idx] if blow_out_air_volume and len(blow_out_air_volume) > idx else None
-                else:
-                    # 标准模式：分液体积等于吸液体积
-                    dis_vol = asp_vols[idx]
-                    dis_flow_rate = dis_flow_rates[0] if dis_flow_rates and len(dis_flow_rates) > 0 else None
-                    dis_offset = offsets[0] if offsets and len(offsets) > 0 else None
-                    dis_liquid_height = liquid_height[0] if liquid_height and len(liquid_height) > 0 else None
-                    dis_blow_out = blow_out_air_volume[0] if blow_out_air_volume and len(blow_out_air_volume) > 0 else None
-                
-                await self.dispense(
-                    resources=[target],
-                    vols=[dis_vol],
-                    use_channels=use_channels,
-                    flow_rates=[dis_flow_rate] if dis_flow_rate is not None else None,
-                    offsets=[dis_offset] if dis_offset is not None else None,
-                    blow_out_air_volume=[dis_blow_out] if dis_blow_out is not None else None,
-                    liquid_height=[dis_liquid_height] if dis_liquid_height is not None else None,
-                    spread=spread,
-                )
-                
-                if delays is not None and len(delays) > 1:
-                    await self.custom_delay(seconds=delays[1])
-                
-                await self.discard_tips(use_channels=use_channels)
-            
-            # 最后在目标容器中混合（如果需要）
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
-                await self.mix(
-                    targets=[target],
-                    mix_time=mix_times,
-                    mix_vol=mix_vol,
-                    offsets=offsets[0:1] if offsets else None,
-                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
-                    mix_rate=mix_rate if mix_rate else None,
-                )
-            
-            if touch_tip:
-                await self.touch_tip([target])
-        
-        elif len(use_channels) == 8:
-            # 8通道模式：需要确保源数量是8的倍数
-            if len(sources) % 8 != 0:
-                raise ValueError(f"For 8-channel mode, number of sources {len(sources)} must be a multiple of 8.")
-            
-            # 每次处理8个源
-            for i in range(0, len(sources), 8):
-                tip = []
-                for _ in range(len(use_channels)):
-                    tip.extend(next(self.current_tip))
-                await self.pick_up_tips(tip)
-                
-                current_sources = sources[i:i + 8]
-                current_asp_vols = asp_vols[i:i + 8]
-                current_asp_flow_rates = asp_flow_rates[i:i + 8] if asp_flow_rates else None
-                current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                
-                # 从8个源容器吸液
-                await self.aspirate(
-                    resources=current_sources,
-                    vols=current_asp_vols,
-                    use_channels=use_channels,
-                    flow_rates=current_asp_flow_rates,
-                    offsets=current_asp_offset,
-                    blow_out_air_volume=current_asp_blow_out_air_volume,
-                    liquid_height=current_asp_liquid_height,
-                    spread=spread,
-                )
-                
-                if delays is not None:
-                    await self.custom_delay(seconds=delays[0])
-                
-                # 分液到目标容器（每个通道分液到同一个目标）
-                if use_proportional_mixing:
-                    # 按比例混合：使用对应的 dis_vols
                     current_dis_vols = dis_vols[i:i + 8]
-                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else None
+                    current_asp_flow_rates = asp_flow_rates[i:i + 8]
-                    current_dis_offset = offsets[i:i + 8] if offsets else [None] * 8
+                    current_asp_offset = offsets[i:i + 8] if offsets else [None] * 8
-                    current_dis_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
+                    current_dis_offset = offsets[-i*8-8:len(offsets)-i*8] if offsets else [None] * 8
-                    current_dis_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
+                    current_asp_liquid_height = liquid_height[i:i + 8] if liquid_height else [None] * 8
-                else:
+                    current_dis_liquid_height = liquid_height[-i*8-8:len(liquid_height)-i*8] if liquid_height else [None] * 8
-                    # 标准模式：每个通道分液体积等于其吸液体积
+                    current_asp_blow_out_air_volume = blow_out_air_volume[i:i + 8] if blow_out_air_volume else [None] * 8
-                    current_dis_vols = current_asp_vols
+                    current_dis_blow_out_air_volume = blow_out_air_volume[-i*8-8:len(blow_out_air_volume)-i*8] if blow_out_air_volume else [None] * 8
-                    current_dis_flow_rates = dis_flow_rates[0:1] * 8 if dis_flow_rates else None
+                    current_dis_flow_rates = dis_flow_rates[i:i + 8] if dis_flow_rates else [None] * 8
-                    current_dis_offset = offsets[0:1] * 8 if offsets else [None] * 8
+
-                    current_dis_liquid_height = liquid_height[0:1] * 8 if liquid_height else [None] * 8
+                    await self.aspirate(
-                    current_dis_blow_out_air_volume = blow_out_air_volume[0:1] * 8 if blow_out_air_volume else [None] * 8
+                        resources=current_reagent_sources,
-                
+                        vols=current_asp_vols,
-                await self.dispense(
+                        use_channels=use_channels,
-                    resources=[target] * 8,  # 8个通道都分到同一个目标
+                        flow_rates=current_asp_flow_rates,
-                    vols=current_dis_vols,
+                        offsets=current_asp_offset,
-                    use_channels=use_channels,
+                        blow_out_air_volume=current_asp_blow_out_air_volume,
-                    flow_rates=current_dis_flow_rates,
+                        liquid_height=current_asp_liquid_height,
-                    offsets=current_dis_offset,
+                        spread=spread,
-                    blow_out_air_volume=current_dis_blow_out_air_volume,
+                    )
-                    liquid_height=current_dis_liquid_height,
+
-                    spread=spread,
+                    if delays is not None:
-                )
+                        await self.custom_delay(seconds=delays[0])
-                
+                    await self.dispense(
-                if delays is not None and len(delays) > 1:
+                        resources=current_targets,
-                    await self.custom_delay(seconds=delays[1])
+                        vols=current_dis_vols,
-                
+                        use_channels=use_channels,
-                await self.discard_tips([0,1,2,3,4,5,6,7])
+                        flow_rates=current_dis_flow_rates,
-            
+                        offsets=current_dis_offset,
-            # 最后在目标容器中混合（如果需要）
+                        blow_out_air_volume=current_dis_blow_out_air_volume,
-            if mix_stage in ["after", "both"] and mix_times is not None and mix_times > 0:
+                        liquid_height=current_dis_liquid_height,
-                await self.mix(
+                        spread=spread,
-                    targets=[target],
+                    )
-                    mix_time=mix_times,
+                    if delays is not None:
-                    mix_vol=mix_vol,
+                        await self.custom_delay(seconds=delays[1])
-                    offsets=offsets[0:1] if offsets else None,
+
-                    height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                    await self.mix(
-                    mix_rate=mix_rate if mix_rate else None,
+                        targets=current_targets,
-                )
+                        mix_time=mix_times,
-            
+                        mix_vol=mix_vol,
-            if touch_tip:
+                        offsets=offsets if offsets else None,
-                await self.touch_tip([target])
+                        height_to_bottom=mix_liquid_height if mix_liquid_height else None,
+                        mix_rate=mix_rate if mix_rate else None,
+                    )
+                    if delays is not None:
+                        await self.custom_delay(seconds=delays[1])
+                    await self.touch_tip(current_targets)
+                    await self.discard_tips([0,1,2,3,4,5,6,7])
 
     # except Exception as e:
     #     traceback.print_exc()

unilabos/devices/virtual/virtual_multiway_valve.py

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

unilabos/devices/workstation/workstation_base.py

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

unilabos/registry/devices/bioyond_dispensing_station.yaml

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

unilabos/registry/devices/work_station.yaml

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

unilabos/registry/resources/organic/container.yaml

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

unilabos/resources/container.py

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

unilabos/resources/graphio.py

@@ -45,13 +45,10 @@ def canonicalize_nodes_data(
     print_status(f"{len(nodes)} Resources loaded:", "info")
 
     # 第一步：基本预处理（处理graphml的label字段）
-    outer_host_node_id = None
+    for node in nodes:
-    for idx, node in enumerate(nodes):
         if node.get("label") is not None:
             node_id = node.pop("label")
             node["id"] = node["name"] = node_id
-        if node["id"] == "host_node":
-            outer_host_node_id = idx
         if not isinstance(node.get("config"), dict):
             node["config"] = {}
         if not node.get("type"):
@@ -61,26 +58,25 @@ def canonicalize_nodes_data(
             node["name"] = node.get("id")
             print_status(f"Warning: Node {node.get('id', 'unknown')} missing 'name', defaulting to {node['name']}", "warning")
         if not isinstance(node.get("position"), dict):
-            node["pose"] = {"position": {}}
+            node["position"] = {"position": {}}
             x = node.pop("x", None)
             if x is not None:
-                node["pose"]["position"]["x"] = x
+                node["position"]["position"]["x"] = x
             y = node.pop("y", None)
             if y is not None:
-                node["pose"]["position"]["y"] = y
+                node["position"]["position"]["y"] = y
             z = node.pop("z", None)
             if z is not None:
-                node["pose"]["position"]["z"] = z
+                node["position"]["position"]["z"] = z
         if "sample_id" in node:
             sample_id = node.pop("sample_id")
             if sample_id:
                 logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
         for k in list(node.keys()):
-            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose"]:
+            if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children"]:
                 v = node.pop(k)
                 node["config"][k] = v
-    if outer_host_node_id is not None:
+
-        nodes.pop(outer_host_node_id)
     # 第二步：处理parent_relation
     id2idx = {node["id"]: idx for idx, node in enumerate(nodes)}
     for parent, children in parent_relation.items():
@@ -97,7 +93,7 @@ def canonicalize_nodes_data(
 
     for node in nodes:
         try:
-            # print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
+            print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
             # 使用标准化方法
             resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
             known_nodes[node["id"]] = resource_instance
@@ -586,15 +582,11 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tip_rack": "tip_rack",
             "warehouse": "warehouse",
             "container": "container",
-            "tube": "tube",
-            "bottle_carrier": "bottle_carrier",
-            "plate_adapter": "plate_adapter",
         }
         if source in replace_info:
             return replace_info[source]
         else:
-            if source is not None:
+            logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
-                logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
             return source
 
     def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:

unilabos/ros/device_node_wrapper.py

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

unilabos/ros/initialize_device.py

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

unilabos/ros/main_slave_run.py

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

unilabos/ros/nodes/base_device_node.py

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

unilabos/ros/nodes/presets/host_node.py

@@ -289,12 +289,6 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
-        # 发送host_node ready信号到所有桥接器
-        for bridge in self.bridges:
-            if hasattr(bridge, "publish_host_ready"):
-                bridge.publish_host_ready()
-                self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
-
     def _send_re_register(self, sclient):
         sclient.wait_for_service()
         request = SerialCommand.Request()
@@ -538,7 +532,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         try:
-            d = initialize_device_from_dict(device_id, device_config)
+            d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
         except DeviceClassInvalid as e:
             self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
             d = None
@@ -718,7 +712,7 @@ class HostNode(BaseROS2DeviceNode):
             feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
             goal_uuid=goal_uuid_obj,
         )
-        future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
+        future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
 
     def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
         """目标响应回调"""
@@ -729,11 +723,9 @@ class HostNode(BaseROS2DeviceNode):
 
         self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
         self._goals[item.job_id] = goal_handle
-        goal_future = goal_handle.get_result_async()
+        goal_handle.get_result_async().add_done_callback(
-        goal_future.add_done_callback(
+            lambda future: self.get_result_callback(item, action_id, future)
-            lambda f: self.get_result_callback(item, action_id, f)
         )
-        goal_future.result()
 
     def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
         """反馈回调"""
@@ -799,17 +791,6 @@ class HostNode(BaseROS2DeviceNode):
                 del self._goals[job_id]
                 self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
 
-            # 存储结果供 HTTP API 查询
-            try:
-                from unilabos.app.web.controller import store_job_result
-
-                if goal_status == GoalStatus.STATUS_CANCELED:
-                    store_job_result(job_id, status, return_info, {})
-                else:
-                    store_job_result(job_id, status, return_info, result_data)
-            except ImportError:
-                pass  # controller 模块可能未加载
-
             # 发布状态到桥接器
             if job_id:
                 for bridge in self.bridges:
@@ -1157,11 +1138,12 @@ class HostNode(BaseROS2DeviceNode):
             响应对象，包含查询到的资源
         """
         try:
+            from unilabos.app.web import http_client
             data = json.loads(request.command)
             if "uuid" in data and data["uuid"] is not None:
-                http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
+                http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
             elif "id" in data and data["id"].startswith("/"):
-                http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
+                http_req = http_client.resource_get(data["id"], data["with_children"])
             else:
                 raise ValueError("没有使用正确的物料 id 或 uuid")
             response.response = json.dumps(http_req["data"])

unilabos/ros/nodes/presets/workstation.py

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

unilabos/ros/nodes/resource_tracker.py

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

unilabos/ros/utils/driver_creator.py

@@ -9,11 +9,10 @@ import asyncio
 import inspect
 import traceback
 from abc import abstractmethod
-from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
+from typing import Type, Any, Dict, Optional, TypeVar, Generic
 
 from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-    ResourceTreeInstance
 from unilabos.utils import logger, import_manager
 from unilabos.utils.cls_creator import create_instance_from_config
 
@@ -34,7 +33,7 @@ class DeviceClassCreator(Generic[T]):
     这个类提供了从任意类创建实例的通用方法。
     """
 
-    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化设备类创建器
 
@@ -51,9 +50,9 @@ class DeviceClassCreator(Generic[T]):
         附加资源到设备类实例
         """
         if self.device_instance is not None:
-            for c in self.children:
+            for c in self.children.values():
-                if c.res_content.type != "device":
+                if c["type"] != "device":
-                    self.resource_tracker.add_resource(c.get_plr_nested_dict())
+                    self.resource_tracker.add_resource(c)
 
     def create_instance(self, data: Dict[str, Any]) -> T:
         """
@@ -95,7 +94,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     这个类提供了针对PyLabRobot设备类的实例创建方法，特别处理deserialize方法。
     """
 
-    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化PyLabRobot设备类创建器
 
@@ -112,12 +111,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
     def attach_resource(self):
         pass  # 只能增加实例化物料，原来默认物料仅为字典查询
 
-    # def _process_resource_mapping(self, resource, source_type):
+    def _process_resource_mapping(self, resource, source_type):
-    #     if source_type == dict:
+        if source_type == dict:
-    #         from pylabrobot.resources.resource import Resource
+            from pylabrobot.resources.resource import Resource
-    #
+
-    #         return nested_dict_to_list(resource), Resource
+            return nested_dict_to_list(resource), Resource
-    #     return resource, source_type
+        return resource, source_type
 
     def _process_resource_references(
         self, data: Any, to_dict=False, states=None, prefix_path="", name_to_uuid=None
@@ -143,21 +142,15 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         if isinstance(data, dict):
             if "_resource_child_name" in data:
                 child_name = data["_resource_child_name"]
-                resource: Optional[ResourceDictInstance] = None
+                if child_name in self.children:
-                for child in self.children:
+                    resource = self.children[child_name]
-                    if child.res_content.name == child_name:
-                        resource = child
-                if resource is not None:
                     if "_resource_type" in data:
                         type_path = data["_resource_type"]
                         try:
-                            # target_type = import_manager.get_class(type_path)
+                            target_type = import_manager.get_class(type_path)
-                            # contain_model = not issubclass(target_type, Deck)
+                            contain_model = not issubclass(target_type, Deck)
-                            # resource, target_type = self._process_resource_mapping(resource, target_type)
+                            resource, target_type = self._process_resource_mapping(resource, target_type)
-                            res_tree = ResourceTreeInstance(resource)
+                            resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
-                            res_tree_set = ResourceTreeSet([res_tree])
-                            resource_instance: Resource = res_tree_set.to_plr_resources()[0]
-                            # resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)  # 带state
                             states[prefix_path] = resource_instance.serialize_all_state()
                             # 使用 prefix_path 作为 key 存储资源状态
                             if to_dict:
@@ -209,12 +202,12 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         stack = None
 
         # 递归遍历 children 构建 name_to_uuid 映射
-        def collect_name_to_uuid(children_list: List[ResourceDictInstance], result: Dict[str, str]):
+        def collect_name_to_uuid(children_dict: Dict[str, Any], result: Dict[str, str]):
             """递归遍历嵌套的 children 字典，收集 name 到 uuid 的映射"""
-            for child in children_list:
+            for child in children_dict.values():
-                if isinstance(child, ResourceDictInstance):
+                if isinstance(child, dict):
-                    result[child.res_content.name] = child.res_content.uuid
+                    result[child["name"]] = child["uuid"]
-                    collect_name_to_uuid(child.children, result)
+                    collect_name_to_uuid(child["children"], result)
 
         name_to_uuid = {}
         collect_name_to_uuid(self.children, name_to_uuid)
@@ -320,7 +313,7 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
     这个类提供了针对WorkstationNode设备类的实例创建方法，处理children参数。
     """
 
-    def __init__(self, cls: Type[T], children: List[ResourceDictInstance], resource_tracker: DeviceNodeResourceTracker):
+    def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
         """
         初始化WorkstationNode设备类创建器
 
@@ -343,9 +336,9 @@ class WorkstationNodeCreator(DeviceClassCreator[T]):
         try:
             # 创建实例，额外补充一个给protocol node的字段，后面考虑取消
             data["children"] = self.children
-            for child in self.children:
+            for material_id, child in self.children.items():
-                if child.res_content.type != "device":
+                if child["type"] != "device":
-                    self.resource_tracker.add_resource(child.get_plr_nested_dict())
+                    self.resource_tracker.add_resource(self.children[material_id])
             deck_dict = data.get("deck")
             if deck_dict:
                 from pylabrobot.resources import Deck, Resource

unilabos/utils/log.py

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

unilabos_msgs/package.xml

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