fix: Protocol node resource run (#65)

* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>

.conda/recipe.yaml

@@ -1,92 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.7
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
-
-build:
-  python:
-    entry_points:
-     - unilab = unilabos.app.main:main
-  script:
-  - set PIP_NO_INDEX=
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
-
-requirements:
-  host:
-  - python ==3.11.11
-  - pip
-  - setuptools
-  - zstd
-  - zstandard
-  run:
-  - conda-forge::python ==3.11.11
-  - compilers
-  - cmake
-  - zstd
-  - zstandard
-  - ninja
-  - if: unix
-    then:
-    - make
-  - sphinx
-  - sphinx_rtd_theme
-  - numpy
-  - scipy
-  - pandas
-  - networkx
-  - matplotlib
-  - pint
-  - pyserial
-  - pyusb
-  - pylibftdi
-  - pymodbus
-  - python-can
-  - pyvisa
-  - opencv
-  - pydantic
-  - fastapi
-  - uvicorn
-  - gradio
-  - flask
-  - websockets
-  - ipython
-  - jupyter
-  - jupyros
-  - colcon-common-extensions
-  - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-sensor-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-navigation2
-  - ros-humble-ros2-control
-  - ros-humble-robot-state-publisher
-  - ros-humble-joint-state-publisher
-  - ros-humble-rosbridge-server
-  - ros-humble-cv-bridge
-  - ros-humble-tf2
-  - ros-humble-moveit
-  - ros-humble-moveit-servo
-  - ros-humble-simulation
-  - ros-humble-tf-transformations
-  - transforms3d
-  - uni-lab::ros-humble-unilabos-msgs
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: GPL-3.0-only
-  description: "Uni-Lab-OS"

.conda/scripts/post-link.bat

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

.conda/scripts/post-link.sh

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

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

@@ -1,376 +0,0 @@
-name: Build Conda-Pack Environment
-
-on:
-  workflow_dispatch:
-    inputs:
-      branch:
-        description: '选择要构建的分支'
-        required: true
-        default: 'dev'
-        type: string
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'win-64'
-        type: string
-
-jobs:
-  build-conda-pack:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-            env_file: unilabos-linux-64.yaml
-            script_ext: sh
-          - os: macos-13 # Intel
-            platform: osx-64
-            env_file: unilabos-osx-64.yaml
-            script_ext: sh
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
-            script_ext: sh
-          - os: windows-latest
-            platform: win-64
-            env_file: unilabos-win64.yaml
-            script_ext: bat
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        # Windows uses cmd for better conda/mamba compatibility, Unix uses bash
-        shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
-
-    steps:
-      - name: Check if platform should be built
-        id: should_build
-        shell: bash
-        run: |
-          if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - uses: actions/checkout@v4
-        if: steps.should_build.outputs.should_build == 'true'
-        with:
-          ref: ${{ github.event.inputs.branch }}
-          fetch-depth: 0
-
-      - name: Setup Miniforge (with mamba)
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniforge-version: latest
-          use-mamba: true
-          python-version: '3.11.11'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: flexible
-          activate-environment: unilab
-          auto-activate-base: true
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install conda-pack, unilabos and dependencies (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Installing unilabos and dependencies to unilab environment...
-          echo Using mamba for faster and more reliable dependency resolution...
-          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-
-      - name: Install conda-pack, unilabos and dependencies (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Installing unilabos and dependencies to unilab environment..."
-          echo "Using mamba for faster and more reliable dependency resolution..."
-          mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
-
-      - name: Get latest ros-humble-unilabos-msgs version (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        id: msgs_version_win
-        run: |
-          echo Checking installed ros-humble-unilabos-msgs version...
-          conda list ros-humble-unilabos-msgs
-          for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
-          echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
-          echo Installed ros-humble-unilabos-msgs version: %VERSION%
-
-      - name: Get latest ros-humble-unilabos-msgs version (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        id: msgs_version_unix
-        shell: bash
-        run: |
-          echo "Checking installed ros-humble-unilabos-msgs version..."
-          VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
-          echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
-          echo "Installed ros-humble-unilabos-msgs version: $VERSION"
-
-      - name: Check for newer ros-humble-unilabos-msgs (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Checking for available ros-humble-unilabos-msgs versions...
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
-          echo.
-          echo Updating ros-humble-unilabos-msgs to latest version...
-          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
-
-      - name: Check for newer ros-humble-unilabos-msgs (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Checking for available ros-humble-unilabos-msgs versions..."
-          mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
-          echo ""
-          echo "Updating ros-humble-unilabos-msgs to latest version..."
-          mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
-
-      - name: Install latest unilabos from source (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Uninstalling existing unilabos...
-          pip uninstall unilabos -y || echo unilabos not installed via pip
-          echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
-          pip install .
-          echo Verifying installation...
-          pip show unilabos
-
-      - name: Install latest unilabos from source (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Uninstalling existing unilabos..."
-          pip uninstall unilabos -y || echo "unilabos not installed via pip"
-          echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
-          pip install .
-          echo "Verifying installation..."
-          pip show unilabos
-
-      - name: Display environment info (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo === Environment Information ===
-          conda env list
-          echo.
-          echo === Installed Packages ===
-          conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
-          echo.
-          echo === Python Packages ===
-          pip list | findstr unilabos || pip list
-
-      - name: Display environment info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=== Environment Information ==="
-          conda env list
-          echo ""
-          echo "=== Installed Packages ==="
-          conda list | grep -E "(unilabos|ros-humble-unilabos-msgs)" || conda list
-          echo ""
-          echo "=== Python Packages ==="
-          pip list | grep unilabos || pip list
-
-      - name: Verify environment integrity (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Verifying Python version...
-          python -c "import sys; print(f'Python version: {sys.version}')"
-          echo Verifying unilabos import...
-          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
-          echo Checking critical packages...
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo Running comprehensive verification script...
-          python scripts\verify_installation.py || echo Warning: Verification script reported issues
-          echo Environment verification complete!
-
-      - name: Verify environment integrity (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Verifying Python version..."
-          python -c "import sys; print(f'Python version: {sys.version}')"
-          echo "Verifying unilabos import..."
-          python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
-          echo "Checking critical packages..."
-          python -c "import rclpy; print('ROS2 rclpy: OK')"
-          echo "Running comprehensive verification script..."
-          python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
-          echo "Environment verification complete!"
-
-      - name: Pack conda environment (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo Packing unilab environment with conda-pack...
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo Pack file created:
-          dir unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Pack conda environment (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "Packing unilab environment with conda-pack..."
-          conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
-          echo "Pack file created:"
-          ls -lh unilab-env-${{ matrix.platform }}.tar.gz
-
-      - name: Prepare Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Creating distribution package...
-          echo Platform: ${{ matrix.platform }}
-          echo ==========================================
-          mkdir dist-package 2>nul || cd .
-
-          rem Copy packed environment
-          echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
-          copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
-
-          rem Copy installation script
-          echo Adding: install_unilab.bat
-          copy scripts\install_unilab.bat dist-package\
-
-          rem Copy verification script
-          echo Adding: verify_installation.py
-          copy scripts\verify_installation.py dist-package\
-
-          rem Create README using Python script
-          echo Creating: README.txt
-          python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
-
-          echo.
-          echo Distribution package contents:
-          dir /b dist-package
-          echo.
-
-      - name: Prepare Unix/Linux distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Creating distribution package..."
-          echo "Platform: ${{ matrix.platform }}"
-          echo "=========================================="
-          mkdir -p dist-package
-
-          # Copy packed environment
-          echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
-          cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
-
-          # Copy installation script
-          echo "Adding: install_unilab.sh"
-          cp scripts/install_unilab.sh dist-package/
-          chmod +x dist-package/install_unilab.sh
-
-          # Copy verification script
-          echo "Adding: verify_installation.py"
-          cp scripts/verify_installation.py dist-package/
-
-          # Create README using Python script
-          echo "Creating: README.txt"
-          python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
-
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-
-      - name: Finalize Windows distribution package
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Windows distribution package ready
-          echo.
-          echo Package will be uploaded as artifact
-          echo GitHub Actions will automatically create ZIP
-          echo.
-          echo Contents:
-          dir /b dist-package
-          echo.
-          echo Users will download a ZIP containing:
-          echo   - install_unilab.bat
-          echo   - unilab-env-${{ matrix.platform }}.tar.gz
-          echo   - verify_installation.py
-          echo   - README.txt
-          echo ==========================================
-
-      - name: Create Unix/Linux TAR.GZ archive
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Creating Unix/Linux TAR.GZ archive..."
-          echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
-          tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
-          echo "=========================================="
-
-          echo ""
-          echo "Final package created:"
-          ls -lh unilab-pack-*
-          echo ""
-          echo "Users can now:"
-          echo "  1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "  2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "  3. Run: bash install_unilab.sh"
-          echo ""
-
-      - name: Upload distribution package
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
-          path: dist-package/
-          retention-days: 90
-          if-no-files-found: error
-
-      - name: Display package info (Windows)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
-        run: |
-          echo ==========================================
-          echo Build Summary
-          echo ==========================================
-          echo Platform: ${{ matrix.platform }}
-          echo Branch: ${{ github.event.inputs.branch }}
-          echo Python version: 3.11.11
-          echo.
-          echo Distribution package contents:
-          dir dist-package
-          echo.
-          echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
-          echo.
-          echo After download, extract the ZIP and run:
-          echo   install_unilab.bat
-          echo ==========================================
-
-      - name: Display package info (Unix)
-        if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
-        shell: bash
-        run: |
-          echo "=========================================="
-          echo "Build Summary"
-          echo "=========================================="
-          echo "Platform: ${{ matrix.platform }}"
-          echo "Branch: ${{ github.event.inputs.branch }}"
-          echo "Python version: 3.11.11"
-          echo ""
-          echo "Distribution package contents:"
-          ls -lh dist-package/
-          echo ""
-          echo "Package size (tar.gz):"
-          ls -lh unilab-pack-*.tar.gz
-          echo ""
-          echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
-          echo ""
-          echo "After download:"
-          echo "  - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
-          echo "  - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
-          echo "=========================================="

.github/workflows/deploy-docs.yml

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

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

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

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

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

.gitignore

@@ -1,8 +1,5 @@
 configs/
 temp/
-output/
-unilabos_data/
-pyrightconfig.json
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -245,7 +242,3 @@ unilabos/device_mesh/view_robot.rviz
 **/.certs
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
-*.bz2
-test_config.py
-
-

CONTRIBUTORS

@@ -1,15 +0,0 @@
-   156	Xuwznln <18435084+Xuwznln@users.noreply.github.com>
-    39	Junhan Chang <changjh@dp.tech>
-     9	wznln <18435084+Xuwznln@users.noreply.github.com>
-     8	Guangxin Zhang <guangxin.zhang.bio@gmail.com>
-     5	ZiWei <131428629+ZiWei09@users.noreply.github.com>
-     2	Junhan Chang <changjh@pku.edu.cn>
-     2	Xie Qiming <97236197+Andy6M@users.noreply.github.com>
-     1	Harvey Que <103566763+Mile-Away@users.noreply.github.com>
-     1	Junhan Chang <1700011741@pku.edu.cn>
-     1	LccLink <1951855008@qq.com>
-     1	h840473807 <47357934+h840473807@users.noreply.github.com>
-     1	lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
-     1	shiyubo0410 <shiyubo@dp.tech>
-     1	王俊杰 <1800011822@pku.edu.cn>
-     1	王俊杰 <43375851+wjjxxx@users.noreply.github.com>

MANIFEST.in

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

README.md

@@ -5,7 +5,6 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
-
 **English** | [中文](README_zh.md)
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -31,18 +30,34 @@ Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.d
 
 Detailed documentation can be found at:
 
-- [Online Documentation](https://dptech-corp.github.io/Uni-Lab-OS/)
+- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
 
 ## Quick Start
 
+1. Configure Conda Environment
+
 Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+
+# Currently, you need to install the `unilabos_msgs` package
+# You can download the system-specific package from the Release page
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# Install PyLabRobot and other prerequisites
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-## Install Dev Uni-Lab-OS
+2. Install Uni-Lab-OS:
 
 ```bash
 # Clone the repository
@@ -55,7 +70,7 @@ pip install .
 
 3. Start Uni-Lab System:
 
-Please refer to [Documentation - Boot Examples](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
+Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
 
 ## Message Format
 
@@ -75,4 +90,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -5,7 +5,6 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
-
 [English](README.md) | **中文**
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -13,7 +12,7 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
 ## 🏆 比赛
 
@@ -31,20 +30,34 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
 
 详细文档可在以下位置找到:
 
-- [在线文档](https://dptech-corp.github.io/Uni-Lab-OS/)
+- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
 
 ## 快速开始
 
-1. 配置 Conda 环境
+1. 配置Conda环境
 
 Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
 
 ```bash
 # 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+
+# 现阶段，需要安装 `unilabos_msgs` 包
+# 可以前往 Release 页面下载系统对应的包进行安装
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-2. 安装开发版 Uni-Lab-OS:
+2. 安装 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库
@@ -57,7 +70,7 @@ pip install .
 
 3. 启动 Uni-Lab 系统:
 
-请见[文档-启动样例](https://dptech-corp.github.io/Uni-Lab-OS/boot_examples/index.html)
+请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
 
 ## 消息格式
 
@@ -77,4 +90,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 

docs/boot_examples/liquid_handler.md

@@ -13,16 +13,18 @@
 ```json
 {
   "nodes": [
-    {
-      "id": "PLR_STATION",
-      "name": "PLR_LH_TEST",
-      "parent": null,
-      "type": "device",
-      "class": "liquid_handler",
-      "config": {},
-      "data": {},
-      "children": ["deck"]
-    },
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "config": {},
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
     {
       "id": "deck",
       "name": "deck",
@@ -30,12 +32,12 @@
       "class": null,
       "parent": "PLR_STATION",
       "children": [
-        "trash",
-        "trash_core96",
-        "teaching_carrier",
-        "tip_rack",
-        "plate"
-      ]
+                "trash",
+                "trash_core96",
+                "teaching_carrier",
+                "tip_rack",
+                "plate"
+            ]
     }
   ],
   "links": []
@@ -43,7 +45,6 @@
 ```
 
 配置文件定义了移液站的组成部分，主要包括：
-
 - 移液站本体（LiquidHandler）- 设备类型
 - 移液站携带物料实例（deck）- 物料类型
 
@@ -54,7 +55,7 @@
 使用以下命令启动移液站设备：
 
 ```bash
-unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk [通过网页获取的sk值]
+unilab -g test/experiments/plr_test.json --app_bridges ""
 ```
 
 ### 2. 执行枪头插入操作
@@ -65,50 +66,35 @@ unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk
 ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
 ```
 
-此命令会通过 ros 通信触发移液站执行枪头插入操作，得到如下的 PyLabRobot 的输出日志。
+此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。
 
 ```log
 Picking up tips:
-pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter
-  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes
+pip#  resource             offset           tip type     max volume (µL)  fitting depth (mm)   tip length (mm)  filter    
+  p0: tip_rack_tipspot_0_0 0.0,0.0,0.0      HamiltonTip  1065             8                    95.1             Yes  
 ```
 
-也可以登陆网页，给`tip_spots`选择`tip_rack_tipspot_0_0`，`use_channels`为`0`，`offsets`均填写`0`，同样可观察到上面的日志
-
 ## 常见问题
 
-1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过 PyLabRobot 进行测试
+1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试
 
 ## 移液站支持的操作
 
 移液站支持多种操作，以下是当前系统支持的操作列表：
 
-1. **LiquidHandlerProtocolCreation** - 协议创建
-2. **LiquidHandlerAspirate** - 吸液操作
-3. **LiquidHandlerDispense** - 排液操作
-4. **LiquidHandlerDiscardTips** - 丢弃枪头
-5. **LiquidHandlerDropTips** - 卸下枪头
-6. **LiquidHandlerDropTips96** - 卸下 96 通道枪头
-7. **LiquidHandlerMoveLid** - 移动盖子
-8. **LiquidHandlerMovePlate** - 移动板子
-9. **LiquidHandlerMoveResource** - 移动资源
-10. **LiquidHandlerPickUpTips** - 插入枪头
-11. **LiquidHandlerPickUpTips96** - 插入 96 通道枪头
-12. **LiquidHandlerReturnTips** - 归还枪头
-13. **LiquidHandlerReturnTips96** - 归还 96 通道枪头
-14. **LiquidHandlerSetLiquid** - 设置液体
-15. **LiquidHandlerSetTipRack** - 设置枪头架
-16. **LiquidHandlerStamp** - 打印标记
-17. **LiquidHandlerTransfer** - 液体转移
-18. **LiquidHandlerSetGroup** - 设置分组
-19. **LiquidHandlerTransferBiomek** - Biomek 液体转移
-20. **LiquidHandlerIncubateBiomek** - Biomek 孵育
-21. **LiquidHandlerMoveBiomek** - Biomek 移动
-22. **LiquidHandlerOscillateBiomek** - Biomek 振荡
-23. **LiquidHandlerTransferGroup** - 分组转移
-24. **LiquidHandlerAdd** - 添加操作
-25. **LiquidHandlerMix** - 混合操作
-26. **LiquidHandlerMoveTo** - 移动到指定位置
-27. **LiquidHandlerRemove** - 移除操作
+1. **LiquidHandlerAspirate** - 吸液操作
+2. **LiquidHandlerDispense** - 排液操作
+3. **LiquidHandlerDiscardTips** - 丢弃枪头
+4. **LiquidHandlerDropTips** - 卸下枪头
+5. **LiquidHandlerDropTips96** - 卸下96通道枪头
+6. **LiquidHandlerMoveLid** - 移动盖子
+7. **LiquidHandlerMovePlate** - 移动板子
+8. **LiquidHandlerMoveResource** - 移动资源
+9. **LiquidHandlerPickUpTips** - 插入枪头
+10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
+11. **LiquidHandlerReturnTips** - 归还枪头
+12. **LiquidHandlerReturnTips96** - 归还96通道枪头
+13. **LiquidHandlerStamp** - 打印标记
+14. **LiquidHandlerTransfer** - 液体转移
 
-这些操作可通过 ROS2 Action 接口进行调用，以实现复杂的移液流程。
+这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。

docs/concepts/02-topology-and-chemputer-compile.md

@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
 对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**
 
 而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
-于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
+于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
 
 ![topology](image/02-topology-and-chemputer-compile/topology.png)
 

docs/developer_guide/action_includes.md

@@ -1,64 +1,26 @@
 ## 简单单变量动作函数
 
+
 ### `SendCmd`
 
 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```
 
----
-
-### `StrSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
-:language: yaml
-```
-
----
-
-### `IntSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
-:language: yaml
-```
-
----
-
-### `FloatSingleInput`
-
-```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
-:language: yaml
-```
-
----
-
-### `Point3DSeparateInput`
-
-```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
-:language: yaml
-```
-
----
-
-### `Wait`
-
-```{literalinclude} ../../unilabos_msgs/action/Wait.action
-:language: yaml
-```
-
----
-
+----
 ## 常量有机化学操作
 
 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
 
+
+
 ### `Clean`
 
 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```
 
----
+----
 
 ### `EvacuateAndRefill`
 
@@ -66,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `Evaporate`
 
@@ -74,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `HeatChill`
 
@@ -82,7 +44,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `HeatChillStart`
 
@@ -90,7 +52,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `HeatChillStop`
 
@@ -98,7 +60,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `PumpTransfer`
 
@@ -106,7 +68,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `Separate`
 
@@ -114,7 +76,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
+----
 
 ### `Stir`
 
@@ -122,179 +84,20 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
----
-
-### `Add`
-
-```{literalinclude} ../../unilabos_msgs/action/Add.action
-:language: yaml
-```
-
----
-
-### `AddSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
-:language: yaml
-```
-
----
-
-### `AdjustPH`
-
-```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
-:language: yaml
-```
-
----
-
-### `Centrifuge`
-
-```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
-:language: yaml
-```
-
----
-
-### `CleanVessel`
-
-```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
-:language: yaml
-```
-
----
-
-### `Crystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
-:language: yaml
-```
-
----
-
-### `Dissolve`
-
-```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
-:language: yaml
-```
-
----
-
-### `Dry`
-
-```{literalinclude} ../../unilabos_msgs/action/Dry.action
-:language: yaml
-```
-
----
-
-### `Filter`
-
-```{literalinclude} ../../unilabos_msgs/action/Filter.action
-:language: yaml
-```
-
----
-
-### `FilterThrough`
-
-```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
-:language: yaml
-```
-
----
-
-### `Hydrogenate`
-
-```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
-:language: yaml
-```
-
----
-
-### `Purge`
-
-```{literalinclude} ../../unilabos_msgs/action/Purge.action
-:language: yaml
-```
-
----
-
-### `Recrystallize`
-
-```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
-:language: yaml
-```
-
----
-
-### `RunColumn`
-
-```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
-:language: yaml
-```
-
----
-
-### `StartPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
-:language: yaml
-```
-
----
-
-### `StartStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StartStir.action
-:language: yaml
-```
-
----
-
-### `StopPurge`
-
-```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
-:language: yaml
-```
-
----
-
-### `StopStir`
-
-```{literalinclude} ../../unilabos_msgs/action/StopStir.action
-:language: yaml
-```
-
----
-
-### `Transfer`
-
-```{literalinclude} ../../unilabos_msgs/action/Transfer.action
-:language: yaml
-```
-
----
-
-### `WashSolid`
-
-```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
-:language: yaml
-```
-
----
-
+----
 ## 移液工作站及相关生物自动化设备操作
 
 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
 
+
+
 ### `LiquidHandlerAspirate`
 
 ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerDiscardTips`
 
@@ -302,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerDispense`
 
@@ -310,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerDropTips`
 
@@ -318,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerDropTips96`
 
@@ -326,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMoveLid`
 
@@ -334,7 +137,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMovePlate`
 
@@ -342,7 +145,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerMoveResource`
 
@@ -350,7 +153,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerPickUpTips`
 
@@ -358,7 +161,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerPickUpTips96`
 
@@ -366,7 +169,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerReturnTips`
 
@@ -374,7 +177,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerReturnTips96`
 
@@ -382,7 +185,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerStamp`
 
@@ -390,7 +193,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
+----
 
 ### `LiquidHandlerTransfer`
 
@@ -398,121 +201,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
-
-### `LiquidHandlerAdd`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerIncubateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMix`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMoveBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerMoveTo`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerOscillateBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerProtocolCreation`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerRemove`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetLiquid`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerSetTipRack`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerTransferBiomek`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
-:language: yaml
-```
-
----
-
-### `LiquidHandlerTransferGroup`
-
-```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
-:language: yaml
-```
-
----
-
+----
 ## 多工作站及小车运行、物料转移
 
+
 ### `AGVTransfer`
 
 ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
 :language: yaml
 ```
 
----
+----
 
 ### `WorkStationRun`
 
@@ -520,64 +219,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
----
-
-### `ResetHandling`
-
-```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
-:language: yaml
-```
-
----
-
-### `ResourceCreateFromOuter`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
-:language: yaml
-```
-
----
-
-### `ResourceCreateFromOuterEasy`
-
-```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
-:language: yaml
-```
-
----
-
-### `SetPumpPosition`
-
-```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
-:language: yaml
-```
-
----
-
-## 固体分配与处理设备操作
-
-### `SolidDispenseAddPowderTube`
-
-```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
-:language: yaml
-```
-
----
-
-## 其他设备操作
-
-### `EmptyIn`
-
-```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
-:language: yaml
-```
-
----
-
+----
 ## 机械臂、夹爪等机器人设备
 
 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
 
+
 ### `FollowJointTrajectory`
 
 ```yaml
@@ -645,8 +292,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 
 ```
 
----
-
+----
 ### `GripperCommand`
 
 ```yaml
@@ -664,19 +310,17 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 
 ```
 
----
-
+----
 ### `JointTrajectory`
 
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
-
 ---
+
 ```
 
----
-
+----
 ### `PointHead`
 
 ```yaml
@@ -686,13 +330,12 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 float64 pointing_angle_error
+
 ```
 
----
-
+----
 ### `SingleJointPosition`
 
 ```yaml
@@ -700,16 +343,15 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
-
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
+
 ```
 
----
-
+----
 ### `AssistedTeleop`
 
 ```yaml
@@ -721,10 +363,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
+
 ```
 
----
-
+----
 ### `BackUp`
 
 ```yaml
@@ -738,10 +380,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```
 
----
-
+----
 ### `ComputePathThroughPoses`
 
 ```yaml
@@ -756,10 +398,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```
 
----
-
+----
 ### `ComputePathToPose`
 
 ```yaml
@@ -774,10 +416,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
+
 ```
 
----
-
+----
 ### `DriveOnHeading`
 
 ```yaml
@@ -791,10 +433,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
+
 ```
 
----
-
+----
 ### `DummyBehavior`
 
 ```yaml
@@ -805,10 +447,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
+
 ```
 
----
-
+----
 ### `FollowPath`
 
 ```yaml
@@ -823,10 +465,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
+
 ```
 
----
-
+----
 ### `FollowWaypoints`
 
 ```yaml
@@ -838,10 +480,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
+
 ```
 
----
-
+----
 ### `NavigateThroughPoses`
 
 ```yaml
@@ -859,10 +501,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
+
 ```
 
----
-
+----
 ### `NavigateToPose`
 
 ```yaml
@@ -879,10 +521,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
+
 ```
 
----
-
+----
 ### `SmoothPath`
 
 ```yaml
@@ -898,10 +540,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
+
 ```
 
----
-
+----
 ### `Spin`
 
 ```yaml
@@ -914,10 +556,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
+
 ```
 
----
-
+----
 ### `Wait`
 
 ```yaml
@@ -929,6 +571,7 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
+
 ```
 
----
+----

docs/developer_guide/add_action.md

@@ -1,142 +1,37 @@
 # 添加新动作指令（Action）
 
-本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
-
-## 1. 编写新的 Action
-
-### 1.1 创建 Action 文件
-
-在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
+1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
 
 ```action
-# 目标（Goal）- 定义动作执行所需的参数
+# 目标（Goal）
 string command
-float64 timeout
 ---
-# 结果（Result）- 定义动作完成后返回的结果
-bool success  # 要求必须包含success，以便回传执行结果
-string return_info  # 要求必须包含return_info，以便回传执行结果
-...  # 其他
+# 结果（Result）
+bool success
 ---
-# 反馈（Feedback）- 定义动作执行过程中的反馈信息
-float64 progress
-string status
+# 反馈（Feedback）
 ```
 
-### 1.2 更新 CMakeLists.txt
-
-在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
+2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action
 
 ```cmake
 add_action_files(
   FILES
   MyDeviceCmd.action
-  # 其他已有的 action 文件...
 )
 ```
 
-## 2. 在线构建和测试
-
-为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
-
-### 2.1 Fork 仓库并创建分支
-
-1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
-
-2. **Clone 你的 fork**：
-
-   ```bash
-   git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
-   cd Uni-Lab-OS
-   ```
-
-3. **创建功能分支**：
-
-   ```bash
-   git checkout -b add-my-device-action
-   ```
-
-4. **提交你的更改**：
-   ```bash
-   git add unilabos_msgs/action/MyDeviceCmd.action
-   git add unilabos_msgs/CMakeLists.txt
-   git commit -m "Add MyDeviceCmd action for device control"
-   git push origin add-my-device-action
-   ```
-
-### 2.2 触发在线构建
-
-1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
-
-2. **手动触发构建**：
-
-   - 点击 "Actions" 标签
-   - 选择 "Multi-Platform Conda Build" 工作流
-   - 点击 "Run workflow" 按钮
-
-3. **监控构建状态**：
-   - 构建过程大约需要 5-10 分钟
-   - 在 Actions 页面可以实时查看构建日志
-   - 构建完成后，可以下载生成的 conda 包进行测试
-
-### 2.3 下载和测试构建包
-
-1. **下载构建产物**：
-
-   - 在构建完成的 Action 页面，找到 "Artifacts" 部分
-   - 下载对应平台的 `conda-package-*` 文件
-
-2. **本地测试安装**：
-
-   ```bash
-   # 解压下载的构建产物
-   unzip conda-package-linux-64.zip  # 或其他平台
-
-   # 安装测试包
-   mamba install ./ros-humble-unilabos-msgs-*.conda
-   ```
-
-3. **验证 Action 是否正确添加**：
-   ```bash
-   # 检查 action 是否可用
-   ros2 interface show unilabos_msgs/action/MyDeviceCmd
-   ```
-
-## 3. 提交 Pull Request
-
-测试成功后，向主仓库提交 Pull Request：
-
-1. **创建 Pull Request**：
-
-   - 在你的 fork 仓库页面，点击 "New Pull Request"
-   - 选择你的功能分支作为源分支
-   - 填写详细的 PR 描述，包括：
-     - 添加的 Action 功能说明
-     - 测试结果
-     - 相关的设备或用例
-
-2. **等待审核和合并**：
-   - 维护者会审核你的代码
-   - CI/CD 系统会自动运行完整的测试套件
-   - 合并后，新的指令集会自动发布到官方 conda 仓库
-
-## 4. 使用新的 Action
-
-如果采用自己构建的action包，可以通过以下命令更新安装：
+3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：
 
 ```bash
-mamba remove --force ros-humble-unilabos-msgs
-mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
-mamba install xxx.conda --offline
+cd unilabos_msgs
+colcon build
+source ./install/local_setup.sh
+cd ..
 ```
 
-## 常见问题
+调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
 
-**Q: 构建失败怎么办？**
-A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
-
-**Q: 如何测试特定平台？**
-A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
-
-**Q: 构建包在哪里下载？**
-A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
+```bash
+mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
+```

docs/developer_guide/add_batteryPLC.md

@@ -1,147 +0,0 @@
-# 电池装配工站接入（PLC）
-
-本指南将引导你完成电池装配工站（以 PLC 控制为例）的接入流程，包括新建工站文件、编写驱动与寄存器读写、生成注册表、上传及注意事项。
-
-## 1. 新建工站文件
-
-### 1.1 创建工站文件
-
-在 `unilabos/devices/workstation/coin_cell_assembly` 目录下新建工站文件，如 `coin_cell_assembly.py`。工站类需继承 `WorkstationBase`，并在构造函数中初始化通信客户端与寄存器映射。
-
-```python
-from typing import Optional
-# 工站基类
-from unilabos.devices.workstation.workstation_base import WorkstationBase
-# Modbus 通讯与寄存器 CSV 支持
-from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
-
-class CoinCellAssemblyWorkstation(WorkstationBase):
-    def __init__(
-        self,
-        station_resource,
-        address: str = "192.168.1.20",
-        port: str = "502",
-        *args,
-        **kwargs,
-    ):
-        super().__init__(station_resource=station_resource, *args, **kwargs)
-        self.station_resource = station_resource  # 物料台面（Deck）
-        self.success: bool = False
-        self.allow_data_read: bool = False
-        self.csv_export_thread = None
-        self.csv_export_running = False
-        self.csv_export_file: Optional[str] = None
-
-        # 连接 PLC，并注册寄存器节点
-        tcp = TCPClient(addr=address, port=port)
-        tcp.client.connect()
-        self.nodes = BaseClient.load_csv(".../PLC_register.csv")
-        self.client = tcp.register_node_list(self.nodes)
-```
-
-
-
-## 2. 编写驱动与寄存器读写
-
-### 2.1 寄存器示例
-
-- `COIL_SYS_START_CMD`（BOOL，地址 8010）：启动命令（脉冲式）
-- `COIL_SYS_START_STATUS`（BOOL，地址 8210）：启动状态
-- `REG_DATA_OPEN_CIRCUIT_VOLTAGE`（FLOAT32，地址 10002）：开路电压
-- `REG_DATA_ASSEMBLY_PRESSURE`（INT16，地址 10014）：压制扣电压力
-
-### 2.2 最小驱动示例
-
-```python
-from unilabos.device_comms.modbus_plc.modbus import WorderOrder
-
-def start_and_read_metrics(self):
-    # 1) 下发启动（置 True 再复位 False）
-    self.client.use_node('COIL_SYS_START_CMD').write(True)
-    self.client.use_node('COIL_SYS_START_CMD').write(False)
-
-    # 2) 等待进入启动状态
-    while True:
-        status, _ = self.client.use_node('COIL_SYS_START_STATUS').read(1)
-        if bool(status[0]):
-            break
-
-    # 3) 读取关键数据（FLOAT32 需读 2 个寄存器并指定字节序）
-    voltage, _ = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(
-        2, word_order=WorderOrder.LITTLE
-    )
-    pressure, _ = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
-
-    return {
-        'open_circuit_voltage': voltage,
-        'assembly_pressure': pressure,
-    }
-```
-
-> 提示：若需参数下发，可在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争。
-
-## 3. 本地生成注册表并校验
-
-完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
-
-
-### 3.1 新增工站设备（或资源）首次生成注册表
-首先通过以下命令启动unilab。进入unilab系统状态检查页面
-
-```bash
-python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
-```
-
-点击注册表编辑，进入注册表编辑页面
-![Layers](image_add_batteryPLC/unilab_sys_status.png)
-
-按照图示步骤填写自动生成注册表信息：
-![Layers](image_add_batteryPLC/unilab_registry_process.png)
-
-步骤说明：
-1. 选择新增的工站`coin_cell_assembly.py`文件
-2. 点击分析按钮，分析`coin_cell_assembly.py`文件
-3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
-4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
-5. 此处填写新定义工站的类的名字（名称可以自拟）
-6. 填写新的工站注册表备注信息
-7. 生成注册表
-
-以上操作步骤完成，则会生成的新的注册表ymal文件，如下图：
-![Layers](image_add_batteryPLC/unilab_new_yaml.png)
-
-
-
-
-
-
-### 3.2 添加新生成注册表
-在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。   
-
-在终端输入以下命令进行注册表补全操作。
-```bash
-python unilabos\app\register.py --complete_registry
-```
-
-
-### 3.3 启动并上传注册表
-
-新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
-
-```bash
-python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
-```
-
-## 4. 注意事项
-
-- 在新生成的 YAML 中，确认 `module` 指向新工站类，本例中需检查`coincellassemblyworkstation_device.yaml`文件中是否指向了`coin_cell_assembly.py`文件中定义的`CoinCellAssemblyWorkstation`类文件：
-
-```
-module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
-```
-
-- 首次新增设备（或资源）需要在网页端新增注册表信息，`--complete_registry`补全注册表，`--upload_registry`上传注册表信息。
-
-- 如果不是新增设备（或资源），仅对工站驱动的.py文件进行了修改，则不需要在网页端新增注册表信息。只需要运行补全注册表信息之后，上传注册表即可。
-
-

docs/developer_guide/add_device.md

@@ -13,36 +13,36 @@ class MockGripper:
         self._velocity: float = 2.0
         self._torque: float = 0.0
         self._status = "Idle"
-
+    
     @property
     def position(self) -> float:
         return self._position
-
+    
     @property
     def velocity(self) -> float:
         return self._velocity
-
+    
     @property
     def torque(self) -> float:
         return self._torque
-
+    
     # 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
     @property
     def status(self) -> str:
         return self._status
-
+    
     # 会被自动识别的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     @status.setter
     def status(self, target):
         self._status = target
-
+    
     # 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     def push_to(self, position: float, torque: float, velocity: float = 0.0):
         self._status = "Running"
         current_pos = self.position
         if velocity == 0.0:
             velocity = self.velocity
-
+        
         move_time = abs(position - current_pos) / velocity
         for i in range(20):
             self._position = current_pos + (position - current_pos) / 20 * (i+1)
@@ -68,7 +68,7 @@ public class MockGripper
     public double velocity { get; private set; } = 2.0;
     public double torque { get; private set; } = 0.0;
     public string status { get; private set; } = "Idle";
-
+    
     // 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
     public async Task PushToAsync(double Position, double Torque, double Velocity = 0.0)
     {
@@ -94,61 +94,107 @@ public class MockGripper
 
 C# 驱动设备在完成注册表后，需要调用 Uni-Lab C# 编译后才能使用，但只需一次。
 
-## 快速开始：使用注册表编辑器（推荐）
+## 注册表文件位置
 
-推荐使用 Uni-Lab-OS 自带的可视化编辑器，它能自动分析您的设备驱动并生成大部分配置：
+Uni-Lab 启动时会自动读取默认注册表路径 `unilabos/registry/devices` 下的所有注册设备。您也可以任意维护自己的注册表路径，只需要在 Uni-Lab 启动时使用 `--registry` 参数将路径添加即可。
 
-1. 启动 Uni-Lab-OS
-2. 在浏览器中打开"注册表编辑器"页面
-3. 选择您的 Python 设备驱动文件
-4. 点击"分析文件"，让系统读取类信息
-5. 填写基本信息（设备描述、图标等）
-6. 点击"生成注册表"，复制生成的内容
-7. 保存到 `devices/` 目录下
+在 `<path-to-registry>/devices` 中新建一个 yaml 文件，即可开始撰写。您可以将多个设备写到同一个 yaml 文件中。
 
----
+## 注册表的结构
 
-## 手动编写注册表（简化版）
+1. 顶层名称：每个设备的注册表以设备名称开头，例如 `new_device`, `gripper.mock`。
+1. `class` 字段：定义设备的模块路径和驱动程序语言。
+1. `status_types` 字段：定义设备定时对 Uni-Lab 实验室内发送的属性名及其类型。
+1. `action_value_mappings` 字段：定义设备支持的动作及其目标、反馈和结果。
+1. `schema` 字段：定义设备定时对 Uni-Lab 云端监控发送的属性名及其类型、描述（非必须）
 
-如果需要手动编写，只需要提供两个必需字段，系统会自动补全其余内容：
+## 创建新的注册表教程
 
-### 最小配置示例
+1. 创建文件
+   在 devices 文件夹中创建一个新的 YAML 文件，例如 `new_device.yaml`。
+2. 定义设备名称
+   在文件中定义设备的顶层名称，例如：`new_device` 或 `gripper.mock`
+3. 定义设备的类信息
+   添加设备的模块路径和类型：
 
 ```yaml
-my_device: # 设备唯一标识符
-  class:
-    module: unilabos.devices.your_module.my_device:MyDevice # Python 类路径
-    type: python # 驱动类型
+gripper.mock:
+  class:   # 定义设备的类信息
+    module: unilabos.devices.gripper.mock:MockGripper
+    type: python  # 指定驱动语言为 Python
+    status_types:
+      position: Float64
+      torque: Float64
+      status: String
 ```
 
-### 注册表文件位置
-
-- 默认路径：`unilabos/registry/devices`
-- 自定义路径：启动时使用 `--registry` 参数指定
-- 可将多个设备写在同一个 yaml 文件中
-
-### 系统自动生成的内容
-
-系统会自动分析您的 Python 驱动类并生成：
-
-- `status_types`：从 `get_*` 方法自动识别状态属性
-- `action_value_mappings`：从类方法自动生成动作映射
-- `init_param_schema`：从 `__init__` 方法分析初始化参数
-- `schema`：前端显示用的属性类型定义
-
-### 完整结构概览
+4. 定义设备的定时发布属性。注意，对于 Python Class 来说，PROP 是 class 的 `property`，或满足能被 `getattr(cls, PROP)` 或 `cls.get_PROP` 读取到的属性值的对象。
 
 ```yaml
-my_device:
-  class:
-    module: unilabos.devices.your_module.my_device:MyDevice
-    type: python
-    status_types: {} # 自动生成
-    action_value_mappings: {} # 自动生成
-  description: '' # 可选：设备描述
-  icon: '' # 可选：设备图标
-  init_param_schema: {} # 自动生成
-  schema: {} # 自动生成
+    status_types:
+      PROP: TYPE
+```
+5. 定义设备支持的动作
+   添加设备支持的动作及其目标、反馈和结果：
+
+```yaml
+    action_value_mappings:
+      set_speed:
+        type: SendCmd
+        goal:
+          command: speed
+        feedback: {}
+        result:
+          success: success
 ```
 
-详细的注册表编写指南和高级配置，请参考{doc}`yaml 注册表编写指南 <add_yaml>`。
+在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来将驱动内的动作函数，映射到 Uni-Lab 标准动作（actions）及其目标参数值（goal）、反馈值（feedback）和结果值（result）的映射规则。若在 Uni-Lab 指令集内找不到符合心意的，请【创建新指令】。
+
+```yaml
+  action_value_mappings:
+    <action_name>:                      # <action_name>：动作的名称
+                                        # start：启动设备或某个功能。
+                                        # stop：停止设备或某个功能。
+                                        # set_speed：设置设备的速度。
+                                        # set_temperature：设置设备的温度。
+                                        # move_to_position：移动设备到指定位置。
+                                        # stir：执行搅拌操作。
+                                        # heatchill：执行加热或冷却操作。
+                                        # send_nav_task：发送导航任务（例如机器人导航）。
+                                        # set_timer：设置设备的计时器。
+                                        # valve_open_cmd：打开阀门。
+                                        # valve_close_cmd：关闭阀门。
+                                        # execute_command_from_outer：执行外部命令。
+                                        # push_to：控制设备推送到某个位置（例如机械爪）。
+                                        # move_through_points：导航设备通过多个点。
+
+      type: <ActionType>                # 动作的类型，表示动作的功能
+                                        # 根据动作的功能选择合适的类型，请查阅 Uni-Lab 已支持的指令集。
+
+      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
+        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
+
+      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
+        <feedback_key>: <mapped_value>
+      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
+        <result_key>: <mapped_value>
+```
+
+6. 定义设备的网页展示属性类型，这部分会被用于在 Uni-Lab 网页端渲染成状态监控
+   添加设备的属性模式，包括属性类型和描述：
+
+```yaml
+schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      speed:
+        type: number
+        description: The speed of the device
+    required:
+      - status
+      - speed
+    additionalProperties: false
+```

docs/developer_guide/add_yaml.md

@@ -1,610 +1,95 @@
-# yaml 注册表编写指南
+# yaml注册表编写指南
 
-## 快速开始：使用注册表编辑器
+`注册表的结构`
 
-推荐使用 UniLabOS 自带的可视化编辑器，它能帮你自动生成大部分配置，省去手写的麻烦。
+1. 顶层名称：每个设备的注册表以设备名称开头，例如 new_device。
+2. class 字段：定义设备的模块路径和类型。
+3. schema 字段：定义设备的属性模式，包括属性类型、描述和必需字段。
+4. action_value_mappings 字段：定义设备支持的动作及其目标、反馈和结果。
 
-### 怎么用编辑器
+`创建新的注册表教程`
+1. 创建文件
+    在 devices 文件夹中创建一个新的 YAML 文件，例如 new_device.yaml。
 
-1. 启动 UniLabOS
-2. 在浏览器中打开"注册表编辑器"页面
-3. 选择你的 Python 设备驱动文件
-4. 点击"分析文件"，让系统读取你的类信息
-5. 填写一些基本信息（设备描述、图标啥的）
-6. 点击"生成注册表"，复制生成的内容
-7. 把内容保存到 `devices/` 目录下
+2. 定义设备名称
+    在文件中定义设备的顶层名称，例如：new_device
 
-我们为你准备了一个测试驱动，用于在界面上尝试注册表生成，参见目录：test\registry\example_devices.py
-
----
-
-## 手动编写指南
-
-如果你想自己写 yaml 文件，或者想深入了解结构，查阅下方说明。
-
-## 注册表的基本结构
-
-yaml 注册表就是设备的配置文件，里面定义了设备怎么用、有什么功能。好消息是系统会自动帮你填大部分内容，你只需要写两个必需的东西：设备名和 class 信息。
-
-### 各字段用途
-
-| 字段名            | 类型   | 需要手写 | 说明                                |
-| ----------------- | ------ | -------- | ----------------------------------- |
-| 设备标识符        | string | 是       | 设备的唯一名字，比如 `mock_chiller` |
-| class             | object | 部分     | 设备的核心信息，必须写              |
-| description       | string | 否       | 设备描述，系统默认给空字符串        |
-| handles           | array  | 否       | 连接关系，默认是空的                |
-| icon              | string | 否       | 图标路径，默认为空                  |
-| init_param_schema | object | 否       | 初始化参数，系统自动分析生成        |
-| version           | string | 否       | 版本号，默认 "1.0.0"                |
-| category          | array  | 否       | 设备分类，默认用文件名              |
-| config_info       | array  | 否       | 嵌套配置，默认为空                  |
-| file_path         | string | 否       | 文件路径，系统自动设置              |
-| registry_type     | string | 否       | 注册表类型，自动设为 "device"       |
-
-### class 字段里有啥
-
-class 是核心部分，包含这些内容：
-
-| 字段名                | 类型   | 需要手写 | 说明                               |
-| --------------------- | ------ | -------- | ---------------------------------- |
-| module                | string | 是       | Python 类的路径，必须写            |
-| type                  | string | 是       | 驱动类型，一般写 "python"          |
-| status_types          | object | 否       | 状态类型，系统自动分析生成         |
-| action_value_mappings | object | 部分     | 动作配置，系统会自动生成一些基础的 |
-
-## 怎么创建新的注册表
-
-### 创建文件
-
-在 devices 文件夹里新建一个 yaml 文件，比如 `new_device.yaml`。
-
-### 完整结构是什么样的
-
-```yaml
-new_device: # 设备名，要唯一
-  class: # 核心配置
-    action_value_mappings: # 动作配置（后面会详细说）
-      action_name:
-        # 具体的动作设置
-    module: unilabos.devices.your_module.new_device:NewDeviceClass # 你的 Python 类
-    status_types: # 状态类型（系统会自动生成）
-      status: str
-      temperature: float
-      # 其他状态
-    type: python # 驱动类型，一般就是 python
-
-  description: New Device Description # 设备描述
-  handles: [] # 连接关系，通常是空的
-  icon: '' # 图标路径
-  init_param_schema: # 初始化参数（系统会自动生成）
-    config: # 初始化时需要的参数
-      properties:
-        port:
-          default: DEFAULT_PORT
-          type: string
-      required: []
-      type: object
-    data: # 前端显示用的数据类型
-      properties:
-        status:
-          type: string
-        temperature:
-          type: number
-      required:
-        - status
-      type: object
-
-  version: 0.0.1 # 版本号
-  category:
-    - device_category # 设备类别
-  config_info: [] # 嵌套配置，通常为空
-```
-
-## action_value_mappings 怎么写
-
-这个部分定义设备能做哪些动作。好消息是系统会自动生成大部分动作，你通常只需要添加一些特殊的自定义动作。
-
-### 系统自动生成哪些动作
-
-系统会帮你生成这些：
-
-1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
-2. 通用的驱动动作：
-   - `_execute_driver_command`：同步执行驱动命令（仅本地可用）
-   - `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
-
-### 如果要手动定义动作
-
-如果你需要自定义一些特殊动作，需要这些字段：
-
-| 字段名           | 需要手写 | 说明                             |
-| ---------------- | -------- | -------------------------------- |
-| type             | 是       | 动作类型，必须指定               |
-| goal             | 是       | 输入参数怎么映射                 |
-| feedback         | 否       | 实时反馈，通常为空               |
-| result           | 是       | 结果怎么返回                     |
-| goal_default     | 部分     | 参数默认值，ROS 动作会自动生成   |
-| schema           | 部分     | 前端表单配置，ROS 动作会自动生成 |
-| handles          | 否       | 连接关系，默认为空               |
-| placeholder_keys | 否       | 特殊输入字段配置                 |
-
-### 动作类型有哪些
-
-| 类型                   | 什么时候用           | 系统会自动生成什么     |
-| ---------------------- | -------------------- | ---------------------- |
-| UniLabJsonCommand      | 自定义同步 JSON 命令 | 啥都不生成             |
-| UniLabJsonCommandAsync | 自定义异步 JSON 命令 | 啥都不生成             |
-| ROS 动作类型           | 标准 ROS 动作        | goal_default 和 schema |
-
-常用的 ROS 动作类型：
-
-- `SendCmd`：发送简单命令
-- `NavigateThroughPoses`：导航动作
-- `SingleJointPosition`：单关节位置控制
-- `Stir`：搅拌动作
-- `HeatChill`、`HeatChillStart`：加热冷却动作
-
-### 复杂一点的例子
-
-```yaml
-heat_chill_start:
-  type: HeatChillStart
-  goal:
-    purpose: purpose
-    temp: temp
-  goal_default: # ROS动作会自动生成，你也可以手动覆盖
-    purpose: ''
-    temp: 0.0
-  handles:
-    output:
-      - handler_key: labware
-        label: Labware
-        data_type: resource
-        data_source: handle
-        data_key: liquid
-  placeholder_keys:
-    purpose: unilabos_resources
-  result:
-    status: status
-    success: success
-  # schema 系统会自动生成，不用写
-```
-
-### 动作名字怎么起
-
-根据设备用途来起名字：
-
-- 启动停止类：`start`、`stop`、`pause`、`resume`
-- 设置参数类：`set_speed`、`set_temperature`、`set_timer`
-- 移动控制类：`move_to_position`、`move_through_points`
-- 功能操作类：`stir`、`heat_chill_start`、`heat_chill_stop`
-- 开关控制类：`valve_open_cmd`、`valve_close_cmd`、`push_to`
-- 命令执行类：`send_nav_task`、`execute_command_from_outer`
-
-### 常用的动作类型
-
-- `UniLabJsonCommand`：自定义 JSON 命令（不走 ROS）
-- `UniLabJsonCommandAsync`：异步 JSON 命令（不走 ROS）
-- `SendCmd`：发送简单命令
-- `NavigateThroughPoses`：导航相关
-- `SingleJointPosition`：单关节控制
-- `Stir`：搅拌
-- `HeatChill`、`HeatChillStart`：加热冷却
-- 其他的 ROS 动作类型：看具体的 ROS 服务
-
-### 示例：完整的动作配置
-
-```yaml
-heat_chill_start:
-  type: HeatChillStart
-  goal:
-    purpose: purpose
-    temp: temp
-  goal_default:
-    purpose: ''
-    temp: 0.0
-  handles:
-    output:
-      - handler_key: labware
-        label: Labware
-        data_type: resource
-        data_source: handle
-        data_key: liquid
-  placeholder_keys:
-    purpose: unilabos_resources
-  result:
-    status: status
-    success: success
-  schema:
-    description: '启动加热冷却功能'
-    properties:
-      goal:
-        properties:
-          purpose:
-            type: string
-            description: '用途说明'
-          temp:
-            type: number
-            description: '目标温度'
-        required:
-          - purpose
-          - temp
-        title: HeatChillStart_Goal
-        type: object
-    required:
-      - goal
-    title: HeatChillStart
-    type: object
-  feedback: {}
-```
-
-## 系统自动生成的字段
-
-### status_types
-
-系统会扫描你的 Python 类，从状态方法自动生成这部分：
-
-```yaml
-status_types:
-  current_temperature: float # 从 get_current_temperature() 方法来的
-  is_heating: bool # 从 get_is_heating() 方法来的
-  status: str # 从 get_status() 方法来的
-```
-
-注意几点：
-
-- 系统会找所有 `get_` 开头的方法
-- 类型会自动转成 ROS 类型（比如 `str` 变成 `String`）
-- 如果类型是 `Any`、`None` 或者不知道的，就默认用 `String`
-
-### init_param_schema
-
-这个完全是系统自动生成的，你不用管：
-
-```yaml
-init_param_schema:
-  config: # 从你类的 __init__ 方法分析出来的
-    properties:
-      port:
-        type: string
-        default: '/dev/ttyUSB0'
-      baudrate:
-        type: integer
-        default: 9600
-    required: []
-    type: object
-
-  data: # 根据 status_types 生成的前端用的类型
-    properties:
-      current_temperature:
-        type: number
-      is_heating:
-        type: boolean
-      status:
-        type: string
-    required:
-      - status
-    type: object
-```
-
-生成规则很简单：
-
-- `config` 部分：看你类的 `__init__` 方法有什么参数，类型和默认值是啥
-- `data` 部分：根据 `status_types` 生成前端显示用的类型定义
-
-### 其他自动填充的字段
-
-```yaml
-version: '1.0.0' # 默认版本
-category: ['文件名'] # 用你的 yaml 文件名当类别
-description: '' # 默认为空，你可以手动改
-icon: '' # 默认为空，你可以加图标
-handles: [] # 默认空数组
-config_info: [] # 默认空数组
-file_path: '/path/to/file' # 系统自动填文件路径
-registry_type: 'device' # 自动设为设备类型
-```
-
-### handles 字段
-
-这个是定义设备连接关系的，类似动作里的 handles 一样：
-
-```yaml
-handles: # 大多数时候都是空的，除非设备本身需要连接啥
-  - handler_key: device_output
-    label: Device Output
-    data_type: resource
-    data_source: value
-    data_key: default_value
-```
-
-### 其他可以配置的字段
-
-```yaml
-description: '设备的详细描述' # 写清楚设备是干啥的
-
-icon: 'device_icon.webp' # 设备图标，文件名（会上传到OSS）
-
-version: '0.0.1' # 版本号
-
-category: # 设备分类，前端会用这个分组
-  - 'heating'
-  - 'cooling'
-  - 'temperature_control'
-
-config_info: # 嵌套配置，如果设备包含子设备
-  - children:
-      - opentrons_24_tuberack_nest_1point5ml_snapcap_A1
-      - other_nested_component
-```
-
-## 完整的例子
-
-这里是一个比较完整的设备配置示例：
-
-```yaml
-my_temperature_controller:
-  class:
-    action_value_mappings:
-      heat_start:
-        type: HeatChillStart
-        goal:
-          target_temp: temp
-          vessel: vessel
-        goal_default:
-          target_temp: 25.0
-          vessel: ''
-        handles:
-          output:
-            - handler_key: heated_sample
-              label: Heated Sample
-              data_type: resource
-              data_source: handle
-              data_key: sample
-        placeholder_keys:
-          vessel: unilabos_resources
-        result:
-          status: status
-          success: success
-        schema:
-          description: '启动加热功能'
-          properties:
-            goal:
-              properties:
-                target_temp:
-                  type: number
-                  description: '目标温度'
-                vessel:
-                  type: string
-                  description: '容器标识'
-              required:
-                - target_temp
-                - vessel
-              title: HeatStart_Goal
-              type: object
-          required:
-            - goal
-          title: HeatStart
-          type: object
-        feedback: {}
-
-      stop:
-        type: UniLabJsonCommand
-        goal: {}
-        goal_default: {}
-        handles: {}
-        result:
-          status: status
-        schema:
-          description: '停止设备'
-          properties:
-            goal:
-              type: object
-              title: Stop_Goal
-          title: Stop
-          type: object
-        feedback: {}
-
-    module: unilabos.devices.temperature.my_controller:MyTemperatureController
-    status_types:
-      current_temperature: float
-      target_temperature: float
-      is_heating: bool
-      is_cooling: bool
-      status: str
-      vessel: str
-    type: python
-
-  description: '我的温度控制器设备'
-  handles: []
-  icon: 'temperature_controller.webp'
-  init_param_schema:
-    config:
-      properties:
-        port:
-          default: '/dev/ttyUSB0'
-          type: string
-        baudrate:
-          default: 9600
-          type: number
-      required: []
-      type: object
-    data:
-      properties:
-        current_temperature:
-          type: number
-        target_temperature:
-          type: number
-        is_heating:
-          type: boolean
-        is_cooling:
-          type: boolean
-        status:
-          type: string
-        vessel:
-          type: string
-      required:
-        - current_temperature
-        - target_temperature
-        - status
-      type: object
-
-  version: '1.0.0'
-  category:
-    - 'temperature_control'
-    - 'heating'
-  config_info: []
-```
-
-## 怎么部署和使用
-
-### 方法一：用编辑器（推荐）
-
-1. 先写好你的 Python 驱动类
-2. 用注册表编辑器自动生成 yaml 配置
-3. 把生成的文件保存到 `devices/` 目录
-4. 重启 UniLabOS 就能用了
-
-### 方法二：手动写（简化版）
-
-1. 创建最简配置：
-
-```yaml
-# devices/my_device.yaml
-my_device:
-  class:
-    module: unilabos.devices.my_module.my_device:MyDevice
-    type: python
-```
-
-2. 启动系统时用 `complete_registry=True` 参数，让系统自动补全
-
-3. 检查一下生成的配置是不是你想要的
-
-### Python 驱动类要怎么写
-
-你的设备类要符合这些要求：
+3. 定义设备的类信息
+    添加设备的模块路径和类型：
 
 ```python
-from unilabos.common.device_base import DeviceBase
+new_device:  # 定义一个名为 linear_motion.grbl 的设备
 
-class MyDevice(DeviceBase):
-    def __init__(self, config):
-        """初始化，参数会自动分析到 init_param_schema.config"""
-        super().__init__(config)
-        self.port = config.get('port', '/dev/ttyUSB0')
 
-    # 状态方法（会自动生成到 status_types）
-    def get_status(self):
-        """返回设备状态"""
-        return "idle"
+class:  # 定义设备的类信息
+    module: unilabos.devices_names.new_device:NewDeviceClass  # 指定模块路径和类名
+    type: python  # 指定类型为 Python 类
+    status_types:
+```
+4. 定义设备支持的动作
+    添加设备支持的动作及其目标、反馈和结果：
+```python
+  action_value_mappings:
+    set_speed:
+      type: SendCmd
+      goal:
+        command: speed
+      feedback: {}
+      result:
+        success: success
+```
+`如何编写action_valve_mappings`
+1. 在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来定义设备支持的动作（actions）及其目标值（goal）、反馈值（feedback）和结果值（result）的映射规则。以下是规则和编写方法：
+```python
+  action_value_mappings:
+    <action_name>:                      # <action_name>：动作的名称
+                                        # start：启动设备或某个功能。
+                                        # stop：停止设备或某个功能。
+                                        # set_speed：设置设备的速度。
+                                        # set_temperature：设置设备的温度。
+                                        # move_to_position：移动设备到指定位置。
+                                        # stir：执行搅拌操作。
+                                        # heatchill：执行加热或冷却操作。
+                                        # send_nav_task：发送导航任务（例如机器人导航）。
+                                        # set_timer：设置设备的计时器。
+                                        # valve_open_cmd：打开阀门。
+                                        # valve_close_cmd：关闭阀门。
+                                        # execute_command_from_outer：执行外部命令。
+                                        # push_to：控制设备推送到某个位置（例如机械爪）。
+                                        # move_through_points：导航设备通过多个点。
 
-    def get_temperature(self):
-        """返回当前温度"""
-        return 25.0
+      type: <ActionType>                # 动作的类型，表示动作的功能
+                                        # 根据动作的功能选择合适的类型：
+                                        # SendCmd：发送简单命令。
+                                        # NavigateThroughPoses：导航动作。
+                                        # SingleJointPosition：设置单一关节的位置。
+                                        # Stir：搅拌动作。
+                                        # HeatChill：加热或冷却动作。
 
-    # 动作方法（会自动生成 auto- 开头的动作）
-    async def start_heating(self, temperature: float):
-        """开始加热到指定温度"""
-        pass
+      goal:                             # 定义动作的目标值映射，表示需要传递给设备的参数。
+        <goal_key>: <mapped_value>      #确定设备需要的输入参数，并将其映射到设备的字段。
 
-    def stop(self):
-        """停止操作"""
-        pass
+      feedback:                         # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
+        <feedback_key>: <mapped_value>
+      result:                           # 定义动作的结果值映射，表示动作完成后返回的最终结果。
+        <result_key>: <mapped_value>
 ```
 
-### 系统集成
-
-1. 把 yaml 文件放到 `devices/` 目录下
-2. 系统启动时会自动扫描并加载设备
-3. 系统会自动补全所有缺失的字段
-4. 设备马上就能在前端界面中使用
-
-### 高级配置
-
-如果需要特殊设置，可以手动加：
-
-```yaml
-my_device:
-  class:
-    module: unilabos.devices.my_module.my_device:MyDevice
-    type: python
-    action_value_mappings:
-      # 自定义动作
-      special_command:
-        type: UniLabJsonCommand
-        goal: {}
-        result: {}
-
-  # 可选的自定义配置
-  description: '我的特殊设备'
-  icon: 'my_device.webp'
-  category: ['temperature', 'heating']
+6. 定义设备的属性模式
+    添加设备的属性模式，包括属性类型和描述：
+```python
+schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      speed:
+        type: number
+        description: The speed of the device
+    required:
+      - status
+      - speed
+    additionalProperties: false
 ```
-
-## 常见问题怎么排查
-
-### 设备加载不了
-
-1. 检查模块路径：确认 `class.module` 路径写对了
-2. 确认类能导入：看看你的 Python 驱动类能不能正常导入
-3. 检查语法：用 yaml 验证器看看文件格式对不对
-4. 查看日志：看 UniLabOS 启动时有没有报错信息
-
-### 自动生成失败了
-
-1. 类分析出问题：确认你的类继承了正确的基类
-2. 方法类型不明确：确保状态方法的返回类型写清楚了
-3. 导入有问题：检查类能不能被动态导入
-4. 没开完整注册：确认启用了 `complete_registry=True`
-
-### 前端显示有问题
-
-1. 重新生成：删掉旧的 yaml 文件，用编辑器重新生成
-2. 清除缓存：清除浏览器缓存，重新加载页面
-3. 检查字段：确认必需的字段（比如 `schema`）都有
-4. 验证数据：检查 `goal_default` 和 `schema` 的数据类型是不是一致
-
-### 动作执行出错
-
-1. 方法名不对：确认动作方法名符合规范（比如 `execute_<action_name>`）
-2. 参数映射错误：检查 `goal` 字段的参数映射是否正确
-3. 返回格式不对：确认方法返回值格式符合 `result` 映射
-4. 没异常处理：在驱动类里加上异常处理
-
-## 最佳实践
-
-### 开发流程
-
-1. **优先使用编辑器**：除非有特殊需求，否则优先使用注册表编辑器
-2. **最小化配置**：手动配置时只定义必要字段，让系统自动生成其他内容
-3. **增量开发**：先创建基本配置，后续根据需要添加特殊动作
-
-### 代码规范
-
-1. **方法命名**：状态方法使用 `get_` 前缀，动作方法使用动词开头
-2. **类型注解**：为方法参数和返回值添加类型注解
-3. **文档字符串**：为类和方法添加详细的文档字符串
-4. **异常处理**：实现完善的错误处理和日志记录
-
-### 配置管理
-
-1. **版本控制**：所有 yaml 文件纳入版本控制
-2. **命名一致性**：设备 ID、文件名、类名保持一致的命名风格
-3. **定期更新**：定期运行完整注册以更新自动生成的字段
-4. **备份配置**：在修改前备份重要的手动配置
-
-### 测试验证
-
-1. **本地测试**：在本地环境充分测试后再部署
-2. **渐进部署**：先部署到测试环境，验证无误后再上生产环境
-3. **监控日志**：密切监控设备加载和运行日志
-4. **回滚准备**：准备快速回滚机制，以应对紧急情况
-
-### 性能优化
-
-1. **按需加载**：只加载实际使用的设备类型
-2. **缓存利用**：充分利用系统的注册表缓存机制
-3. **资源管理**：合理管理设备连接和资源占用
-4. **监控指标**：设置关键性能指标的监控和告警
+# 写完yaml注册表后需要添加到哪些其他文件？

docs/developer_guide/materials_tutorial.md

@@ -1,409 +0,0 @@
-# 物料教程（Resource）
-
-本教程面向 Uni-Lab-OS 的开发者，讲解“物料”的核心概念、3种物料格式（UniLab、PyLabRobot、奔耀Bioyond）及其相互转换方法，并说明4种 children 结构表现形式及使用场景。
-
----
-
-## 1. 物料是什么
-
-- **物料（Resource）**：指实验工作站中的实体对象，包括设备（device）、操作甲板 （deck）、试剂、实验耗材，也包括设备上承载的具体物料或者包含的容器（如container/plate/well/瓶/孔/片等）。
-- **物料基本信息**（以 UniLab list格式为例）：
-
-```jsonc
-{
-    "id": "plate", // 某一类物料的唯一名称
-    "name": "50ml瓶装试剂托盘", // 在云端显示的名称
-    "sample_id": null, // 同类物料的不同样品
-    "children": [
-        "50ml试剂瓶"   // 表示托盘上有一个 50ml 试剂瓶
-    ],
-    "parent": "deck", // 此物料放置在 deck 上
-    "type": "plate", // 物料类型
-    "class": "plate", // 物料对应的注册/类名
-    "position": {
-        "x": 0, // 初始放置位置
-        "y": 0,
-        "z": 0
-    },
-    "config": { // 固有配置（尺寸、旋转等）
-        "size_x": 400.0,
-        "size_y": 400.0,
-        "size_z": 400.0,
-        "rotation": {
-            "x": 0,
-            "y": 0,
-            "z": 0,
-            "type": "Rotation"
-        }
-    },
-    "data": { 
-        "bottle_number": 1 // 动态数据（可变化）
-    }
-}
-```
-
-## 2. 3种物料格式概览(UniLab、PyLabRobot、奔耀Bioyond)
-
-### 2.1 UniLab 物料格式（云端/项目内通用）
-
-- 结构特征：顶层通常是 `nodes` 列表；每个节点是扁平字典，`children` 是子节点 `id` 列表；`parent` 为父节点 `id` 或 `null`。
-- 用途：
-  - 云端数据存储、前端可视化、与图结构算法互操作
-  - 在上传/下载/部署配置时作为标准交换格式
-
-示例片段（UniLab 物料格式）：
-
-```jsonc
-{
-  "nodes": [
-  
-    {
-      "id": "a",
-      "name": "name_a",
-      "sample_id": 1, 
-      "type": "deck",
-      "class": "deck",
-      "parent": null,
-      "children": ["b1"],
-      "position": {"x": 0, "y": 0, "z": 0},
-      "config": {},
-      "data": {}
-    },
-    {
-      
-      "id": "b1",
-      "name": "name_b1",
-      "sample_id": 1, 
-      "type": "plate",
-      "class": "plate",
-      "parent": "a1",
-      "children": [],
-      "position": {"x": 0, "y": 0, "z": 0},
-      "config": {},
-      "data": {}
-    }
-  ]
-}
-```
-
-### 2.2 PyLabRobot（PLR）物料格式（实验流程运行时）
-
-- 结构特征：严格的层级树，`children` 为“子资源字典列表”（每个子节点本身是完整对象）。
-- 用途：
-  - 实验流程执行与调度，PLR 运行时期望的资源对象格式
-  - 通过 `Resource.deserialize/serialize`、`load_all_state/serialize_all_state` 与对象交互
-
-示例片段（PRL 物料格式）：：
-
-```json
-{
-  "name": "deck",
-  "type": "Deck",
-  "category": "deck",
-  "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
-  "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-  "parent_name": null,
-  "children": [
-    {
-      "name": "plate_1",
-      "type": "Plate",
-      "category": "plate_96",
-      "location": {"x": 100, "y": 0, "z": 0, "type": "Coordinate"},
-      "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-      "parent_name": "deck",
-      "children": [
-        {
-          "name": "A1",
-          "type": "Well",
-          "category": "well",
-          "location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
-          "rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
-          "parent_name": "plate_1",
-          "children": []
-        }
-      ]
-    }
-  ]
-}
-```
-
-
-### 2.3 奔耀 Bioyond 物料格式（第三方来源）
-一般是厂商自己定义的json格式和字段，信息需要提取和对应。以下为示例说明。
-
-- 结构特征：顶层 `data` 列表，每项包含 `typeName`、`code`、`barCode`、`name`、`quantity`、`unit`、`locations`（仓位 `whName`、`x/y/z`）、`detail`（细粒度内容，如瓶内液体或孔位物料）。
-- 用途：
-  - 第三方 WMS/设备的物料清单输入
-  - 需要自定义映射表将 `typeName` → PLR 类名，对 `locations`/`detail` 进行落位/赋值
-
-示例片段（奔耀Bioyond 物料格式）：
-
-
-```json
-{
-  "data": [
-    {
-      "id": "3a1b5c10-d4f3-01ac-1e64-5b4be2add4b1",
-      "typeName": "液",
-      "code": "0006-00014",
-      "barCode": "",
-      "name": "EMC",
-      "quantity": 50,
-      "lockQuantity": 2.057,
-      "unit": "瓶",
-      "status": 1,
-      "isUse": false,
-      "locations": [
-        {
-          "id": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
-          "whid": "3a19da43-57b4-a2a8-3f52-91dbbeb836db",
-          "whName": "配液站内试剂仓库",
-          "code": "0003-0003",
-          "x": 1,
-          "y": 3,
-          "z": 1,
-          "quantity": 0
-        }
-      ],
-      "detail": [
-        {
-          "code": "0006-00014-01",
-          "name": "EMC-瓶-1",
-          "x": 1,
-          "y": 3,
-          "z": 1,
-          "quantity": 500.0
-        }
-      ]
-    }
-  ],
-  "code": 1,
-  "message": "",
-  "timestamp": 0
-}
-```
-### 2.4 3种物料格式关键字段对应(UniLab、PyLabRobot、奔耀Bioyond)
-
-| 含义 | UniLab | PyLabRobot (PLR) | 奔耀 Bioyond |
-| - | - | - | - |
-| 节点唯一名 | `id`  | `name` | `name` |
-| 父节点引用 | `parent` | `parent_name` | `locations` 坐标（无直接父名，需映射坐标下的物料） |
-| 子节点集合 | `children`（id 列表或对象列表，视结构而定） | `children`（对象列表） | `detail`（明细，非严格树结构，需要自定义映射） |
-| 类型（抽象类别） | `type`（device/container/plate/deck/…） | `category`（plate/well/…），以及类名 `type` | `typeName`（厂商自定义，如“液”、“加样头(大)”） |
-| 运行/业务数据 | `data` | 通过 `serialize_all_state()`/`load_all_state()` 管理的状态 | `quantity`、`lockQuantity` 等业务数值 |
-| 固有配置 | `config`（size_x/size_y/size_z/model/ordering…） | 资源字典中的同名键（反序列化时按构造签名取用） | 厂商自定义字段（需映射入 PLR/UniLab 的 `config` 或 `data`） |
-| 空间位置 | `position`（x/y/z） | `location`（Coordinate） + `rotation`（Rotation） | `locations`（whName、x/y/z），不含旋转 |
-| 条码/标识 | `config.barcode`（可选） | 常放在配置键中（如 `barcode`） | `barCode` |
-| 数量单位 | 无固定键，通常在 `data` | 无固定键，通常在配置或状态中 | `unit` |
-| 物料编码 | 通常在 `config` 或 `data` 自定义 | 通常在配置中自定义 | `code` |
-
-说明：
-- Bioyond 不提供显式的树形父子关系，通常通过 `locations` 将物料落位到某仓位/坐标。用 `detail` 表示子级明细。
-
----
-
-## 3. children 的四种结构表示
-
-- **list（扁平列表）**：每个节点是扁平字典，`children` 为子节点 `id` 数组。示例：UniLab `nodes` 中的单个节点。
-
-```json
-{
-  "nodes": [
-    { "id": "root", "parent": null, "children": ["child1"] },
-    { "id": "child1", "parent": "root", "children": [] }
-  ]
-}
-```
-- **dict（嵌套字典）**：节点的 `children` 是 `{ child_id: child_node_dict }` 字典。
-
-```json
-{
-  "id": "root",
-  "parent": null,
-  "children": {
-    "child1": { "id": "child1", "parent": "root", "children": {} }
-  }
-}
-```
-- **tree（树形列表）**：顶层是 `[root_node, ...]`，每个 `node.children` 是“子节点对象列表”（而非 id 列表）。
-
-```json
-[
-  {
-    "id": "root",
-    "parent": null,
-    "children": [
-      { "id": "child1", "parent": "root", "children": [] }
-    ]
-  }
-]
-```
-- **nestdict（顶层嵌套字典）**：顶层是 `{root_id: root_node, ...}`，或者根节点自身带 `children: {id: node}` 形态。
-
-```json
-{
-  "root": {
-    "id": "root",
-    "parent": null,
-    "children": {
-      "child1": { "id": "child1", "parent": "root", "children": {} }
-    }
-  }
-}
-```
-
-这些结构之间可使用 `graphio.py` 中的工具函数互转（见下一节）。
-
----
-
-## 4. 转换函数及调用
-
-核心代码文件：`unilabos/resources/graphio.py`
-
-### 4.1 结构互转（list/dict/tree/nestdict）
-
-代码引用：
-
-```217:239:unilabos/resources/graphio.py
-def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
-    # ... 由扁平 dict（id->node）生成树（children 为对象列表）
-```
-
-```241:267:unilabos/resources/graphio.py
-def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
-    # ... 由扁平 dict 生成嵌套字典（children 为 {id:node}）
-```
-
-```270:273:unilabos/resources/graphio.py
-def list_to_nested_dict(nodes: list[dict]) -> dict:
-    # ... 由扁平列表（children 为 id 列表）转嵌套字典
-```
-
-```275:286:unilabos/resources/graphio.py
-def tree_to_list(tree: list[dict]) -> list[dict]:
-    # ... 由树形列表转回扁平列表（children 还原为 id 列表）
-```
-
-```289:337:unilabos/resources/graphio.py
-def nested_dict_to_list(nested_dict: dict) -> list[dict]:
-    # ... 由嵌套字典转回扁平列表
-```
-
-常见路径：
-
-- UniLab 扁平列表 → 树：`dict_to_tree({r["id"]: r for r in resources})`
-- 树 → UniLab 扁平列表：`tree_to_list(resources_tree)`
-- 扁平列表 ↔ 嵌套字典：`list_to_nested_dict` / `nested_dict_to_list`
-
-### 4.2 UniLab ↔ PyLabRobot（PLR）
-
-高层封装：
-
-```339:368:unilabos/resources/graphio.py
-def convert_resources_to_type(resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False):
-    # UniLab -> (NestedDict or PLR)
-```
-
-```371:395:unilabos/resources/graphio.py
-def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False):
-    # (NestedDict or PLR) -> UniLab 扁平列表
-```
-
-底层转换：
-
-```398:441:unilabos/resources/graphio.py
-def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
-    # UniLab 单节点(树根) -> PLR Resource 对象
-```
-
-```443:481:unilabos/resources/graphio.py
-def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
-    # PLR Resource -> UniLab 单节点(dict)
-```
-
-示例：
-
-```python
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
-from pylabrobot.resources.resource import Resource as ResourcePLR
-
-# UniLab 扁平列表 -> PLR 根资源对象
-plr_root = convert_resources_to_type(resources_list=ulab_list, resource_type=ResourcePLR)
-
-# PLR 资源对象 -> UniLab 扁平列表（用于保存/上传）
-ulab_flat = convert_resources_from_type(resources_list=plr_root, resource_type=ResourcePLR)
-```
-
-可选项：
-
-- `plr_model=True`：保留 `model` 字段（默认会移除）。
-- `with_children=False`：`resource_plr_to_ulab` 仅转换当前节点。
-
-### 4.3 奔耀（Bioyond）→ PLR（及进一步到 UniLab）
-
-转换入口：
-
-```483:527:unilabos/resources/graphio.py
-def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
-    # Bioyond 列表 -> PLR 资源列表，并可根据 deck.warehouses 将资源落位
-```
-
-使用示例：
-
-```python
-import json
-from unilabos.resources.graphio import resource_bioyond_to_plr, convert_resources_from_type
-from pylabrobot.resources.resource import Resource as ResourcePLR
-
-resp = json.load(open("unilabos/devices/workstation/bioyond_cell/bioyond_test_yibin.json", encoding="utf-8"))
-materials = resp["data"]
-
-# 将第三方类型name映射到 PLR 资源类名（需根据现场定义）
-type_mapping = {
-    "液": "RegularContainer",
-    "加样头(大)": "RegularContainer"
-}
-
-plr_list = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=None)
-
-# 如需上传云端（UniLab 扁平格式）：
-ulab_flat = convert_resources_from_type(plr_list, [ResourcePLR])
-```
-
-说明：
-
-- `type_mapping` 必须由开发者根据设备/物料种类人工维护。
-- 如传入 `deck`，且 `deck.warehouses` 命名与 `whName` 对应，可将物料安放到仓库坐标（x/y/z）。
-
----
-
-## 5. 何时使用哪种格式
-
-- **云端/持久化**：使用 UniLab 物料格式（扁平 `nodes` 列表，children 为 id 列表）。便于版本化、可视化与网络传输。
-- **实验工作流执行**：使用 PyLabRobot（PLR）格式。PLR 运行时依赖严格的树形资源结构与对象 API。
-- **第三方设备/系统（Bioyond）输入**：保持来源格式不变，使用 `resource_bioyond_to_plr` + 人工 `type_mapping` 将其转换为 PLR（必要时再转 UniLab）。
-
----
-
-## 6. 常见问题与注意事项
-
-- **children 形态不一致**：不同函数期望不同 children 形态，注意在进入转换前先用“结构互转”工具函数标准化形态。
-- **devices_only**：`dict_to_tree/dict_to_nested_dict` 支持仅保留 `type == device` 的节点。
-- **模型/类型字段**：PLR 对象序列化参数有所差异，`resource_ulab_to_plr` 内部会根据构造签名移除不兼容字段（如 `category`）。
-- **驱动初始化**：`initialize_resource(s)` 支持从注册表/类路径创建 PLR/UniLab 资源或列表。
-
-参考代码：
-
-```530:577:unilabos/resources/graphio.py
-def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
-    # 从注册类/模块反射创建资源，或将 UniLab 字典包装为列表
-```
-
-```580:597:unilabos/resources/graphio.py
-def initialize_resources(resources_config) -> list[dict]:
-    # 批量初始化
-```
-
-
-
-

docs/developer_guide/workstation_architecture.md

@@ -1,378 +0,0 @@
-# 工作站基础架构设计文档
-
-## 1. 整体架构图
-
-```mermaid
-graph TB
-    subgraph "工作站基础架构"
-        WB[WorkstationBase]
-        WB --> |继承| RPN[ROS2WorkstationNode]
-        WB --> |组合| WCB[WorkstationCommunicationBase]
-        WB --> |组合| MMB[MaterialManagementBase]
-        WB --> |组合| WHS[WorkstationHTTPService]
-    end
-    
-    subgraph "通信层实现"
-        WCB --> |实现| PLC[PLCCommunication]
-        WCB --> |实现| SER[SerialCommunication]
-        WCB --> |实现| ETH[EthernetCommunication]
-    end
-    
-    subgraph "物料管理实现"
-        MMB --> |实现| PLR[PyLabRobotMaterialManager]
-        MMB --> |实现| BIO[BioyondMaterialManager]
-        MMB --> |实现| SIM[SimpleMaterialManager]
-    end
-    
-    subgraph "HTTP服务"
-        WHS --> |处理| LIMS[LIMS协议报送]
-        WHS --> |处理| MAT[物料变更报送]
-        WHS --> |处理| ERR[错误处理报送]
-    end
-    
-    subgraph "具体工作站实现"
-        WB --> |继承| WS1[PLCWorkstation]
-        WB --> |继承| WS2[ReportingWorkstation]
-        WB --> |继承| WS3[HybridWorkstation]
-    end
-    
-    subgraph "外部系统"
-        EXT1[PLC设备] --> |通信| PLC
-        EXT2[外部工作站] --> |HTTP报送| WHS
-        EXT3[LIMS系统] --> |HTTP报送| WHS
-        EXT4[Bioyond物料系统] --> |查询| BIO
-    end
-```
-
-## 2. 类关系图
-
-```mermaid
-classDiagram
-    class WorkstationBase {
-        <<abstract>>
-        +device_id: str
-        +communication: WorkstationCommunicationBase
-        +material_management: MaterialManagementBase
-        +http_service: WorkstationHTTPService
-        +workflow_status: WorkflowStatus
-        +supported_workflows: Dict
-        
-        +_create_communication_module()* 
-        +_create_material_management_module()*
-        +_register_supported_workflows()*
-        
-        +process_step_finish_report()
-        +process_sample_finish_report()
-        +process_order_finish_report()
-        +process_material_change_report()
-        +handle_external_error()
-        
-        +start_workflow()
-        +stop_workflow()
-        +get_workflow_status()
-        +get_device_status()
-    }
-    
-    class ROS2WorkstationNode {
-        +sub_devices: Dict
-        +protocol_names: List
-        +execute_single_action()
-        +create_ros_action_server()
-        +initialize_device()
-    }
-    
-    class WorkstationCommunicationBase {
-        <<abstract>>
-        +config: CommunicationConfig
-        +is_connected: bool
-        +connect()
-        +disconnect()
-        +start_workflow()*
-        +stop_workflow()*
-        +get_device_status()*
-        +write_register()
-        +read_register()
-    }
-    
-    class MaterialManagementBase {
-        <<abstract>>
-        +device_id: str
-        +deck_config: Dict
-        +resource_tracker: DeviceNodeResourceTracker
-        +plr_deck: Deck
-        +find_materials_by_type()
-        +update_material_location()
-        +convert_to_unilab_format()
-        +_create_resource_by_type()*
-    }
-    
-    class WorkstationHTTPService {
-        +workstation_instance: WorkstationBase
-        +host: str
-        +port: int
-        +start()
-        +stop()
-        +_handle_step_finish_report()
-        +_handle_material_change_report()
-    }
-    
-    class PLCWorkstation {
-        +plc_config: Dict
-        +modbus_client: ModbusTCPClient
-        +_create_communication_module()
-        +_create_material_management_module()
-        +_register_supported_workflows()
-    }
-    
-    class ReportingWorkstation {
-        +report_handlers: Dict
-        +_create_communication_module()
-        +_create_material_management_module()
-        +_register_supported_workflows()
-    }
-    
-    WorkstationBase --|> ROS2WorkstationNode
-    WorkstationBase *-- WorkstationCommunicationBase
-    WorkstationBase *-- MaterialManagementBase
-    WorkstationBase *-- WorkstationHTTPService
-    
-    PLCWorkstation --|> WorkstationBase
-    ReportingWorkstation --|> WorkstationBase
-    
-    WorkstationCommunicationBase <|-- PLCCommunication
-    WorkstationCommunicationBase <|-- DummyCommunication
-    
-    MaterialManagementBase <|-- PyLabRobotMaterialManager
-    MaterialManagementBase <|-- SimpleMaterialManager
-```
-
-## 3. 工作站启动时序图
-
-```mermaid
-sequenceDiagram
-    participant APP as Application
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant MAT as MaterialManager
-    participant HTTP as HTTPService
-    participant ROS as ROS2WorkstationNode
-    
-    APP->>WS: 创建工作站实例
-    WS->>ROS: 初始化ROS2WorkstationNode
-    ROS->>ROS: 初始化子设备
-    ROS->>ROS: 设置硬件接口代理
-    
-    WS->>COMM: _create_communication_module()
-    COMM->>COMM: 初始化通信配置
-    COMM->>COMM: 建立PLC/串口连接
-    COMM-->>WS: 返回通信模块实例
-    
-    WS->>MAT: _create_material_management_module()
-    MAT->>MAT: 创建PyLabRobot Deck
-    MAT->>MAT: 初始化物料资源
-    MAT->>MAT: 注册到ResourceTracker
-    MAT-->>WS: 返回物料管理实例
-    
-    WS->>WS: _register_supported_workflows()
-    WS->>WS: _create_workstation_services()
-    WS->>HTTP: _start_http_service()
-    HTTP->>HTTP: 创建HTTP服务器
-    HTTP->>HTTP: 启动监听线程
-    HTTP-->>WS: HTTP服务启动完成
-    
-    WS-->>APP: 工作站初始化完成
-```
-
-## 4. 工作流执行时序图
-
-```mermaid
-sequenceDiagram
-    participant EXT as ExternalSystem
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant MAT as MaterialManager
-    participant ROS as ROS2WorkstationNode
-    participant DEV as SubDevice
-    
-    EXT->>WS: start_workflow(type, params)
-    WS->>WS: 验证工作流类型
-    WS->>COMM: start_workflow(type, params)
-    COMM->>COMM: 发送启动命令到PLC
-    COMM-->>WS: 启动成功
-    
-    WS->>WS: 更新workflow_status = RUNNING
-    
-    loop 工作流步骤执行
-        WS->>ROS: execute_single_action(device_id, action, params)
-        ROS->>DEV: 发送ROS Action请求
-        DEV->>DEV: 执行设备动作
-        DEV-->>ROS: 返回执行结果
-        ROS-->>WS: 返回动作结果
-        
-        WS->>MAT: update_material_location(material_id, location)
-        MAT->>MAT: 更新PyLabRobot资源状态
-        MAT-->>WS: 更新完成
-    end
-    
-    WS->>COMM: get_workflow_status()
-    COMM->>COMM: 查询PLC状态寄存器
-    COMM-->>WS: 返回状态信息
-    
-    WS->>WS: 更新workflow_status = COMPLETED
-    WS-->>EXT: 工作流执行完成
-```
-
-## 5. HTTP报送处理时序图
-
-```mermaid
-sequenceDiagram
-    participant EXT as ExternalWorkstation
-    participant HTTP as HTTPService
-    participant WS as WorkstationBase
-    participant MAT as MaterialManager
-    participant DB as DataStorage
-    
-    EXT->>HTTP: POST /report/step_finish
-    HTTP->>HTTP: 解析请求数据
-    HTTP->>HTTP: 验证LIMS协议字段
-    HTTP->>WS: process_step_finish_report(request)
-    
-    WS->>WS: 增加接收计数
-    WS->>WS: 记录步骤完成事件
-    WS->>MAT: 更新相关物料状态
-    MAT->>MAT: 更新PyLabRobot资源
-    MAT-->>WS: 更新完成
-    
-    WS->>DB: 保存报送记录
-    DB-->>WS: 保存完成
-    
-    WS-->>HTTP: 返回处理结果
-    HTTP->>HTTP: 构造HTTP响应
-    HTTP-->>EXT: 200 OK + acknowledgment_id
-    
-    Note over EXT,DB: 类似处理sample_finish, order_finish, material_change等报送
-```
-
-## 6. 错误处理时序图
-
-```mermaid
-sequenceDiagram
-    participant DEV as Device
-    participant WS as WorkstationBase
-    participant COMM as CommunicationModule
-    participant HTTP as HTTPService
-    participant EXT as ExternalSystem
-    
-    DEV->>WS: 设备错误事件
-    WS->>WS: handle_external_error(error_data)
-    WS->>WS: 记录错误历史
-    
-    alt 关键错误
-        WS->>COMM: emergency_stop()
-        COMM->>COMM: 发送紧急停止命令
-        WS->>WS: 更新workflow_status = ERROR
-    else 普通错误
-        WS->>WS: 标记动作失败
-        WS->>WS: 触发重试逻辑
-    end
-    
-    WS->>HTTP: 记录错误报送
-    HTTP->>EXT: 主动通知错误状态
-    
-    WS-->>DEV: 错误处理完成
-```
-
-## 7. 典型工作站实现示例
-
-### 7.1 PLC工作站实现
-
-```python
-class PLCWorkstation(WorkstationBase):
-    def _create_communication_module(self):
-        return PLCCommunication(self.communication_config)
-    
-    def _create_material_management_module(self):
-        return PyLabRobotMaterialManager(
-            self.device_id, 
-            self.deck_config, 
-            self.resource_tracker
-        )
-    
-    def _register_supported_workflows(self):
-        self.supported_workflows = {
-            "battery_assembly": WorkflowInfo(...),
-            "quality_check": WorkflowInfo(...)
-        }
-```
-
-### 7.2 报送接收工作站实现
-
-```python
-class ReportingWorkstation(WorkstationBase):
-    def _create_communication_module(self):
-        return DummyCommunication(self.communication_config)
-    
-    def _create_material_management_module(self):
-        return SimpleMaterialManager(
-            self.device_id,
-            self.deck_config,
-            self.resource_tracker
-        )
-    
-    def _register_supported_workflows(self):
-        self.supported_workflows = {
-            "data_collection": WorkflowInfo(...),
-            "report_processing": WorkflowInfo(...)
-        }
-```
-
-## 8. 核心接口说明
-
-### 8.1 必须实现的抽象方法
-- `_create_communication_module()`: 创建通信模块
-- `_create_material_management_module()`: 创建物料管理模块
-- `_register_supported_workflows()`: 注册支持的工作流
-
-### 8.2 可重写的报送处理方法
-- `process_step_finish_report()`: 步骤完成处理
-- `process_sample_finish_report()`: 样本完成处理
-- `process_order_finish_report()`: 订单完成处理
-- `process_material_change_report()`: 物料变更处理
-- `handle_external_error()`: 错误处理
-
-### 8.3 工作流控制接口
-- `start_workflow()`: 启动工作流
-- `stop_workflow()`: 停止工作流
-- `get_workflow_status()`: 获取状态
-
-## 9. 配置参数说明
-
-```python
-workstation_config = {
-    "communication_config": {
-        "protocol": "modbus_tcp",
-        "host": "192.168.1.100",
-        "port": 502
-    },
-    "deck_config": {
-        "size_x": 1000.0,
-        "size_y": 1000.0,
-        "size_z": 500.0
-    },
-    "http_service_config": {
-        "enabled": True,
-        "host": "127.0.0.1",
-        "port": 8081
-    },
-    "communication_interfaces": {
-        "logical_device_1": CommunicationInterface(...)
-    }
-}
-```
-
-这个架构设计支持：
-1. **灵活的通信方式**: 通过CommunicationBase支持PLC、串口、以太网等
-2. **多样的物料管理**: 支持PyLabRobot、Bioyond、简单物料系统
-3. **统一的HTTP报送**: 基于LIMS协议的标准化报送接口
-4. **完整的工作流控制**: 支持动态和静态工作流
-5. **强大的错误处理**: 多层次的错误处理和恢复机制

docs/intro.md

@@ -33,8 +33,6 @@ developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
 developer_guide/add_protocol
-developer_guide/add_batteryPLC
-developer_guide/materials_tutorial.md
 ```
 
 ## 接口文档

docs/requirements.txt

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

docs/user_guide/configuration.md

@@ -1,75 +1,82 @@
 # Uni-Lab 配置指南
 
-Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
+Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。
 
 ## 配置文件格式
 
-Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
+Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
 
-### 默认配置示例
+### 基本配置示例
 
-首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
-
-```python
-# unilabos的配置文件
-
-class BasicConfig:
-    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
-    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
-
-
-# WebSocket配置，一般无需调整
-class WSConfig:
-    reconnect_interval = 5  # 重连间隔（秒）
-    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
-```
-您可以进入实验室，点击左下角的头像在实验室详情中获取所在实验室的ak sk
-![copy_aksk.gif](image/copy_aksk.gif)
-
-### 完整配置示例
-
-您可以根据需要添加更多配置选项：
+一个典型的配置文件包含以下部分：
 
 ```python
 #!/usr/bin/env python
 # coding=utf-8
 """Uni-Lab 配置文件"""
 
-# 基础配置
-class BasicConfig:
-    ak = "your_access_key"  # 实验室访问密钥
-    sk = "your_secret_key"  # 实验室私钥
-    working_dir = ""  # 工作目录（通常自动设置）
-    config_path = ""  # 配置文件路径（自动设置）
-    is_host_mode = True  # 是否为主站模式
-    slave_no_host = False  # 从站模式下是否跳过等待主机服务
-    upload_registry = False  # 是否上传注册表
-    machine_name = "undefined"  # 机器名称（自动获取）
-    vis_2d_enable = False  # 是否启用2D可视化
-    enable_resource_load = True  # 是否启用资源加载
-    communication_protocol = "websocket"  # 通信协议
+from dataclasses import dataclass
 
-# WebSocket配置
-class WSConfig:
-    reconnect_interval = 5  # 重连间隔（秒）
-    max_reconnect_attempts = 999  # 最大重连次数
-    ping_interval = 30  # ping间隔（秒）
+# 配置类定义
 
-# OSS上传配置
-class OSSUploadConfig:
-    api_host = ""  # API主机地址
-    authorization = ""  # 授权信息
-    init_endpoint = ""  # 初始化端点
-    complete_endpoint = ""  # 完成端点
-    max_retries = 3  # 最大重试次数
+class MQConfig:
+    """MQTT 配置类"""
+    lab_id: str = "YOUR_LAB_ID"
+    # 更多配置...
 
-# HTTP配置
-class HTTPConfig:
-    remote_addr = "http://127.0.0.1:48197/api/v1"  # 远程地址
+# 其他配置类...
+```
+
+## 配置选项说明
+
+### MQTT配置 (MQConfig)
+
+MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
+
+```python
+
+class MQConfig:
+    """MQTT 配置类"""
+    lab_id: str = "7AAEDBEA"  # 实验室唯一标识
+    instance_id: str = "mqtt-cn-instance"
+    access_key: str = "your-access-key"
+    secret_key: str = "your-secret-key"
+    group_id: str = "GID_labs"
+    broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
+    port: int = 8883
+    
+    # 可以直接提供证书文件路径
+    ca_file: str = "/path/to/ca.pem"  # 相对config.py所在目录的路径
+    cert_file: str = "/path/to/cert.pem"  # 相对config.py所在目录的路径
+    key_file: str = "/path/to/key.pem"  # 相对config.py所在目录的路径
+    
+    # 或者直接提供证书内容
+    ca_content: str = ""
+    cert_content: str = ""
+    key_content: str = ""
+```
+
+#### 证书配置
+
+MQTT连接支持两种方式配置证书：
+
+1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
+2. **直接内容方式**：直接在配置中提供证书内容
+
+推荐使用文件路径方式，便于证书的更新和管理。
+
+### HTTP客户端配置 (HTTPConfig)
+
+即将开放 Uni-Lab 云端实验室。
+
+### ROS模块配置 (ROSConfig)
+
+配置ROS消息转换器需要加载的模块：
+
+```python
 
-# ROS配置
 class ROSConfig:
+    """ROS模块配置"""
     modules = [
         "std_msgs.msg",
         "geometry_msgs.msg",
@@ -78,365 +85,25 @@ class ROSConfig:
         "nav2_msgs.action",
         "unilabos_msgs.msg",
         "unilabos_msgs.action",
-    ]  # 需要加载的ROS模块
-```
-
-## 命令行参数覆盖配置
-
-Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
-
-### 支持命令行覆盖的配置项
-
-以下配置项可以通过命令行参数进行覆盖：
-
-| 配置类        | 配置字段          | 命令行参数          | 说明                             |
-| ------------- | ----------------- | ------------------- | -------------------------------- |
-| `BasicConfig` | `ak`              | `--ak`              | 实验室访问密钥                   |
-| `BasicConfig` | `sk`              | `--sk`              | 实验室私钥                       |
-| `BasicConfig` | `working_dir`     | `--working_dir`     | 工作目录路径                     |
-| `BasicConfig` | `is_host_mode`    | `--is_slave`        | 主站模式（参数为从站模式，取反） |
-| `BasicConfig` | `slave_no_host`   | `--slave_no_host`   | 从站模式下跳过等待主机服务       |
-| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息             |
-| `BasicConfig` | `vis_2d_enable`   | `--2d_vis`          | 启用 2D 可视化                   |
-| `HTTPConfig`  | `remote_addr`     | `--addr`            | 远程服务地址                     |
-
-### 特殊命令行参数
-
-除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
-
-| 参数                | 说明                                 |
-| ------------------- | ------------------------------------ |
-| `--config`          | 指定配置文件路径                     |
-| `--port`            | Web 服务端口（不影响配置文件）       |
-| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
-| `--visual`          | 可视化工具选择（不影响配置文件）     |
-| `--skip_env_check`  | 跳过环境检查（不影响配置文件）       |
-
-### 配置优先级
-
-配置项的生效优先级从高到低为：
-
-1. **命令行参数**：最高优先级
-2. **环境变量**：中等优先级
-3. **配置文件**：基础优先级
-
-### 使用示例
-
-```bash
-# 通过命令行覆盖认证信息
-unilab --ak "new_access_key" --sk "new_secret_key"
-
-# 覆盖服务器地址
-unilab --addr "https://custom.server.com/api/v1"
-
-# 启用从站模式并跳过等待主机
-unilab --is_slave --slave_no_host
-
-# 启用上传注册表和2D可视化
-unilab --upload_registry --2d_vis
-
-# 组合使用多个覆盖参数
-unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
-```
-
-### 预设环境地址
-
-`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
-
-- `test` → `https://uni-lab.test.bohrium.com/api/v1`
-- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
-- `local` → `http://127.0.0.1:48197/api/v1`
-- 其他值 → 直接使用作为完整 URL
-
-## 配置选项详解
-
-### 基础配置 (BasicConfig)
-
-基础配置包含了系统运行的核心参数：
-
-| 参数                     | 类型 | 默认值        | 说明                                       |
-| ------------------------ | ---- | ------------- | ------------------------------------------ |
-| `ak`                     | str  | `""`          | 实验室访问密钥（必需）                     |
-| `sk`                     | str  | `""`          | 实验室私钥（必需）                         |
-| `working_dir`            | str  | `""`          | 工作目录，通常自动设置                     |
-| `is_host_mode`           | bool | `True`        | 是否为主站模式                             |
-| `slave_no_host`          | bool | `False`       | 从站模式下是否跳过等待主机服务             |
-| `upload_registry`        | bool | `False`       | 启动时是否上传注册表信息                   |
-| `machine_name`           | str  | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
-| `vis_2d_enable`          | bool | `False`       | 是否启用 2D 可视化                         |
-| `communication_protocol` | str  | `"websocket"` | 通信协议，固定为 websocket                 |
-
-#### 认证配置
-
-`ak` 和 `sk` 是必需的认证参数：
-
-1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
-2. **配置方式**：
-   - **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
-   - **配置文件**：在 `BasicConfig` 类中设置
-   - **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
-3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
-4. **安全注意**：请妥善保管您的密钥信息
-
-**推荐做法**：
-
-- 开发环境：使用配置文件
-- 生产环境：使用环境变量或命令行参数
-- 临时测试：使用命令行参数
-
-### WebSocket 配置 (WSConfig)
-
-WebSocket 是 Uni-Lab 的主要通信方式：
-
-| 参数                     | 类型 | 默认值 | 说明               |
-| ------------------------ | ---- | ------ | ------------------ |
-| `reconnect_interval`     | int  | `5`    | 断线重连间隔（秒） |
-| `max_reconnect_attempts` | int  | `999`  | 最大重连次数       |
-| `ping_interval`          | int  | `30`   | 心跳检测间隔（秒） |
-
-### HTTP 配置 (HTTPConfig)
-
-HTTP 客户端配置用于与云端服务通信：
-
-| 参数          | 类型 | 默认值                            | 说明         |
-| ------------- | ---- | --------------------------------- | ------------ |
-| `remote_addr` | str  | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
-
-**预设环境地址**：
-
-- 生产环境：`https://uni-lab.bohrium.com/api/v1`
-- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
-- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
-- 本地环境：`http://127.0.0.1:48197/api/v1`
-
-### ROS 配置 (ROSConfig)
-
-配置 ROS 消息转换器需要加载的模块：
-
-```python
-class ROSConfig:
-    modules = [
-        "std_msgs.msg",           # 标准消息类型
-        "geometry_msgs.msg",      # 几何消息类型
-        "control_msgs.msg",       # 控制消息类型
-        "control_msgs.action",    # 控制动作类型
-        "nav2_msgs.action",       # 导航动作类型
-        "unilabos_msgs.msg",      # UniLab 自定义消息类型
-        "unilabos_msgs.action",   # UniLab 自定义动作类型
     ]
 ```
 
-您可以根据实际使用的设备和功能添加其他 ROS 模块。
+您可以根据需要添加其他ROS模块。
 
-### OSS 上传配置 (OSSUploadConfig)
+### 其他配置选项
 
-对象存储服务配置，用于文件上传功能：
+- **OSSUploadConfig**: 对象存储上传配置
 
-| 参数                | 类型 | 默认值 | 说明                 |
-| ------------------- | ---- | ------ | -------------------- |
-| `api_host`          | str  | `""`   | OSS API 主机地址     |
-| `authorization`     | str  | `""`   | 授权认证信息         |
-| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
-| `complete_endpoint` | str  | `""`   | 上传完成端点         |
-| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
+## 如何使用配置文件
 
-## 环境变量支持
-
-Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
-
-```
-UNILABOS_{配置类名}_{字段名}
-```
-
-### 环境变量示例
+启动Uni-Lab时通过`--config`参数指定配置文件路径：
 
 ```bash
-# 设置基础配置
-export UNILABOS_BASICCONFIG_AK="your_access_key"
-export UNILABOS_BASICCONFIG_SK="your_secret_key"
-export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
-
-# 设置WebSocket配置
-export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
-export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
-
-# 设置HTTP配置
-export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
+unilab --config path/to/your/config.py
 ```
 
-### 环境变量类型转换
+如果您不涉及多环境开发，可以在unilabos的安装路径中手动添加local_config.py的文件
 
-- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
-- **整数**：自动转换为 `int` 类型
-- **浮点数**：自动转换为 `float` 类型
-- **字符串**：保持原值
-
-## 配置文件使用方法
-
-### 1. 指定配置文件启动
-
-```bash
-# 使用指定配置文件启动
-unilab --config /path/to/your/config.py
+# 启动Uni-Lab
+python -m unilabos.app.main --config path/to/your/config.py
 ```
-
-### 2. 使用默认配置文件
-
-如果不指定配置文件，系统会按以下顺序查找：
-
-1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
-2. 工作目录下的 `local_config.py`
-3. 首次使用时会引导创建配置文件
-
-### 3. 配置文件验证
-
-系统启动时会自动验证配置文件：
-
-- **语法检查**：确保 Python 语法正确
-- **类型检查**：验证配置项类型是否匹配
-- **必需项检查**：确保 `ak` 和 `sk` 已配置
-
-## 最佳实践
-
-### 1. 安全配置
-
-- 不要将包含密钥的配置文件提交到版本控制系统
-- 使用环境变量或命令行参数在生产环境中配置敏感信息
-- 定期更换访问密钥
-- **推荐配置方式**：
-
-  ```bash
-  # 生产环境 - 使用环境变量
-  export UNILABOS_BASICCONFIG_AK="your_access_key"
-  export UNILABOS_BASICCONFIG_SK="your_secret_key"
-  unilab
-
-  # 或使用命令行参数
-  unilab --ak "your_access_key" --sk "your_secret_key"
-  ```
-
-### 2. 多环境配置
-
-为不同环境创建不同的配置文件并结合命令行参数：
-
-```
-configs/
-├── local_config.py      # 本地开发
-├── test_config.py       # 测试环境
-├── prod_config.py       # 生产环境
-└── example_config.py    # 示例配置
-```
-
-**环境切换示例**：
-
-```bash
-# 本地开发环境
-unilab --config configs/local_config.py --addr local
-
-# 测试环境
-unilab --config configs/test_config.py --addr test --upload_registry
-
-# 生产环境
-unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
-```
-
-### 3. 配置管理
-
-- 保持配置文件简洁，只包含需要修改的配置项
-- 为配置项添加注释说明其作用
-- 定期检查和更新配置文件
-- **命令行参数优先使用场景**：
-  - 临时测试不同配置
-  - CI/CD 流水线中的动态配置
-  - 不同环境间快速切换
-  - 敏感信息的安全传递
-
-### 4. 灵活配置策略
-
-**基础配置文件 + 命令行覆盖**的推荐方式：
-
-```python
-# base_config.py - 基础配置
-class BasicConfig:
-    # 非敏感配置写在文件中
-    is_host_mode = True
-    upload_registry = False
-    vis_2d_enable = False
-
-class WSConfig:
-    reconnect_interval = 5
-    max_reconnect_attempts = 999
-    ping_interval = 30
-```
-
-```bash
-# 启动时通过命令行覆盖关键参数
-unilab --config base_config.py \
-       --ak "$AK" \
-       --sk "$SK" \
-       --addr "test" \
-       --upload_registry \
-       --2d_vis
-```
-
-## 故障排除
-
-### 1. 配置文件加载失败
-
-**错误信息**：`[ENV] 配置文件 xxx 不存在`
-
-**解决方法**：
-
-- 确认配置文件路径正确
-- 检查文件权限是否可读
-- 确保配置文件是 `.py` 格式
-
-### 2. 语法错误
-
-**错误信息**：`[ENV] 加载配置文件 xxx 失败`
-
-**解决方法**：
-
-- 检查 Python 语法是否正确
-- 确认类名和字段名拼写正确
-- 验证缩进是否正确（使用空格而非制表符）
-
-### 3. 认证失败
-
-**错误信息**：`后续运行必须拥有一个实验室`
-
-**解决方法**：
-
-- 确认 `ak` 和 `sk` 已正确配置
-- 检查密钥是否有效
-- 确认网络连接正常
-
-### 4. 环境变量不生效
-
-**解决方法**：
-
-- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
-- 检查环境变量是否已正确设置
-- 重启系统或重新加载环境变量
-
-### 5. 命令行参数不生效
-
-**错误现象**：设置了命令行参数但配置没有生效
-
-**解决方法**：
-
-- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
-- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
-- 确认参数位置正确（所有参数都应在 `unilab` 之后）
-- 查看启动日志确认参数是否被正确解析
-
-### 6. 配置优先级混淆
-
-**错误现象**：不确定哪个配置生效
-
-**解决方法**：
-
-- 记住优先级：命令行参数 > 环境变量 > 配置文件
-- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
-- 检查启动日志中的配置加载信息
-- 临时移除低优先级配置来测试高优先级配置是否生效

docs/user_guide/installation.md

@@ -1,43 +1,24 @@
 # **Uni-Lab 安装**
 
-## 快速开始
+请先 `git clone` 本仓库，随后按照以下步骤安装项目：
 
-1. **配置 Conda 环境**
-
-Uni-Lab-OS 建议使用 `mamba` 管理环境。创建新的环境：
+`Uni-Lab` 建议您采用 `mamba` 管理环境。若需从头建立 `Uni-Lab` 的运行依赖环境，请执行
 
 ```shell
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-<YOUR_OS>.yaml
+mamba activate unilab
 ```
 
-2. **安装开发版 Uni-Lab-OS**
+其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
+
+若需将依赖安装进当前环境，请执行
 
 ```shell
-# 配置好conda环境后，克隆仓库
-git clone https://github.com/dptech-corp/Uni-Lab-OS.git -b dev
-cd Uni-Lab-OS
-
-# 安装 Uni-Lab-OS
-pip install -e .
+conda env update --file unilabos-<YOUR_OS>.yml
 ```
 
-3. **安装开发版 ros-humble-unilabos-msgs**
+随后，可在本仓库安装 `unilabos` 的开发版：
 
-**卸载老版本：**
 ```shell
-conda activate unilab
-conda remove --force ros-humble-unilabos-msgs
+pip install .
 ```
-有时相同的安装包版本会由于dev构建得到的md5不一样，触发安全检查，可输入 `config set safety_checks disabled` 来关闭安全检查。
-
-**安装新版本：**
-
-访问 https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/multi-platform-build.yml 选择最新的构建，下载对应平台的压缩包（仅解压一次，得到.conda文件）使用如下指令：
-```shell
-conda activate base
-conda install ros-humble-unilabos-msgs-<version>-<platform>.conda --offline -n <环境名>
-```
-
-4. **启动 Uni-Lab 系统**
-
-请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。

docs/user_guide/launch.md

@@ -1,4 +1,4 @@
-# Uni-Lab 启动指南
+# Uni-Lab 启动
 
 安装完毕后，可以通过 `unilab` 命令行启动：
 
@@ -8,315 +8,70 @@ Start Uni-Lab Edge server.
 options:
   -h, --help            show this help message and exit
   -g GRAPH, --graph GRAPH
-                        Physical setup graph file path.
+                        Physical setup graph.
+  -d DEVICES, --devices DEVICES
+                        Devices config file.
+  -r RESOURCES, --resources RESOURCES
+                        Resources config file.
   -c CONTROLLERS, --controllers CONTROLLERS
-                        Controllers config file path.
+                        Controllers config file.
   --registry_path REGISTRY_PATH
-                        Path to the registry directory
-  --working_dir WORKING_DIR
-                        Path to the working directory
+                        Path to the registry
   --backend {ros,simple,automancer}
                         Choose the backend to run with: 'ros', 'simple', or 'automancer'.
   --app_bridges APP_BRIDGES [APP_BRIDGES ...]
-                        Bridges to connect to. Now support 'websocket' and 'fastapi'.
-  --is_slave            Run the backend as slave node (without host privileges).
-  --slave_no_host       Skip waiting for host service in slave mode
-  --upload_registry     Upload registry information when starting unilab
-  --use_remote_resource Use remote resources when starting unilab
-  --config CONFIG       Configuration file path, supports .py format Python config files
-  --port PORT           Port for web service information page
-  --disable_browser     Disable opening information page on startup
-  --2d_vis              Enable 2D visualization when starting pylabrobot instance
-  --visual {rviz,web,disable}
-                        Choose visualization tool: rviz, web, or disable
-  --ak AK               Access key for laboratory requests
-  --sk SK               Secret key for laboratory requests
-  --addr ADDR           Laboratory backend address
-  --skip_env_check      Skip environment dependency check on startup
-  --complete_registry   Complete registry information
+                        Bridges to connect to. Now support 'mqtt' and 'fastapi'.
+  --without_host        Run the backend as slave (without host).
+  --config CONFIG       Configuration file path for system settings
 ```
 
-## 启动流程详解
-
-Uni-Lab 的启动过程分为以下几个阶段：
-
-### 1. 参数解析阶段
-
-- 解析命令行参数
-- 处理参数格式转换（支持 dash 和 underscore 格式）
-
-### 2. 环境检查阶段 (可选)
-
-- 默认进行环境依赖检查并自动安装必需包
-- 使用 `--skip_env_check` 可跳过此步骤
-
-### 3. 配置文件处理阶段
-
-您可以直接跟随 unilabos 的提示进行，无需查阅本节
-
-- **工作目录设置**：
-
-  - 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
-  - 否则使用 `当前目录/unilabos_data` 作为工作目录
-  - 可通过 `--working_dir` 指定自定义工作目录
-
-- **配置文件查找顺序**：
-  1. 使用 `--config` 参数指定的配置文件
-  2. 在工作目录中查找 `local_config.py`
-  3. 首次使用时会引导创建配置文件
-
-### 4. 服务器地址配置
-
-支持多种后端环境：
-
-- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
-- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
-- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
-- 自定义地址：直接指定完整 URL
-
-### 5. 认证配置
-
-- **必需参数**：`--ak` 和 `--sk` 必须同时提供
-- 命令行参数优先于配置文件中的设置
-- 未提供认证信息会导致启动失败并提示注册实验室
-
-### 6. 设备图谱加载
-
-支持两种方式：
-
-- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
-- **远程资源**：使用 `--use_remote_resource` 从云端获取
-
-### 7. 注册表构建
-
-- 构建设备和资源注册表
-- 支持自定义注册表路径 (`--registry_path`)
-- 可选择补全注册表信息 (`--complete_registry`)
-
-### 8. 设备验证和注册
-
-- 验证设备连接和端点配置
-- 自动注册设备到云端服务
-
-### 9. 通信桥接配置
-
-- **WebSocket**：实时通信和任务下发
-- **FastAPI**：HTTP API 服务和物料更新
-
-### 10. 可视化和服务启动
-
-- 可选启动可视化工具 (`--visual`)
-- 启动 Web 信息服务 (默认端口 8002)
-- 启动后端通信服务
-
 ## 使用配置文件
 
-Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
+Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
 
 ```bash
 # 使用配置文件启动
 unilab --config path/to/your/config.py
 ```
 
-配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
+配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
 
 ## 初始化信息来源
 
-启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
+启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：
 
 ### 1. 组态&拓扑图
 
-使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
+使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。
 
-### 2. 分别指定控制逻辑
+### 2. 分别指定设备、耗材、控制逻辑
 
-使用 `-c` 传入控制逻辑配置。
+分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。
 
-不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
+可参照 `devices.json` 和 `resources.json`。
+
+不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
 
 ## 通信中间件 `--backend`
 
-目前 Uni-Lab 支持以下通信中间件：
-
-- **ros** (默认)：基于 ROS2 的通信
-- **simple**：简化通信模式
-- **automancer**：Automancer 兼容模式
+目前 Uni-Lab 仅支持 ros2 作为通信中间件。
 
 ## 端云桥接 `--app_bridges`
 
-目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
-
-- **WebSocket**：负责实时通信和任务下发
-- **FastAPI**：负责端对云物料更新和 HTTP API
+目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。
 
 ## 分布式组网
 
-启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
-
-- **主站 (host)**：持有物料修改权以及对云端的通信
-- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
-
-局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
-
-## 可视化选项
-
-### 2D 可视化
-
-使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
-
-### 3D 可视化
-
-通过 `--visual` 参数选择：
-
-- **rviz**：使用 RViz 进行 3D 可视化
-- **web**：使用 Web 界面进行可视化
-- **disable** (默认)：禁用可视化
-
-## 实验室管理
-
-### 首次使用
-
-如果是首次使用，系统会：
-
-1. 提示前往 https://uni-lab.bohrium.com 注册实验室
-2. 引导创建配置文件
-3. 设置工作目录
-
-### 认证设置
-
-- `--ak`：实验室访问密钥
-- `--sk`：实验室私钥
-- 两者必须同时提供才能正常启动
+启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
 
 ## 完整启动示例
 
 以下是一些常用的启动命令示例：
 
 ```bash
-# 使用组态图启动，上传注册表
-unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
+# 使用配置文件和组态图启动
+unilab -g path/to/graph.json
 
-# 使用远程资源启动
-unilab --ak your_ak --sk your_sk --use_remote_resource
-
-# 更新注册表
-unilab --ak your_ak --sk your_sk --complete_registry
-
-# 启动从站模式
-unilab --ak your_ak --sk your_sk --is_slave
-
-# 启用可视化
-unilab --ak your_ak --sk your_sk --visual web --2d_vis
-
-# 指定本地信息网页服务端口和禁用自动跳出浏览器
-unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
+# 使用配置文件和分离的设备/资源文件启动
+unilab -d devices.json -r resources.json
 ```
-
-## 常见问题
-
-### 1. 认证失败
-
-如果提示 "后续运行必须拥有一个实验室"，请确保：
-
-- 已在 https://uni-lab.bohrium.com 注册实验室
-- 正确设置了 `--ak` 和 `--sk` 参数
-- 配置文件中包含正确的认证信息
-
-### 2. 配置文件问题
-
-如果配置文件加载失败：
-
-- 确保配置文件是 `.py` 格式
-- 检查配置文件语法是否正确
-- 首次使用可让系统自动创建示例配置文件
-
-### 3. 网络连接问题
-
-如果无法连接到服务器：
-
-- 检查网络连接
-- 确认服务器地址是否正确
-- 尝试使用不同的环境地址（test、uat、local）
-
-### 4. 设备图谱问题
-
-如果设备加载失败：
-
-- 检查图谱文件格式是否正确
-- 验证设备连接和端点配置
-- 确保注册表路径正确
-
-## 页面操作
-
-### 1. 启动成功
-当您启动成功后，可以看到物料列表，节点模版和组态图如图展示
-![material.png](image/material.png)
-
-### 2. 根据需求创建设备和物料
-我们可以做一个简单的案例  
-* 在容器1中加入水  
-* 通过传输泵将容器1中的水转移到容器2中
-#### 2.1 添加所需的设备和物料  
-仪器设备work_station中的workstation 数量x1  
-仪器设备virtual_device中的virtual_transfer_pump 数量x1    
-物料耗材container中的container 数量x2  
-
-#### 2.2 将设备和物料根据父子关系进行关联  
-当我们添加设备时，仪器耗材模块的物料列表也会实时更新  
-我们需要将设备和物料拖拽到workstation中并在画布上将它们连接起来，就像真实的设备操作一样  
-![links.png](image/links.png)
-
-### 3. 创建工作流
-进入工作流模块 → 点击"我创建的" → 新建工作流
-![new.png](image/new.png)
-
-#### 3.1 新增工作流节点
-我们可以进入指定工作流，在空白处右键   
-* 选择Laboratory→host_node中的creat_resource
-* 选择Laboratory→workstation中的PumpTransferProtocol
-
-![creatworkfollow.gif](image/creatworkfollow.gif)
-
-#### 3.2 配置节点参数
-根据案例，工作流包含两个步骤：
-1. 使用creat_resource在容器中创建水
-2. 通过泵传输协议将水传输到另一个容器
-
-我们点击creat_resource卡片上的编辑按钮来配置参数⭐️  
-class_name ：container  
-device_id ： workstation  
-liquid_input_slot ： 0或-1均可  
-liquid_type : water  
-liquid_volume ： 根据需求填写即可，默认单位ml，这里举例50    
-parent ： workstation  
-res_id ： containe  
-关联设备名称(原unilabos_device_id) ： 这里就填写host_node  
-**配置完成后点击底部保存按钮**  
-
-我们点击PumpTransferProtocol卡片上的编辑按钮来配置参数⭐️  
-event ： transfer_liquid  
-from_vessel ： water  
-to_vessel ： container1  
-volume ： 根据需求填写即可，默认单位ml，这里举例50  
-关联设备名称(原unilabos_device_id) ： 这里就填写workstation  
-**配置完成后点击底部保存按钮**  
-
-#### 3.3 运行工作流
-1. 连接两个节点卡片
-2. 点击底部保存按钮
-3. 点击运行按钮执行工作流
-
-![linksandrun.png](image/linksandrun.png)
-
-### 运行监控
-* 运行状态和消息实时显示在底部控制台
-* 如有报错，可点击查看详细信息
-
-### 结果验证
-工作流完成后，返回仪器耗材模块：
-* 点击 container1卡片查看详情
-* 确认其中包含参数指定的水和容量
-
-
-
-

docs/user_guide/quick_install_guide.md

@@ -1,197 +0,0 @@
-# Uni-Lab-OS 一键安装快速指南
-
-## 概述
-
-本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
-
-## 前置要求
-
-- 已安装 Conda/Miniconda/Miniforge/Mamba
-- 至少 10GB 可用磁盘空间
-- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
-
-## 安装步骤
-
-### 第一步：下载预打包环境
-
-1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
-
-2. 选择最新的成功构建记录（绿色勾号 ✓）
-
-3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
-   - Windows: `unilab-pack-win-64-{branch}.zip`
-   - macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
-   - macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
-   - Linux: `unilab-pack-linux-64-{branch}.tar.gz`
-
-### 第二步：解压并运行安装脚本
-
-#### Windows
-
-```batch
-REM 使用 Windows 资源管理器解压下载的 zip 文件
-REM 或使用命令行：
-tar -xzf unilab-pack-win-64-dev.zip
-
-REM 进入解压后的目录
-cd unilab-pack-win-64-dev
-
-REM 双击运行 install_unilab.bat
-REM 或在命令行中执行：
-install_unilab.bat
-```
-
-#### macOS
-
-```bash
-# 解压下载的压缩包
-tar -xzf unilab-pack-osx-arm64-dev.tar.gz
-
-# 进入解压后的目录
-cd unilab-pack-osx-arm64-dev
-
-# 运行安装脚本
-bash install_unilab.sh
-```
-
-#### Linux
-
-```bash
-# 解压下载的压缩包
-tar -xzf unilab-pack-linux-64-dev.tar.gz
-
-# 进入解压后的目录
-cd unilab-pack-linux-64-dev
-
-# 添加执行权限（如果需要）
-chmod +x install_unilab.sh
-
-# 运行安装脚本
-./install_unilab.sh
-```
-
-### 第三步：激活环境
-
-```bash
-conda activate unilab
-```
-
-### 第四步：验证安装（推荐）
-
-```bash
-# 确保已激活环境
-conda activate unilab
-
-# 运行验证脚本
-python verify_installation.py
-```
-
-如果看到 "✓ All checks passed!"，说明安装成功！
-
-## 常见问题
-
-### Q: 安装脚本找不到 conda？
-
-**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
-
-- **Windows**:
-
-  - `%USERPROFILE%\miniforge3`
-  - `%USERPROFILE%\miniconda3`
-  - `%USERPROFILE%\anaconda3`
-  - `C:\ProgramData\miniforge3`
-
-- **macOS/Linux**:
-  - `~/miniforge3`
-  - `~/miniconda3`
-  - `~/anaconda3`
-  - `/opt/conda`
-
-如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
-
-### Q: 安装后激活环境提示找不到？
-
-**A:** 尝试以下方法：
-
-```bash
-# 方法 1: 使用 conda activate
-conda activate unilab
-
-# 方法 2: 使用完整路径激活（Windows）
-call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
-
-# 方法 2: 使用完整路径激活（Unix）
-source ~/miniforge3/envs/unilab/bin/activate
-```
-
-### Q: conda-unpack 失败怎么办？
-
-**A:** 尝试手动运行：
-
-```bash
-# Windows
-cd %CONDA_PREFIX%\envs\unilab
-.\Scripts\conda-unpack.exe
-
-# macOS/Linux
-cd $CONDA_PREFIX/envs/unilab
-./bin/conda-unpack
-```
-
-### Q: 验证脚本报错？
-
-**A:** 首先确认环境已激活：
-
-```bash
-# 检查当前环境
-conda env list
-
-# 应该看到 unilab 前面有 * 标记
-```
-
-如果仍有问题，查看具体报错信息，可能需要：
-
-- 重新运行安装脚本
-- 检查磁盘空间
-- 查看详细文档
-
-### Q: 环境很大，有办法减小吗？
-
-**A:** 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用手动安装方式，只安装需要的组件。
-
-### Q: 如何更新到最新版本？
-
-**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
-
-或者在现有环境中更新：
-
-```bash
-conda activate unilab
-
-# 更新 unilabos
-cd /path/to/Uni-Lab-OS
-git pull
-pip install -e . --upgrade
-
-# 更新 ros-humble-unilabos-msgs
-mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
-```
-
-## 下一步
-
-安装完成后，你可以：
-
-1. **查看启动指南**: {doc}`launch`
-2. **运行示例**: {doc}`../boot_examples/index`
-3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
-4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
-
-## 需要帮助？
-
-- **文档**: [docs/user_guide/installation.md](installation.md)
-- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
-- **开发版安装**: 参考 {doc}`installation` 的方式二
-
----
-
-**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。

package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>unilabos</name>
+  <version>0.0.0</version>
+  <description>ROS2 package for unilabos server</description>
+  <maintainer email="changjh@pku.edu.cn">changjh</maintainer>
+  <license>TODO: License declaration</license>
+
+  <build_depend>action_msgs</build_depend>
+  <exec_depend>action_msgs</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

recipes/msgs/recipe.yaml

@@ -1,76 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.7
-source:
-  path: ../../unilabos_msgs
-  target_directory: src
-
-build:
-  script:
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
-    - call %SRC_DIR%\bld_ament_cmake.bat
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
-    - bash $SRC_DIR/build_ament_cmake.sh
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
-
-requirements:
-  build:
-  - ${{ compiler('cxx') }}
-  - ${{ compiler('c') }}
-  - python ==3.11.11
-  - numpy
-  - if: build_platform != target_platform
-    then:
-    - pkg-config
-    - cross-python_${{ target_platform }}
-  - if: linux and x86_64
-    then:
-    - sysroot_linux-64 ==2.17
-  - ninja
-  - setuptools
-  - cython
-  - cmake
-  - if: unix
-    then:
-    - make
-    - coreutils
-  - if: osx
-    then:
-    - tapi
-  - if: win
-    then:
-    - vs2022_win-64
-  host:
-  - numpy
-  - pip
-  - if: build_platform == target_platform
-    then:
-    - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  - if: osx and x86_64
-    then:
-    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat

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

recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh

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

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

@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.9.13
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.5.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+#    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.7"
+  version: "0.9.13"
 
 source:
   path: ../..

scripts/create_readme.py

@@ -1,190 +0,0 @@
-#!/usr/bin/env python3
-"""
-Create Distribution Package README
-===================================
-
-Generate README.txt for conda-pack distribution packages.
-
-Usage:
-    python create_readme.py <platform> <branch> <output_file>
-
-Arguments:
-    platform: Platform identifier (win-64, linux-64, osx-64, osx-arm64)
-    branch: Git branch name
-    output_file: Output file path (e.g., dist-package/README.txt)
-
-Example:
-    python create_readme.py win-64 dev dist-package/README.txt
-"""
-
-import argparse
-import sys
-from datetime import datetime, timezone
-from pathlib import Path
-
-
-def get_readme_content(platform: str, branch: str) -> str:
-    """
-    Generate README content for the specified platform.
-
-    Args:
-        platform: Platform identifier
-        branch: Git branch name
-
-    Returns:
-        str: README content
-    """
-    # Get current UTC time
-    build_date = datetime.now(timezone.utc).strftime("%Y-%m-%d %H:%M:%S UTC")
-
-    # Determine platform-specific content
-    is_windows = platform == "win-64"
-
-    if is_windows:
-        archive_ext = "zip"
-        install_script = "install_unilab.bat"
-        platform_instructions = """Windows:
-  1. Extract the downloaded ZIP file
-  2. Double-click install_unilab.bat (or run in cmd)
-  3. Follow the prompts"""
-    else:
-        archive_ext = "tar.gz"
-        install_script = "install_unilab.sh"
-        platform_name = {"linux-64": "linux-64", "osx-64": "osx-64", "osx-arm64": "osx-arm64"}.get(platform, platform)
-        platform_instructions = f"""macOS/Linux:
-  1. Download and extract unilab-pack-{platform_name}.tar.gz
-  2. Run: bash install_unilab.sh
-  3. Follow the prompts
-  
-  Alternative (if downloaded from GitHub Actions):
-  1. Extract the artifact ZIP file
-  2. Extract unilab-pack-{platform_name}.tar.gz inside
-  3. Run: bash install_unilab.sh"""
-
-    # Generate README content
-    readme = f"""UniLabOS Conda-Pack Environment
-================================
-
-This package contains a pre-built UniLabOS environment.
-
-Installation Instructions:
---------------------------
-
-{platform_instructions}
-
-The installation script will:
-  - Automatically find your conda installation
-  - Extract the environment to conda's envs/unilab directory
-  - Run conda-unpack to finalize setup
-
-After installation:
-  conda activate unilab
-  python verify_installation.py
-
-Verification:
--------------
-
-The verify_installation.py script will check:
-  - Python version (3.11.11)
-  - ROS2 rclpy installation
-  - UniLabOS installation and dependencies
-
-If all checks pass, you're ready to use UniLabOS!
-
-Package Contents:
------------------
-
-  - {install_script} (automatic installation script)
-  - unilab-env-{platform}.tar.gz (packed conda environment)
-  - verify_installation.py (environment verification tool)
-  - README.txt (this file)
-
-Build Information:
-------------------
-
-  Branch:   {branch}
-  Platform: {platform}
-  Python:   3.11.11
-  Date:     {build_date}
-
-Troubleshooting:
-----------------
-
-If installation fails:
-
-  1. Ensure conda or mamba is installed
-     Check: conda --version
-
-  2. Verify you have sufficient disk space
-     Required: ~5-10 GB after extraction
-
-  3. Check installation permissions
-     You need write access to conda's envs directory
-
-  4. For detailed logs, run the install script from terminal
-
-For more help:
-  - Documentation: docs/user_guide/installation.md
-  - Quick Start: QUICK_START_CONDA_PACK.md
-  - Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
-
-License:
---------
-
-UniLabOS is licensed under GPL-3.0-only.
-See LICENSE file for details.
-
-Repository: https://github.com/dptech-corp/Uni-Lab-OS
-"""
-
-    return readme
-
-
-def main():
-    """Main entry point."""
-    parser = argparse.ArgumentParser(
-        description="Generate README.txt for conda-pack distribution",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        epilog="""
-Examples:
-  python create_readme.py win-64 dev dist-package/README.txt
-  python create_readme.py linux-64 main dist-package/README.txt
-        """,
-    )
-
-    parser.add_argument("platform", choices=["win-64", "linux-64", "osx-64", "osx-arm64"], help="Platform identifier")
-
-    parser.add_argument("branch", help="Git branch name")
-
-    parser.add_argument("output_file", help="Output file path")
-
-    args = parser.parse_args()
-
-    try:
-        # Generate README content
-        readme_content = get_readme_content(args.platform, args.branch)
-
-        # Create output directory if needed
-        output_path = Path(args.output_file)
-        output_path.parent.mkdir(parents=True, exist_ok=True)
-
-        # Write README file
-        with open(output_path, "w", encoding="utf-8") as f:
-            f.write(readme_content)
-
-        print(f"✓ README.txt created: {output_path}")
-        print(f"  Platform: {args.platform}")
-        print(f"  Branch:   {args.branch}")
-
-        return 0
-
-    except Exception as e:
-        print(f"Error creating README: {e}", file=sys.stderr)
-        import traceback
-
-        traceback.print_exc()
-        return 1
-
-
-if __name__ == "__main__":
-    sys.exit(main())

scripts/create_zip_archive.py

@@ -1,148 +0,0 @@
-#!/usr/bin/env python3
-"""
-Create ZIP Archive with ZIP64 Support
-======================================
-
-This script creates a ZIP archive with ZIP64 support for large files (>2GB).
-It's used in the conda-pack build workflow to package the distribution.
-
-PowerShell's Compress-Archive has a 2GB limitation, so we use Python's zipfile
-module with allowZip64=True to handle large conda-packed environments.
-
-Usage:
-    python create_zip_archive.py <source_dir> <output_zip> [--compression-level LEVEL]
-
-Arguments:
-    source_dir: Directory to compress
-    output_zip: Output ZIP file path
-    --compression-level: Compression level (0-9, default: 6)
-
-Example:
-    python create_zip_archive.py dist-package unilab-pack-win-64.zip
-"""
-
-import argparse
-import os
-import sys
-import zipfile
-from pathlib import Path
-
-
-def create_zip_archive(source_dir: str, output_zip: str, compression_level: int = 6) -> bool:
-    """
-    Create a ZIP archive with ZIP64 support.
-
-    Args:
-        source_dir: Directory to compress
-        output_zip: Output ZIP file path
-        compression_level: Compression level (0-9)
-
-    Returns:
-        bool: True if successful
-    """
-    try:
-        source_path = Path(source_dir)
-        output_path = Path(output_zip)
-
-        # Validate source directory
-        if not source_path.exists():
-            print(f"Error: Source directory does not exist: {source_dir}", file=sys.stderr)
-            return False
-
-        if not source_path.is_dir():
-            print(f"Error: Source path is not a directory: {source_dir}", file=sys.stderr)
-            return False
-
-        # Remove existing output file if present
-        if output_path.exists():
-            print(f"Removing existing archive: {output_path}")
-            output_path.unlink()
-
-        # Create ZIP archive
-        print("=" * 70)
-        print(f"Creating ZIP archive with ZIP64 support")
-        print(f"  Source: {source_path.absolute()}")
-        print(f"  Output: {output_path.absolute()}")
-        print(f"  Compression: Level {compression_level}")
-        print("=" * 70)
-
-        total_size = 0
-        file_count = 0
-
-        with zipfile.ZipFile(
-            output_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True, compresslevel=compression_level
-        ) as zipf:
-            # Walk through source directory
-            for root, dirs, files in os.walk(source_dir):
-                for file in files:
-                    file_path = os.path.join(root, file)
-                    arcname = os.path.relpath(file_path, source_dir)
-                    file_size = os.path.getsize(file_path)
-
-                    # Add file to archive
-                    zipf.write(file_path, arcname)
-
-                    # Display progress
-                    total_size += file_size
-                    file_count += 1
-                    print(f"  [{file_count:3d}] Adding: {arcname:50s} {file_size:>15,} bytes")
-
-        # Get final archive size
-        archive_size = output_path.stat().st_size
-        compression_ratio = (1 - archive_size / total_size) * 100 if total_size > 0 else 0
-
-        # Display summary
-        print("=" * 70)
-        print("Archive created successfully!")
-        print(f"  Files added: {file_count}")
-        print(f"  Total size (uncompressed): {total_size:>15,} bytes ({total_size / (1024**3):.2f} GB)")
-        print(f"  Archive size (compressed):  {archive_size:>15,} bytes ({archive_size / (1024**3):.2f} GB)")
-        print(f"  Compression ratio: {compression_ratio:.1f}%")
-        print("=" * 70)
-
-        return True
-
-    except Exception as e:
-        print(f"Error creating ZIP archive: {e}", file=sys.stderr)
-        import traceback
-
-        traceback.print_exc()
-        return False
-
-
-def main():
-    """Main entry point."""
-    parser = argparse.ArgumentParser(
-        description="Create ZIP archive with ZIP64 support for large files",
-        formatter_class=argparse.RawDescriptionHelpFormatter,
-        epilog="""
-Examples:
-  python create_zip_archive.py dist-package unilab-pack-win-64.zip
-  python create_zip_archive.py dist-package unilab-pack-win-64.zip --compression-level 9
-        """,
-    )
-
-    parser.add_argument("source_dir", help="Directory to compress")
-
-    parser.add_argument("output_zip", help="Output ZIP file path")
-
-    parser.add_argument(
-        "--compression-level",
-        type=int,
-        default=6,
-        choices=range(0, 10),
-        metavar="LEVEL",
-        help="Compression level (0=no compression, 9=maximum compression, default=6)",
-    )
-
-    args = parser.parse_args()
-
-    # Create archive
-    success = create_zip_archive(args.source_dir, args.output_zip, args.compression_level)
-
-    # Exit with appropriate code
-    sys.exit(0 if success else 1)
-
-
-if __name__ == "__main__":
-    main()

scripts/install_unilab.bat

@@ -1,203 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-echo ================================================
-echo UniLabOS Environment Installation Script
-echo ================================================
-echo.
-
-REM Get the directory where this script is located
-set "SCRIPT_DIR=%~dp0"
-cd /d "%SCRIPT_DIR%"
-
-REM Find conda installation
-echo Searching for conda installation...
-
-REM Method 1: Try to get conda base using 'conda info --base'
-set "CONDA_BASE="
-for /f "tokens=*" %%i in ('conda info --base 2^>nul') do (
-    set "CONDA_BASE=%%i"
-)
-
-if not "%CONDA_BASE%"=="" (
-    echo Found conda at: %CONDA_BASE% (via conda info)
-    goto :conda_found
-)
-
-REM Method 2: Use 'where conda' and parse the path
-echo Trying alternative method...
-for /f "tokens=*" %%i in ('where conda 2^>nul') do (
-    set "CONDA_PATH=%%i"
-    goto :parse_conda_path
-)
-
-echo ERROR: Could not find conda installation!
-echo Please make sure conda/mamba is installed and in your PATH.
-echo.
-pause
-exit /b 1
-
-:parse_conda_path
-REM Parse conda path to find base directory
-REM Common paths:
-REM   C:\Users\hp\miniforge3\Library\bin\conda.bat
-REM   C:\Users\hp\miniforge3\Scripts\conda.exe
-REM   C:\Users\hp\miniforge3\condabin\conda.bat
-
-echo Found conda executable at: %CONDA_PATH%
-
-REM Check if path contains \Library\bin\ (typical for conda.bat)
-echo %CONDA_PATH% | findstr /C:"\Library\bin\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\Library\bin\conda.bat
-    REM Need to go up 3 levels: bin -> Library -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\..\..") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Check if path contains \Scripts\ (typical for conda.exe)
-echo %CONDA_PATH% | findstr /C:"\Scripts\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\Scripts\conda.exe
-    REM Need to go up 2 levels: Scripts -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Check if path contains \condabin\ (typical for conda.bat)
-echo %CONDA_PATH% | findstr /C:"\condabin\" >nul
-if not errorlevel 1 (
-    REM Path like: C:\Users\hp\miniforge3\condabin\conda.bat
-    REM Need to go up 2 levels: condabin -> miniforge3
-    for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-    for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-    goto :conda_found
-)
-
-REM Default: assume it's 2 levels up
-for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
-for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
-
-:conda_found
-echo Found conda base directory: %CONDA_BASE%
-echo.
-
-REM Set target environment path
-set "ENV_NAME=unilab"
-set "ENV_PATH=%CONDA_BASE%\envs\%ENV_NAME%"
-
-REM Check if environment already exists
-if exist "%ENV_PATH%" (
-    echo WARNING: Environment '%ENV_NAME%' already exists at %ENV_PATH%
-    echo.
-    set /p "OVERWRITE=Do you want to overwrite it? (y/n): "
-    if /i not "!OVERWRITE!"=="y" (
-        echo Installation cancelled.
-        pause
-        exit /b 0
-    )
-    echo Removing existing environment...
-    rmdir /s /q "%ENV_PATH%"
-)
-
-REM Find the packed environment file
-set "PACK_FILE="
-for %%f in (unilab-env*.tar.gz) do (
-    set "PACK_FILE=%%f"
-    goto :found_pack
-)
-
-:found_pack
-if "%PACK_FILE%"=="" (
-    echo ERROR: Could not find unilab-env*.tar.gz file!
-    echo Please make sure the packed environment file is in the same directory as this script.
-    echo.
-    pause
-    exit /b 1
-)
-
-echo Found packed environment: %PACK_FILE%
-echo.
-
-REM Extract the packed environment
-echo Extracting environment to %ENV_PATH%...
-mkdir "%ENV_PATH%"
-
-REM Extract using tar (available in Windows 10+)
-tar -xzf "%PACK_FILE%" -C "%ENV_PATH%"
-if errorlevel 1 (
-    echo ERROR: Failed to extract environment!
-    echo Make sure you have Windows 10 or later with tar support.
-    pause
-    exit /b 1
-)
-
-echo.
-echo Unpacking conda environment...
-echo Changing to environment directory: %ENV_PATH%
-cd /d "%ENV_PATH%"
-
-REM Run conda-unpack from the environment directory
-if exist "Scripts\conda-unpack.exe" (
-    echo Running: .\Scripts\conda-unpack.exe
-    .\Scripts\conda-unpack.exe
-) else if exist "Scripts\activate.bat" (
-    echo Running: .\Scripts\activate.bat followed by conda-unpack
-    call .\Scripts\activate.bat
-    conda-unpack
-) else (
-    echo ERROR: Could not find Scripts\conda-unpack.exe or Scripts\activate.bat!
-    echo Current directory: %CD%
-    echo Expected location: %ENV_PATH%\Scripts\
-    pause
-    exit /b 1
-)
-
-if errorlevel 1 (
-    echo ERROR: conda-unpack failed!
-    pause
-    exit /b 1
-)
-
-echo.
-echo Checking UniLabOS entry point...
-REM Check if unilab-script.py exists
-set "UNILAB_SCRIPT=%ENV_PATH%\Scripts\unilab-script.py"
-if not exist "%UNILAB_SCRIPT%" (
-    echo WARNING: unilab-script.py not found, creating it...
-    (
-        echo # -*- coding: utf-8 -*-
-        echo import re
-        echo import sys
-        echo.
-        echo from unilabos.app.main import main
-        echo.
-        echo if __name__ == '__main__':
-        echo     sys.argv[0] = re.sub^(r'(-script\.pyw?^|\.exe^)?$', '', sys.argv[0]^)
-        echo     sys.exit^(main^(^)^)
-    ) > "%UNILAB_SCRIPT%"
-    echo Created: %UNILAB_SCRIPT%
-) else (
-    echo Found: %UNILAB_SCRIPT%
-)
-
-echo.
-echo ================================================
-echo Installation completed successfully!
-echo ================================================
-echo.
-echo To activate the environment, run:
-echo   conda activate %ENV_NAME%
-echo.
-echo or
-echo.
-echo   call %ENV_PATH%\Scripts\activate.bat
-echo.
-echo You can verify the installation by running:
-echo   cd /d "%SCRIPT_DIR%"
-echo   python verify_installation.py
-echo.
-pause
-

scripts/install_unilab.sh

@@ -1,139 +0,0 @@
-#!/bin/bash
-set -e
-
-echo "================================================"
-echo "UniLabOS Environment Installation Script"
-echo "================================================"
-echo ""
-
-# Get the directory where this script is located
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-cd "$SCRIPT_DIR"
-
-# Find conda installation
-echo "Searching for conda installation..."
-CONDA_BASE=""
-
-# Try to find conda in PATH
-if command -v conda &> /dev/null; then
-    CONDA_BASE=$(conda info --base)
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/miniforge3" ]; then
-    CONDA_BASE="$HOME/miniforge3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/miniconda3" ]; then
-    CONDA_BASE="$HOME/miniconda3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "$HOME/anaconda3" ]; then
-    CONDA_BASE="$HOME/anaconda3"
-    echo "Found conda at: $CONDA_BASE"
-elif [ -d "/opt/conda" ]; then
-    CONDA_BASE="/opt/conda"
-    echo "Found conda at: $CONDA_BASE"
-else
-    echo "ERROR: Could not find conda installation!"
-    echo "Please make sure conda/mamba is installed."
-    exit 1
-fi
-
-echo ""
-
-# Initialize conda for this shell
-if [ -f "$CONDA_BASE/etc/profile.d/conda.sh" ]; then
-    source "$CONDA_BASE/etc/profile.d/conda.sh"
-fi
-
-# Set target environment path
-ENV_NAME="unilab"
-ENV_PATH="$CONDA_BASE/envs/$ENV_NAME"
-
-# Check if environment already exists
-if [ -d "$ENV_PATH" ]; then
-    echo "WARNING: Environment '$ENV_NAME' already exists at $ENV_PATH"
-    read -p "Do you want to overwrite it? (y/n): " OVERWRITE
-    if [ "$OVERWRITE" != "y" ] && [ "$OVERWRITE" != "Y" ]; then
-        echo "Installation cancelled."
-        exit 0
-    fi
-    echo "Removing existing environment..."
-    rm -rf "$ENV_PATH"
-fi
-
-# Find the packed environment file
-PACK_FILE=$(ls unilab-env*.tar.gz 2>/dev/null | head -n 1)
-
-if [ -z "$PACK_FILE" ]; then
-    echo "ERROR: Could not find unilab-env*.tar.gz file!"
-    echo "Please make sure the packed environment file is in the same directory as this script."
-    exit 1
-fi
-
-echo "Found packed environment: $PACK_FILE"
-echo ""
-
-# Extract the packed environment
-echo "Extracting environment to $ENV_PATH..."
-mkdir -p "$ENV_PATH"
-tar -xzf "$PACK_FILE" -C "$ENV_PATH"
-
-echo ""
-echo "Unpacking conda environment..."
-echo "Changing to environment directory: $ENV_PATH"
-cd "$ENV_PATH"
-
-# Run conda-unpack from the environment directory
-if [ -f "bin/conda-unpack" ]; then
-    echo "Running: ./bin/conda-unpack"
-    ./bin/conda-unpack
-elif [ -f "bin/activate" ]; then
-    echo "Running: source bin/activate followed by conda-unpack"
-    source bin/activate
-    conda-unpack
-else
-    echo "ERROR: Could not find bin/conda-unpack or bin/activate!"
-    echo "Current directory: $(pwd)"
-    echo "Expected location: $ENV_PATH/bin/"
-    exit 1
-fi
-
-echo ""
-echo "Checking UniLabOS entry point..."
-# Check if unilab script exists in bin directory
-UNILAB_SCRIPT="$ENV_PATH/bin/unilab"
-if [ ! -f "$UNILAB_SCRIPT" ]; then
-    echo "WARNING: unilab script not found, creating it..."
-    cat > "$UNILAB_SCRIPT" << 'EOF'
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import re
-import sys
-
-from unilabos.app.main import main
-
-if __name__ == '__main__':
-    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
-    sys.exit(main())
-EOF
-    chmod +x "$UNILAB_SCRIPT"
-    echo "Created: $UNILAB_SCRIPT"
-else
-    echo "Found: $UNILAB_SCRIPT"
-fi
-
-echo ""
-echo "================================================"
-echo "Installation completed successfully!"
-echo "================================================"
-echo ""
-echo "To activate the environment, run:"
-echo "  conda activate $ENV_NAME"
-echo ""
-echo "or"
-echo ""
-echo "  source $ENV_PATH/bin/activate"
-echo ""
-echo "You can verify the installation by running:"
-echo "  cd $SCRIPT_DIR"
-echo "  python verify_installation.py"
-echo ""
-

scripts/verify_installation.py

@@ -1,153 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-"""
-UniLabOS Installation Verification Script
-=========================================
-
-This script verifies that UniLabOS and its dependencies are correctly installed.
-Run this script after installing the conda-pack environment to ensure everything works.
-
-Usage:
-    python verify_installation.py
-
-    Or in the conda environment:
-    conda activate unilab
-    python verify_installation.py
-"""
-
-import sys
-import os
-
-# IMPORTANT: Set UTF-8 encoding BEFORE any other imports
-# This ensures all subsequent imports (including unilabos) can output UTF-8 characters
-if sys.platform == "win32":
-    # Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
-    try:
-        sys.stdout.reconfigure(encoding="utf-8", errors="replace")
-        sys.stderr.reconfigure(encoding="utf-8", errors="replace")
-    except (AttributeError, OSError):
-        pass
-
-    # Method 2: Set environment variable for subprocess and console
-    os.environ["PYTHONIOENCODING"] = "utf-8"
-
-    # Method 3: Try to change Windows console code page to UTF-8
-    try:
-        import ctypes
-
-        # Set console code page to UTF-8 (CP 65001)
-        ctypes.windll.kernel32.SetConsoleCP(65001)
-        ctypes.windll.kernel32.SetConsoleOutputCP(65001)
-    except (ImportError, AttributeError, OSError):
-        pass
-
-# Now import other modules
-import importlib
-
-# Use ASCII-safe symbols that work across all platforms
-CHECK_MARK = "[OK]"
-CROSS_MARK = "[FAIL]"
-
-
-def check_package(package_name: str, display_name: str = None) -> bool:
-    """
-    Check if a package can be imported.
-
-    Args:
-        package_name: Name of the package to import
-        display_name: Display name (defaults to package_name)
-
-    Returns:
-        bool: True if package is available
-    """
-    if display_name is None:
-        display_name = package_name
-
-    try:
-        importlib.import_module(package_name)
-        print(f"  {CHECK_MARK} {display_name}")
-        return True
-    except ImportError:
-        print(f"  {CROSS_MARK} {display_name}")
-        return False
-
-
-def check_python_version() -> bool:
-    """Check Python version."""
-    version = sys.version_info
-    version_str = f"{version.major}.{version.minor}.{version.micro}"
-
-    if version.major == 3 and version.minor >= 11:
-        print(f"  {CHECK_MARK} Python {version_str}")
-        return True
-    else:
-        print(f"  {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
-        return False
-
-
-def main():
-    """Run all verification checks."""
-    print("=" * 60)
-    print("UniLabOS Installation Verification")
-    print("=" * 60)
-    print()
-
-    all_passed = True
-
-    # Check Python version
-    print("Checking Python version...")
-    if not check_python_version():
-        all_passed = False
-    print()
-
-    # Check ROS2 rclpy
-    print("Checking ROS2 rclpy...")
-    if not check_package("rclpy", "ROS2 rclpy"):
-        all_passed = False
-    print()
-
-    # Run environment checker from unilabos
-    print("Checking UniLabOS and dependencies...")
-    try:
-        from unilabos.utils.environment_check import check_environment
-
-        print(f"  {CHECK_MARK} UniLabOS installed")
-
-        # Check environment without auto-install (verification only)
-        # Set show_details=False to suppress detailed Chinese output that may cause encoding issues
-        env_check_passed = check_environment(auto_install=False, show_details=False)
-
-        if env_check_passed:
-            print(f"  {CHECK_MARK} All required packages available")
-        else:
-            print(f"  {CROSS_MARK} Some optional packages are missing")
-    except ImportError:
-        print(f"  {CROSS_MARK} UniLabOS not installed")
-        all_passed = False
-    except Exception as e:
-        print(f"  {CROSS_MARK} Environment check failed: {str(e)}")
-    print()
-
-    # Summary
-    print("=" * 60)
-    print("Verification Summary")
-    print("=" * 60)
-
-    if all_passed:
-        print(f"\n{CHECK_MARK} All checks passed! Your UniLabOS installation is ready.")
-        print("\nNext steps:")
-        print("  1. Review the documentation: docs/user_guide/launch.md")
-        print("  2. Try the examples: docs/boot_examples/")
-        print("  3. Configure your devices: unilabos_data/startup_config.json")
-        return 0
-    else:
-        print(f"\n{CROSS_MARK} Some checks failed. Please review the errors above.")
-        print("\nTroubleshooting:")
-        print("  1. Ensure you're in the correct conda environment: conda activate unilab")
-        print("  2. Check the installation documentation: docs/user_guide/installation.md")
-        print("  3. Try reinstalling: pip install .")
-        return 1
-
-
-if __name__ == "__main__":
-    sys.exit(main())

setup.py

@@ -4,20 +4,20 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.7',
+    version='0.9.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
     zip_safe=True,
-    author="The unilabos developers",
-    maintainer='Junhan Chang, Xuwznln',
-    maintainer_email='Junhan Chang <changjh@pku.edu.cn>, Xuwznln <18435084+Xuwznln@users.noreply.github.com>',
+    maintainer='Junhan Chang',
+    maintainer_email='changjh@pku.edu.cn',
     description='',
     license='GPL v3',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "unilab = unilabos.app.main:main"
+            "unilab = unilabos.app.main:main",
+            "unilab-register = unilabos.app.register:main"
         ],
     },
 )

test/experiments/comprehensive_protocol/comprehensive_station.json

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

test/experiments/dispensing_station_bioyond.json

@@ -1,60 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "dispensing_station_bioyond",
-            "name": "dispensing_station_bioyond",
-            "children": [
-                "Bioyond_Dispensing_Deck"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "dispensing_station.bioyond",
-            "config": {
-                "config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44388"
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Dispensing_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
-                    }
-                },
-                "station_config": {
-                    "station_type": "dispensing_station",
-                    "enable_dispensing_station": true,
-                    "enable_reaction_station": false,
-                    "station_name": "DispensingStation_001",
-                    "description": "Bioyond配液工作站"
-                },
-                "protocol_type": []
-            },
-            "data": {}
-        },
-        {
-            "id": "Bioyond_Dispensing_Deck",
-            "name": "Bioyond_Dispensing_Deck",
-            "sample_id": null,
-            "children": [],
-            "parent": "dispensing_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerPreparationStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerPreparationStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}

test/experiments/laiyu_liquid.json

@@ -1,148 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "laiyu_liquid_station",
-            "name": "LaiYu液体处理工作站",
-            "children": [
-                "module_1_8tubes",
-                "module_2_96well_deep", 
-                "module_3_beaker",
-                "module_4_96well_tips"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "laiyu_liquid",
-            "position": {
-                "x": 500,
-                "y": 200,
-                "z": 0
-            },
-            "config": {
-                "total_modules": 4,
-                "total_wells": 201,
-                "safety_margin": {
-                    "x": 5.0,
-                    "y": 5.0,
-                    "z": 5.0
-                },
-                "protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
-            },
-            "data": {
-                "status": "Ready",
-                "version": "1.0"
-            }
-        },
-        {
-            "id": "module_1_8tubes",
-            "name": "8管位置模块",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
-            "position": {
-                "x": 100,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "tube_rack",
-                "wells_count": 8,
-                "well_diameter": 29.0,
-                "well_depth": 117.0,
-                "well_volume": 77000.0,
-                "well_shape": "circular",
-                "layout": "2x4"
-            },
-            "data": {
-                "max_volume": 77000.0,
-                "current_volume": 0.0,
-                "wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
-            }
-        },
-        {
-            "id": "module_2_96well_deep",
-            "name": "96深孔板",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
-            "position": {
-                "x": 300,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "96_well_deep_plate",
-                "wells_count": 96,
-                "well_diameter": 8.2,
-                "well_depth": 39.4,
-                "well_volume": 2080.0,
-                "well_shape": "circular",
-                "layout": "8x12"
-            },
-            "data": {
-                "max_volume": 2080.0,
-                "current_volume": 0.0,
-                "plate_type": "deep_well"
-            }
-        },
-        {
-            "id": "module_3_beaker",
-            "name": "敞口玻璃瓶",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "container",
-            "position": {
-                "x": 500,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "beaker_holder",
-                "wells_count": 1,
-                "well_diameter": 85.0,
-                "well_depth": 120.0,
-                "well_volume": 500000.0,
-                "well_shape": "circular",
-                "supported_containers": ["250ml", "500ml", "1000ml"]
-            },
-            "data": {
-                "max_volume": 500000.0,
-                "current_volume": 0.0,
-                "container_type": "beaker",
-                "wells": ["A1"]
-            }
-        },
-        {
-            "id": "module_4_96well_tips",
-            "name": "96吸头架",
-            "children": [],
-            "parent": "laiyu_liquid_station",
-            "type": "container",
-            "class": "tip_rack",
-            "position": {
-                "x": 700,
-                "y": 100,
-                "z": 0
-            },
-            "config": {
-                "module_type": "tip_rack",
-                "wells_count": 96,
-                "well_diameter": 8.2,
-                "well_depth": 60.0,
-                "well_volume": 6000.0,
-                "well_shape": "circular",
-                "layout": "8x12",
-                "tip_type": "standard"
-            },
-            "data": {
-                "max_volume": 6000.0,
-                "current_volume": 0.0,
-                "tip_capacity": "1000μL",
-                "tips_available": 96
-            }
-        }
-    ],
-    "links": []
-}

test/experiments/mock_reactor.json

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

test/experiments/plr_test_converted.json

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

test/experiments/reaction_station_bioyond.json

@@ -1,69 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "reaction_station_bioyond",
-            "name": "reaction_station_bioyond",
-            "parent": null,
-            "children": [
-                "Bioyond_Deck"
-            ],
-            "type": "device",
-            "class": "reaction_station.bioyond",
-            "config": {
-                "bioyond_config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44402",
-                    "workflow_mappings": {
-                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
-                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
-                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
-                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
-                    },
-                    "material_type_mappings": {
-                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
-                    }
-                },
-                "protocol_type": []
-            },
-            "data": {}
-        },
-        {
-            "id": "Bioyond_Deck",
-            "name": "Bioyond_Deck",
-            "sample_id": null,
-            "children": [
-            ],
-            "parent": "reaction_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerReactionStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerReactionStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}

test/experiments/reaction_station_bioyond_test.json

@@ -1,69 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "reaction_station_bioyond",
-            "name": "reaction_station_bioyond",
-            "parent": null,
-            "children": [
-                "Bioyond_Deck"
-            ],
-            "type": "device",
-            "class": "workstation.bioyond",
-            "config": {
-                "bioyond_config": {
-                    "api_key": "DE9BDDA0",
-                    "api_host": "http://192.168.1.200:44388",
-                    "workflow_mappings": {
-                        "reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
-                        "reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
-                        "Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
-                        "Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
-                        "Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
-                        "Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
-                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
-                    },
-                    "material_type_mappings": {
-                        "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-                        "样品板": "BIOYOND_PolymerStation_6VialCarrier"
-                    }
-                },
-                "deck": {
-                    "data": {
-                        "_resource_child_name": "Bioyond_Deck",
-                        "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
-                    }
-                },
-                "protocol_type": []
-            },
-            "data": {}
-        },
-        {
-            "id": "Bioyond_Deck",
-            "name": "Bioyond_Deck",
-            "sample_id": null,
-            "children": [
-            ],
-            "parent": "reaction_station_bioyond",
-            "type": "deck",
-            "class": "BIOYOND_PolymerReactionStation_Deck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "BIOYOND_PolymerReactionStation_Deck",
-                "setup": true,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        }
-    ]
-}

test/experiments/test_laiyu.json

@@ -1,394 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "liquid_handler",
-            "name": "liquid_handler",
-            "parent": null,
-            "type": "device",
-            "class": "liquid_handler",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "data": {},
-            "children": [
-                "deck"
-            ],
-            "config": {
-                "deck": {
-                    "_resource_child_name": "deck",
-                    "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
-                    "name": "deck"
-                },
-                "backend": {
-                    "type": "UniLiquidHandlerRvizBackend"
-                    
-                },
-                "simulator": true,
-                "total_height": 300
-            }
-        },
-        {
-            "id": "deck",
-            "name": "deck",
-            "sample_id": null,
-            "children": [
-                "tip_rack",
-                "plate_well",
-                "tube_rack",
-                "bottle_rack"
-            ],
-            "parent": "liquid_handler",
-            "type": "deck",
-            "class": "TransformXYZDeck",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 18
-            },
-            "config": {
-                "type": "TransformXYZDeck",
-                "size_x": 624.3,
-                "size_y": 565.2,
-                "size_z": 900,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                }
-            },
-            "data": {}
-        },
-        {
-            "id": "tip_rack",
-            "name": "tip_rack",
-            "sample_id": null,
-            "children": [
-                "tip_rack_A1"
-            ],
-            "parent": "deck",
-            "type": "tip_rack",
-            "class": "tiprack_box",
-            "position": {
-                "x": 150,
-                "y": 7,
-                "z": 103
-            },
-            "config": {
-                "type": "TipRack",
-                "size_x": 134,
-                "size_y": 96,
-                "size_z": 7.0,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "tip_rack",
-                "model": "tiprack_box",
-                "ordering": [
-                    "A1"
-                ]
-            },
-            "data": {}
-        },
-
-
-
-
-        {
-            "id": "tip_rack_A1",
-            "name": "tip_rack_A1",
-            "sample_id": null,
-            "children": [],
-            "parent": "tip_rack",
-            "type": "container",
-            "class": "",
-            "position": {
-                "x": 11.12,
-                "y": 75,
-                "z": -91.54
-            },
-            "config": {
-                "type": "TipSpot",
-                "size_x": 9,
-                "size_y": 9,
-                "size_z": 95,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "tip_spot",
-                "model": null,
-                "prototype_tip": {
-                    "type": "Tip",
-                    "total_tip_length": 95,
-                    "has_filter": false,
-                    "maximal_volume": 1000.0,
-                    "fitting_depth": 3.29
-                }
-            },
-            "data": {
-                "tip": null,
-                "tip_state": null,
-                "pending_tip": null
-            }
-        },
-
-
-        {
-            "id": "plate_well",
-            "name": "plate_well",
-            "sample_id": null,
-            "children": [
-                "plate_well_A1"
-            ],
-            "parent": "deck",
-            "type": "plate",
-            "class": "plate_96",
-            "position": {
-                "x": 161,
-                "y": 116,
-                "z": 48.5
-            },
-            "pose": {
-                "position_3d": {
-                    "x": 161,
-                    "y": 116,
-                    "z": 48.5
-                },
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0
-                }
-            },
-            "config": {
-                "type": "Plate",
-                "size_x": 127.76,
-                "size_y": 85.48,
-                "size_z": 45.5,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": "plate_96",
-                "ordering": [
-                    "A1"
-                ]
-            },
-            "data": {}
-        },
-
-
-
-
-
-        {
-            "id": "plate_well_A1",
-            "name": "plate_well_A1",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate_well",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 10.1,
-                "y": 70,
-                "z": 6.1
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 8.2,
-                "size_y": 8.2,
-                "size_z": 38,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "well",
-                "model": null,
-                "max_volume": 2000,
-                "material_z_thickness": null,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "unknown",
-                "cross_section_type": "rectangle"
-            },
-            "data": {
-                "liquids": [["water", 50.0]],
-                "pending_liquids": [["water", 50.0]],
-                "liquid_history": []
-            }
-        },
-
-
-        {
-            "id": "tube_rack",
-            "name": "tube_rack",
-            "sample_id": null,
-            "children": [
-                "tube_rack_A1"
-            ],
-            "parent": "deck",
-            "type": "container",
-            "class": "tube_container",
-            "position": {
-                "x": 0,
-                "y": 127,
-                "z": 0
-            },
-            "config": {
-                "type": "Plate",
-                "size_x": 151,
-                "size_y": 75,
-                "size_z": 75,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "model": "tube_container",
-                "ordering": [
-                    "A1"
-                ]
-            },
-            "data": {}
-        },
-
-
-        {
-            "id": "tube_rack_A1",
-            "name": "tube_rack_A1",
-            "sample_id": null,
-            "children": [],
-            "parent": "tube_rack",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 6,
-                "y": 38,
-                "z": 10
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 34,
-                "size_y": 34,
-                "size_z": 117,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "tube",
-                "model": null,
-                "max_volume": 2000,
-                "material_z_thickness": null,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "unknown",
-                "cross_section_type": "rectangle"
-            },
-            "data": {
-                "liquids": [["water", 50.0]],
-                "pending_liquids": [["water", 50.0]],
-                "liquid_history": []
-            }
-        }
-
-
-        ,
-
-
-        {
-            "id": "bottle_rack",
-            "name": "bottle_rack",
-            "sample_id": null,
-            "children": [
-                "bottle_rack_A1"
-            ],
-            "parent": "deck",
-            "type": "container",
-            "class": "bottle_container",
-            "position": {
-                "x": 0,
-                "y": 0,
-                "z": 0
-            },
-            "config": {
-                "type": "Plate",
-                "size_x": 130,
-                "size_y": 117,
-                "size_z": 8,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "tube_rack",
-                "model": "bottle_container",
-                "ordering": [
-                    "A1"
-                ]
-            },
-            "data": {}
-        },
-
-
-        {
-            "id": "bottle_rack_A1",
-            "name": "bottle_rack_A1",
-            "sample_id": null,
-            "children": [],
-            "parent": "bottle_rack",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 25,
-                "y": 18.5,
-                "z": 8
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 80,
-                "size_y": 80,
-                "size_z": 117,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "tube",
-                "model": null,
-                "max_volume": 2000,
-                "material_z_thickness": null,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "unknown",
-                "cross_section_type": "rectangle"
-            },
-            "data": {
-                "liquids": [["water", 50.0]],
-                "pending_liquids": [["water", 50.0]],
-                "liquid_history": []
-            }
-        }
-
-
-    ],
-    "links": []
-}

test/experiments/test_moveit.json

@@ -1,48 +1,32 @@
 {
     "nodes": [
 
-
         {
-            "id": "arm_slider",
-            "name": "arm_slider",
-            "children": [],
+            "id": "benyao",
+            "name": "benyao",
+            "children": [
+            ],
             "parent": null,
             "type": "device",
-            "class": "robotic_arm.SCARA_with_slider.virtual",
+            "class": "moveit.arm_slider",
             "position": {
-                "x": -500,
-                "y": 1000,
-                "z": -100
+                "x": 0,
+                "y": 0,
+                "z": 0
             },
             "config": {
                 "moveit_type": "arm_slider",
                 "joint_poses": {
                     "arm": {
-                        "hotel_1": [
-                            1.05,
-                            0.568,
-                            -1.0821,
-                            0.0,
-                            1.0821
-                        ],
-                        "home": [
-                            0.865,
-                            0.09,
-                            0.8727,
-                            0.0,
-                            -0.8727
-                        ]
+                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
+                        "pick": [1.2, 0.0, 0.0, 0.0, 0.0]
                     }
                 },
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": -1.5708,
-                    "type": "Rotation"
-                },
-                "device_config": {}
+                "device_config": {
+                }
             },
-            "data": {}
+            "data": {
+            }
         }
     ],
     "links": [

test/experiments/workshop.json

@@ -1,949 +0,0 @@
-{
-    "nodes": [
-        {
-            "id": "simple_station",
-            "name": "愚公常量合成工作站",
-            "children": [
-                "serial_pump",
-                "pump_reagents",
-                "pump_workup",
-                "flask_CH2Cl2",
-                "waste_workup",
-                "separator_controller",
-                "flask_separator",
-                "flask_air"
-            ],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol"]
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "serial_pump",
-            "name": "serial_pump",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "serial",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "port": "COM7",
-                "baudrate": 9600
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "pump_reagents",
-            "name": "pump_reagents",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "syringepump.runze",
-            "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
-            },
-            "config": {
-                "port": "/devices/PumpBackbone/Serial/serialwrite",
-                "address": "1",
-                "max_volume": 25.0
-            },
-            "data": {
-                "max_velocity": 1.0,
-                "position": 0.0,
-                "status": "Idle",
-                "valve_position": "0"
-            }
-        },
-        {
-            "id": "flask_CH2Cl2",
-            "name": "flask_CH2Cl2",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 430.4087301587302,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "CH2Cl2",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_acetone",
-            "name": "flask_acetone",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 295.36944444444447,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "acetone",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_NH4Cl",
-            "name": "flask_NH4Cl",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 165.36944444444444,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "NH4Cl",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_grignard",
-            "name": "flask_grignard",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 165.36944444444444,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "grignard",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_THF",
-            "name": "flask_THF",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 35,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "THF",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "reactor",
-            "name": "reactor",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 698.1111111111111,
-                "y": 428,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 5000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "stirrer",
-            "name": "stirrer",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "heaterstirrer.dalong",
-            "position": {
-                "x": 698.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "port": "COM43",
-                "temp_warning": 60.0
-            },
-            "data": {
-                "status": "Idle",
-                "temp": 0.0,
-                "stir_speed": 0.0
-            }
-        },
-        {
-            "id": "pump_workup",
-            "name": "pump_workup",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "syringepump.runze",
-            "position": {
-                "x": 1195.611507936508,
-                "y": 686,
-                "z": 0
-            },
-            "config": {
-                "port": "/devices/PumpBackbone/Serial/serialwrite",
-                "address": "2",
-                "max_volume": 25.0
-            },
-            "data": {
-                "max_velocity": 1.0,
-                "position": 0.0,
-                "status": "Idle",
-                "valve_position": "0"
-            }
-        },
-        {
-            "id": "waste_workup",
-            "name": "waste_workup",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1587.703373015873,
-                "y": 1172.5,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "separator_controller",
-            "name": "separator_controller",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "separator.homemade",
-            "position": {
-                "x": 1624.4027777777778,
-                "y": 665.5,
-                "z": 0
-            },
-            "config": {
-                "port_executor": "/dev/tty.usbserial-11140",
-                "port_sensor": "/dev/tty.usbserial-11130"
-            },
-            "data": {
-                "sensordata": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_separator",
-            "name": "flask_separator",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1614.404365079365,
-                "y": 948,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "flask_holding",
-            "name": "flask_holding",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1915.7035714285714,
-                "y": 665.5,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "flask_H2O",
-            "name": "flask_H2O",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1785.7035714285714,
-                "y": 665.5,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "H2O",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "flask_NaHCO3",
-            "name": "flask_NaHCO3",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 2054.0650793650793,
-                "y": 665.5,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                    {
-                        "liquid_type": "NaHCO3",
-                        "liquid_volume": 1500.0
-                    }
-                ]
-            }
-        },
-        {
-            "id": "pump_column",
-            "name": "pump_column",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "syringepump.runze",
-            "position": {
-                "x": 1630.6527777777778,
-                "y": 448.5,
-                "z": 0
-            },
-            "config": {
-                "port": "/devices/PumpBackbone/Serial/serialwrite",
-                "address": "3",
-                "max_volume": 25.0
-            },
-            "data": {
-                "max_velocity": 1.0,
-                "position": 0.0,
-                "status": "Idle",
-                "valve_position": "0"
-            }
-        },
-        {
-            "id": "rotavap",
-            "name": "rotavap",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "rotavap",
-            "position": {
-                "x": 1339.7031746031746,
-                "y": 968.5,
-                "z": 0
-            },
-            "config": {
-                "port": "COM15"
-            },
-            "data": {
-                "temperature": 0.0,
-                "rotate_time": 0.0,
-                "status": "Idle"
-            }
-        },
-        {
-            "id": "flask_rv",
-            "name": "flask_rv",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1339.7031746031746,
-                "y": 1152,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "column",
-            "name": "column",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 909.722619047619,
-                "y": 948,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 200.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "flask_column",
-            "name": "flask_column",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 867.972619047619,
-                "y": 1152,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "flask_air",
-            "name": "flask_air",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 742.722619047619,
-                "y": 948,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "dry_column",
-            "name": "dry_column",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1206.722619047619,
-                "y": 948,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 200.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "flask_dry_column",
-            "name": "flask_dry_column",
-            "children": [],
-            "parent": "simple_station",
-            "type": "container",
-            "class": null,
-            "position": {
-                "x": 1148.222619047619,
-                "y": 1152,
-                "z": 0
-            },
-            "config": {
-                "max_volume": 2000.0
-            },
-            "data": {
-                "liquid": [
-                ]
-            }
-        },
-        {
-            "id": "pump_ext",
-            "name": "pump_ext",
-            "children": [],
-            "parent": "simple_station",
-            "type": "device",
-            "class": "syringepump.runze",
-            "position": {
-                "x": 1469.7031746031746,
-                "y": 968.5,
-                "z": 0
-            },
-            "config": {
-                "port": "/devices/PumpBackbone/Serial/serialwrite",
-                "address": "4",
-                "max_volume": 25.0
-            },
-            "data": {
-                "max_velocity": 1.0,
-                "position": 0.0,
-                "status": "Idle",
-                "valve_position": "0"
-            }
-        },
-        {
-            "id": "AGV",
-            "name": "AGV",
-            "children": ["zhixing_agv", "zhixing_ur_arm"],
-            "parent": null,
-            "type": "device",
-            "class": "workstation",
-            "position": {
-                "x": 698.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "protocol_type": ["AGVTransferProtocol"]
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "zhixing_agv",
-            "name": "zhixing_agv",
-            "children": [],
-            "parent": "AGV",
-            "type": "device",
-            "class": "zhixing_agv",
-            "position": {
-                "x": 698.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "host": "192.168.1.42"
-            },
-            "data": {
-            }
-        },
-        {
-            "id": "zhixing_ur_arm",
-            "name": "zhixing_ur_arm",
-            "children": [],
-            "parent": "AGV",
-            "type": "device",
-            "class": "zhixing_ur_arm",
-            "position": {
-                "x": 698.1111111111111,
-                "y": 478,
-                "z": 0
-            },
-            "config": {
-                "host": "192.168.1.178"
-            },
-            "data": {
-            }
-        }
-    ],
-    "links": [
-        {
-            "source": "pump_reagents",
-            "target": "serial_pump",
-            "type": "communication",
-            "port": {
-                "pump_reagents": "port",
-                "serial_pump": "port"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "serial_pump",
-            "type": "communication",
-            "port": {
-                "pump_reagents": "port",
-                "serial_pump": "port"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "serial_pump",
-            "type": "communication",
-            "port": {
-                "pump_reagents": "port",
-                "serial_pump": "port"
-            }
-        },
-        {
-            "source": "pump_ext",
-            "target": "serial_pump",
-            "type": "communication",
-            "port": {
-                "pump_reagents": "port",
-                "serial_pump": "port"
-            }
-        },
-        {
-            "source": "reactor",
-            "target": "pump_reagents",
-            "type": "physical",
-            "port": {
-                "reactor": "top",
-                "pump_reagents": "5"
-            }
-        },
-        {
-            "source": "rotavap",
-            "target": "flask_rv",
-            "type": "physical",
-            "port": {
-                "rotavap": "bottom",
-                "flask_rv": "top"
-            }
-        },
-        {
-            "source": "separator_controller",
-            "target": "flask_separator",
-            "type": "physical",
-            "port": {
-                "separator_controller": "bottom",
-                "flask_separator": "top"
-            }
-        },
-        {
-            "source": "column",
-            "target": "flask_column",
-            "type": "physical",
-            "port": {
-                "column": "bottom",
-                "flask_column": "top"
-            }
-        },
-        {
-            "source": "dry_column",
-            "target": "flask_dry_column",
-            "type": "physical",
-            "port": {
-                "dry_column": "bottom",
-                "flask_dry_column": "top"
-            }
-        },
-        {
-            "source": "pump_ext",
-            "target": "pump_column",
-            "type": "physical",
-            "port": {
-                "pump_ext": "8",
-                "pump_column": "1"
-            }
-        },
-        {
-            "source": "pump_ext",
-            "target": "waste_workup",
-            "type": "physical",
-            "port": {
-                "pump_ext": "2",
-                "waste_workup": "-1"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_THF",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "7",
-                "flask_THF": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_NH4Cl",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "4",
-                "flask_NH4Cl": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_CH2Cl2",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "2",
-                "flask_CH2Cl2": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_acetone",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "3",
-                "flask_acetone": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "pump_workup",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "1",
-                "pump_workup": "8"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_grignard",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "6",
-                "flask_grignard": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "reactor",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "5",
-                "reactor": "top"
-            }
-        },
-        {
-            "source": "pump_reagents",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_reagents": "8",
-                "flask_air": "-1"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "waste_workup",
-            "type": "physical",
-            "port": {
-                "pump_workup": "2",
-                "waste_workup": "-1"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "flask_H2O",
-            "type": "physical",
-            "port": {
-                "pump_workup": "7",
-                "flask_H2O": "top"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "flask_NaHCO3",
-            "type": "physical",
-            "port": {
-                "pump_workup": "6",
-                "flask_NaHCO3": "top"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "pump_reagents",
-            "type": "physical",
-            "port": {
-                "pump_workup": "8",
-                "pump_reagents": "1"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "flask_holding",
-            "type": "physical",
-            "port": {
-                "pump_workup": "5",
-                "flask_holding": "top"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "separator_controller",
-            "type": "physical",
-            "port": {
-                "pump_workup": "4",
-                "separator_controller": "top"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "flask_separator",
-            "type": "physical",
-            "port": {
-                "pump_workup": "3",
-                "flask_separator": "top"
-            }
-        },
-        {
-            "source": "pump_workup",
-            "target": "pump_column",
-            "type": "physical",
-            "port": {
-                "pump_workup": "1",
-                "pump_column": "8"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "column",
-            "type": "physical",
-            "port": {
-                "pump_column": "4",
-                "column": "top"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "flask_column",
-            "type": "physical",
-            "port": {
-                "pump_column": "3",
-                "flask_column": "top"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "rotavap",
-            "type": "physical",
-            "port": {
-                "pump_column": "2",
-                "rotavap": "-1"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "pump_workup",
-            "type": "physical",
-            "port": {
-                "pump_column": "8",
-                "pump_workup": "1"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "flask_air",
-            "type": "physical",
-            "port": {
-                "pump_column": "5",
-                "flask_air": "-1"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "dry_column",
-            "type": "physical",
-            "port": {
-                "pump_column": "7",
-                "dry_column": "top"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "flask_dry_column",
-            "type": "physical",
-            "port": {
-                "pump_column": "6",
-                "flask_dry_column": "top"
-            }
-        },
-        {
-            "source": "pump_column",
-            "target": "pump_ext",
-            "type": "physical",
-            "port": {
-                "pump_column": "1",
-                "pump_ext": "8"
-            }
-        }
-    ]
-}

test/registry/example_devices.py

@@ -1,588 +0,0 @@
-"""
-示例设备类文件，用于测试注册表编辑器
-"""
-
-import asyncio
-from typing import Dict, Any, Optional, List
-
-
-class SmartPumpController:
-    """
-    智能泵控制器
-
-    支持多种泵送模式，具有高精度流量控制和自动校准功能。
-    适用于实验室自动化系统中的液体处理任务。
-    """
-
-    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
-        """
-        初始化智能泵控制器
-
-        Args:
-            device_id: 设备唯一标识符
-            port: 通信端口
-        """
-        self.device_id = device_id
-        self.port = port
-        self.is_connected = False
-        self.current_flow_rate = 0.0
-        self.total_volume_pumped = 0.0
-        self.calibration_factor = 1.0
-        self.pump_mode = "continuous"  # continuous, volume, rate
-
-    def connect_device(self, timeout: int = 10) -> bool:
-        """
-        连接到泵设备
-
-        Args:
-            timeout: 连接超时时间（秒）
-
-        Returns:
-            bool: 连接是否成功
-        """
-        # 模拟连接过程
-        self.is_connected = True
-        return True
-
-    def disconnect_device(self) -> bool:
-        """
-        断开设备连接
-
-        Returns:
-            bool: 断开连接是否成功
-        """
-        self.is_connected = False
-        self.current_flow_rate = 0.0
-        return True
-
-    def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
-        """
-        设置泵流速
-
-        Args:
-            flow_rate: 流速值
-            units: 流速单位
-
-        Returns:
-            bool: 设置是否成功
-        """
-        if not self.is_connected:
-            return False
-
-        self.current_flow_rate = flow_rate
-        return True
-
-    async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
-        """
-        异步泵送指定体积的液体
-
-        Args:
-            volume: 目标体积 (mL)
-            flow_rate: 泵送流速 (mL/min)
-
-        Returns:
-            Dict: 包含操作结果的字典
-        """
-        if not self.is_connected:
-            return {"success": False, "error": "设备未连接"}
-
-        # 计算泵送时间
-        pump_time = (volume / flow_rate) * 60  # 转换为秒
-
-        self.current_flow_rate = flow_rate
-        await asyncio.sleep(min(pump_time, 3.0))  # 模拟泵送过程
-
-        self.total_volume_pumped += volume
-        self.current_flow_rate = 0.0
-
-        return {
-            "success": True,
-            "pumped_volume": volume,
-            "actual_time": min(pump_time, 3.0),
-            "total_volume": self.total_volume_pumped,
-        }
-
-    def emergency_stop(self) -> bool:
-        """
-        紧急停止泵
-
-        Returns:
-            bool: 停止是否成功
-        """
-        self.current_flow_rate = 0.0
-        return True
-
-    def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
-        """
-        执行泵校准
-
-        Args:
-            reference_volume: 参考体积
-            measured_volume: 实际测量体积
-
-        Returns:
-            bool: 校准是否成功
-        """
-        if measured_volume > 0:
-            self.calibration_factor = reference_volume / measured_volume
-            return True
-        return False
-
-    # 状态查询方法
-    def get_connection_status(self) -> str:
-        """获取连接状态"""
-        return "connected" if self.is_connected else "disconnected"
-
-    def get_current_flow_rate(self) -> float:
-        """获取当前流速 (mL/min)"""
-        return self.current_flow_rate
-
-    def get_total_volume(self) -> float:
-        """获取累计泵送体积 (mL)"""
-        return self.total_volume_pumped
-
-    def get_calibration_factor(self) -> float:
-        """获取校准因子"""
-        return self.calibration_factor
-
-    def get_pump_mode(self) -> str:
-        """获取泵送模式"""
-        return self.pump_mode
-
-    def get_device_status(self) -> Dict[str, Any]:
-        """获取设备完整状态信息"""
-        return {
-            "device_id": self.device_id,
-            "connected": self.is_connected,
-            "flow_rate": self.current_flow_rate,
-            "total_volume": self.total_volume_pumped,
-            "calibration_factor": self.calibration_factor,
-            "mode": self.pump_mode,
-            "running": self.current_flow_rate > 0,
-        }
-
-
-class AdvancedTemperatureController:
-    """
-    高级温度控制器
-
-    支持PID控制、多点温度监控和程序化温度曲线。
-    适用于需要精确温度控制的化学反应和材料处理过程。
-    """
-
-    def __init__(self, controller_id: str = "temp_controller_01"):
-        """
-        初始化温度控制器
-
-        Args:
-            controller_id: 控制器ID
-        """
-        self.controller_id = controller_id
-        self.current_temperature = 25.0
-        self.target_temperature = 25.0
-        self.is_heating = False
-        self.is_cooling = False
-        self.pid_enabled = True
-        self.temperature_history: List[Dict] = []
-
-    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
-        """
-        设置目标温度
-
-        Args:
-            temperature: 目标温度 (°C)
-            rate: 升温/降温速率 (°C/min)
-
-        Returns:
-            bool: 设置是否成功
-        """
-        self.target_temperature = temperature
-        return True
-
-    async def heat_to_temperature_async(
-        self, temperature: float, tolerance: float = 0.5, timeout: int = 600
-    ) -> Dict[str, Any]:
-        """
-        异步加热到指定温度
-
-        Args:
-            temperature: 目标温度 (°C)
-            tolerance: 温度容差 (°C)
-            timeout: 最大等待时间 (秒)
-
-        Returns:
-            Dict: 操作结果
-        """
-        self.target_temperature = temperature
-        start_temp = self.current_temperature
-
-        if temperature > start_temp:
-            self.is_heating = True
-        elif temperature < start_temp:
-            self.is_cooling = True
-
-        # 模拟温度变化过程
-        steps = min(abs(temperature - start_temp) * 2, 20)  # 计算步数
-        step_time = min(timeout / steps if steps > 0 else 1, 2.0)  # 每步最多2秒
-
-        for step in range(int(steps)):
-            progress = (step + 1) / steps
-            self.current_temperature = start_temp + (temperature - start_temp) * progress
-
-            # 记录温度历史
-            self.temperature_history.append(
-                {
-                    "timestamp": asyncio.get_event_loop().time(),
-                    "temperature": self.current_temperature,
-                    "target": self.target_temperature,
-                }
-            )
-
-            await asyncio.sleep(step_time)
-
-            # 保持历史记录不超过100条
-            if len(self.temperature_history) > 100:
-                self.temperature_history.pop(0)
-
-        # 最终设置为目标温度
-        self.current_temperature = temperature
-        self.is_heating = False
-        self.is_cooling = False
-
-        return {
-            "success": True,
-            "final_temperature": self.current_temperature,
-            "start_temperature": start_temp,
-            "time_taken": steps * step_time,
-        }
-
-    def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
-        """
-        启用PID控制
-
-        Args:
-            kp: 比例增益
-            ki: 积分增益
-            kd: 微分增益
-
-        Returns:
-            bool: 启用是否成功
-        """
-        self.pid_enabled = True
-        return True
-
-    def run_temperature_program(self, program: List[Dict]) -> bool:
-        """
-        运行温度程序
-
-        Args:
-            program: 温度程序列表，每个元素包含温度和持续时间
-
-        Returns:
-            bool: 程序启动是否成功
-        """
-        # 模拟程序启动
-        return True
-
-    # 状态查询方法
-    def get_current_temperature(self) -> float:
-        """获取当前温度 (°C)"""
-        return round(self.current_temperature, 2)
-
-    def get_target_temperature(self) -> float:
-        """获取目标温度 (°C)"""
-        return self.target_temperature
-
-    def get_heating_status(self) -> bool:
-        """获取加热状态"""
-        return self.is_heating
-
-    def get_cooling_status(self) -> bool:
-        """获取制冷状态"""
-        return self.is_cooling
-
-    def get_pid_status(self) -> bool:
-        """获取PID控制状态"""
-        return self.pid_enabled
-
-    def get_temperature_history(self) -> List[Dict]:
-        """获取温度历史记录"""
-        return self.temperature_history[-10:]  # 返回最近10条记录
-
-    def get_controller_status(self) -> Dict[str, Any]:
-        """获取控制器完整状态"""
-        return {
-            "controller_id": self.controller_id,
-            "current_temp": self.current_temperature,
-            "target_temp": self.target_temperature,
-            "is_heating": self.is_heating,
-            "is_cooling": self.is_cooling,
-            "pid_enabled": self.pid_enabled,
-            "history_count": len(self.temperature_history),
-        }
-
-
-class MultiChannelAnalyzer:
-    """
-    多通道分析仪
-
-    支持同时监测多个通道的信号，提供实时数据采集和分析功能。
-    常用于光谱分析、电化学测量等应用场景。
-    """
-
-    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
-        """
-        初始化多通道分析仪
-
-        Args:
-            analyzer_id: 分析仪ID
-            channels: 通道数量
-        """
-        self.analyzer_id = analyzer_id
-        self.channel_count = channels
-        self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
-        self.is_measuring = False
-        self.sample_rate = 1000  # Hz
-
-    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
-        """
-        配置通道
-
-        Args:
-            channel: 通道编号
-            enabled: 是否启用
-            unit: 测量单位
-
-        Returns:
-            bool: 配置是否成功
-        """
-        if 0 <= channel < self.channel_count:
-            self.channel_data[channel]["enabled"] = enabled
-            self.channel_data[channel]["unit"] = unit
-            return True
-        return False
-
-    async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
-        """
-        开始异步测量
-
-        Args:
-            duration: 测量持续时间（秒）
-
-        Returns:
-            Dict: 测量结果
-        """
-        self.is_measuring = True
-
-        # 模拟数据采集
-        measurements = []
-        for second in range(duration):
-            timestamp = asyncio.get_event_loop().time()
-            frame_data = {}
-
-            for channel in range(self.channel_count):
-                if self.channel_data[channel]["enabled"]:
-                    # 模拟传感器数据
-                    import random
-
-                    value = random.uniform(-5.0, 5.0)
-                    frame_data[f"channel_{channel}"] = value
-                    self.channel_data[channel]["value"] = value
-
-            measurements.append({"timestamp": timestamp, "data": frame_data})
-
-            await asyncio.sleep(1.0)  # 每秒采集一次
-
-        self.is_measuring = False
-
-        return {
-            "success": True,
-            "duration": duration,
-            "samples_count": len(measurements),
-            "measurements": measurements[-5:],  # 只返回最后5个样本
-            "channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
-        }
-
-    def stop_measurement(self) -> bool:
-        """
-        停止测量
-
-        Returns:
-            bool: 停止是否成功
-        """
-        self.is_measuring = False
-        return True
-
-    def reset_channels(self) -> bool:
-        """
-        重置所有通道
-
-        Returns:
-            bool: 重置是否成功
-        """
-        for channel in self.channel_data:
-            self.channel_data[channel]["value"] = 0.0
-        return True
-
-    # 状态查询方法
-    def get_measurement_status(self) -> bool:
-        """获取测量状态"""
-        return self.is_measuring
-
-    def get_channel_count(self) -> int:
-        """获取通道数量"""
-        return self.channel_count
-
-    def get_sample_rate(self) -> float:
-        """获取采样率 (Hz)"""
-        return self.sample_rate
-
-    def get_channel_values(self) -> Dict[int, float]:
-        """获取所有通道的当前值"""
-        return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
-
-    def get_enabled_channels(self) -> List[int]:
-        """获取已启用的通道列表"""
-        return [ch for ch, data in self.channel_data.items() if data["enabled"]]
-
-    def get_analyzer_status(self) -> Dict[str, Any]:
-        """获取分析仪完整状态"""
-        return {
-            "analyzer_id": self.analyzer_id,
-            "channel_count": self.channel_count,
-            "is_measuring": self.is_measuring,
-            "sample_rate": self.sample_rate,
-            "active_channels": len(self.get_enabled_channels()),
-            "channel_data": self.channel_data,
-        }
-
-
-class AutomatedDispenser:
-    """
-    自动分配器
-
-    精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
-    集成称重功能，确保分配精度和重现性。
-    """
-
-    def __init__(self, dispenser_id: str = "dispenser_01"):
-        """
-        初始化自动分配器
-
-        Args:
-            dispenser_id: 分配器ID
-        """
-        self.dispenser_id = dispenser_id
-        self.is_ready = True
-        self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
-        self.dispensed_total = 0.0
-        self.container_capacity = 1000.0  # mL
-        self.precision_mode = True
-
-    def move_to_position(self, x: float, y: float, z: float) -> bool:
-        """
-        移动到指定位置
-
-        Args:
-            x: X坐标 (mm)
-            y: Y坐标 (mm)
-            z: Z坐标 (mm)
-
-        Returns:
-            bool: 移动是否成功
-        """
-        self.current_position = {"x": x, "y": y, "z": z}
-        return True
-
-    async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
-        """
-        异步分配液体
-
-        Args:
-            volume: 分配体积 (mL)
-            container_id: 容器ID
-            viscosity: 液体粘度等级
-
-        Returns:
-            Dict: 分配结果
-        """
-        if not self.is_ready:
-            return {"success": False, "error": "设备未就绪"}
-
-        if volume <= 0:
-            return {"success": False, "error": "体积必须大于0"}
-
-        # 模拟分配过程
-        dispense_time = volume * 0.1  # 每mL需要0.1秒
-        if viscosity == "high":
-            dispense_time *= 2  # 高粘度液体需要更长时间
-
-        await asyncio.sleep(min(dispense_time, 5.0))  # 最多等待5秒
-
-        self.dispensed_total += volume
-
-        return {
-            "success": True,
-            "dispensed_volume": volume,
-            "container_id": container_id,
-            "actual_time": min(dispense_time, 5.0),
-            "total_dispensed": self.dispensed_total,
-        }
-
-    def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
-        """
-        清洗分配器
-
-        Args:
-            wash_volume: 清洗液体积 (mL)
-
-        Returns:
-            bool: 清洗是否成功
-        """
-        # 模拟清洗过程
-        return True
-
-    def calibrate_volume(self, target_volume: float) -> bool:
-        """
-        校准分配体积
-
-        Args:
-            target_volume: 校准目标体积 (mL)
-
-        Returns:
-            bool: 校准是否成功
-        """
-        # 模拟校准过程
-        return True
-
-    # 状态查询方法
-    def get_ready_status(self) -> bool:
-        """获取就绪状态"""
-        return self.is_ready
-
-    def get_current_position(self) -> Dict[str, float]:
-        """获取当前位置坐标"""
-        return self.current_position.copy()
-
-    def get_dispensed_total(self) -> float:
-        """获取累计分配体积 (mL)"""
-        return self.dispensed_total
-
-    def get_container_capacity(self) -> float:
-        """获取容器容量 (mL)"""
-        return self.container_capacity
-
-    def get_precision_mode(self) -> bool:
-        """获取精密模式状态"""
-        return self.precision_mode
-
-    def get_dispenser_status(self) -> Dict[str, Any]:
-        """获取分配器完整状态"""
-        return {
-            "dispenser_id": self.dispenser_id,
-            "ready": self.is_ready,
-            "position": self.current_position,
-            "dispensed_total": self.dispensed_total,
-            "capacity": self.container_capacity,
-            "precision_mode": self.precision_mode,
-        }

test/resources/bioyond_materials_liquidhandling_1.json

@@ -1,181 +0,0 @@
-[
-    {
-        "id": "3a1c62c4-c3d2-b803-b72d-7f1153ffef3b",
-        "typeName": "试剂瓶",
-        "code": "0004-00050",
-        "barCode": "",
-        "name": "NMP",
-        "quantity": 287.16699029126215,
-        "lockQuantity": 285.16699029126215,
-        "unit": "毫升",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198c-c2d0-efce-0939-69ca5a7dfd39",
-                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
-                "whName": "试剂堆栈",
-                "code": "0001-0008",
-                "x": 2,
-                "y": 4,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": []
-    },
-    {
-        "id": "3a1cdefe-0e03-1bc1-1296-dae1905c4108",
-        "typeName": "试剂瓶",
-        "code": "0004-00052",
-        "barCode": "",
-        "name": "NMP",
-        "quantity": 386.8990291262136,
-        "lockQuantity": 45.89902912621359,
-        "unit": "毫升",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198c-c2d0-f3e7-871a-e470d144296f",
-                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
-                "whName": "试剂堆栈",
-                "code": "0001-0005",
-                "x": 2,
-                "y": 1,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": []
-    },
-    {
-        "id": "3a1cdefe-0e03-68a4-bcb3-02fc6ba72d1b",
-        "typeName": "试剂瓶",
-        "code": "0004-00053",
-        "barCode": "",
-        "name": "NMP",
-        "quantity": 400.0,
-        "lockQuantity": 0.0,
-        "unit": "",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
-                "whid": "3a14198c-c2cc-0290-e086-44a428fba248",
-                "whName": "试剂堆栈",
-                "code": "0001-0006",
-                "x": 2,
-                "y": 2,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": []
-    },
-    {
-        "id": "3a1cdefe-d5e0-d850-5439-4499f20f07fe",
-        "typeName": "分装板",
-        "code": "0007-00185",
-        "barCode": "",
-        "name": "1010",
-        "quantity": 1.0,
-        "lockQuantity": 2.0,
-        "unit": "块",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198e-6929-46fe-841e-03dd753f1e4a",
-                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
-                "whName": "粉末堆栈",
-                "code": "0002-0009",
-                "x": 3,
-                "y": 1,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": [
-            {
-                "id": "3a1cdefe-d5e0-28a4-f5d0-f7e2436c575f",
-                "detailMaterialId": "3a1cdefe-d5e0-94ae-f770-27847e73ad38",
-                "code": null,
-                "name": "90%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 2,
-                "y": 3,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdefe-d5e0-3ed6-3607-133df89baf5b",
-                "detailMaterialId": "3a1cdefe-d5e0-f2fa-66bf-94c565d852fb",
-                "code": null,
-                "name": "10%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 1,
-                "y": 3,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdefe-d5e0-72b6-e015-be7b93cf09eb",
-                "detailMaterialId": "3a1cdefe-d5e0-81cf-7dad-2e51cab9ffd6",
-                "code": null,
-                "name": "90%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 2,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdefe-d5e0-81d3-ad30-48134afc9ce7",
-                "detailMaterialId": "3a1cdefe-d5e0-3fa1-cc72-fda6276ae38d",
-                "code": null,
-                "name": "10%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 1,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdefe-d5e0-dbdf-d966-9a8926fe1e06",
-                "detailMaterialId": "3a1cdefe-d5e0-c632-c7da-02d385b18628",
-                "code": null,
-                "name": "10%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 1,
-                "y": 2,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdefe-d5e0-f099-b260-e3089a2d08c3",
-                "detailMaterialId": "3a1cdefe-d5e0-561f-73b6-f8501f814dbb",
-                "code": null,
-                "name": "90%分装小瓶",
-                "quantity": "1",
-                "lockQuantity": "1",
-                "unit": "个",
-                "x": 2,
-                "y": 2,
-                "z": 1,
-                "associateId": null
-            }
-        ]
-    }
-]

test/resources/bioyond_materials_liquidhandling_2.json

@@ -1,216 +0,0 @@
-[
-    {
-        "id": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
-        "typeName": "样品瓶",
-        "code": "0002-00407",
-        "barCode": "",
-        "name": "ODA",
-        "quantity": 25.0,
-        "lockQuantity": 2.0,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    },
-    {
-        "id": "3a1cde21-a4f4-7887-9258-e8f8ab7c8a7a",
-        "typeName": "样品板",
-        "code": "0008-00160",
-        "barCode": "",
-        "name": "1010sample",
-        "quantity": 1.0,
-        "lockQuantity": 27.69187,
-        "unit": "块",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198e-6929-4379-affa-9a2935c17f99",
-                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
-                "whName": "粉末堆栈",
-                "code": "0002-0002",
-                "x": 1,
-                "y": 2,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": [
-            {
-                "id": "3a1cde21-a4f4-0339-f2b6-8e680ad7e8c7",
-                "detailMaterialId": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
-                "code": null,
-                "name": "MPDA",
-                "quantity": "10.505",
-                "lockQuantity": "-0.0174",
-                "unit": "克",
-                "x": 2,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cde21-a4f4-a21a-23cf-bb7857b41947",
-                "detailMaterialId": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
-                "code": null,
-                "name": "ODA",
-                "quantity": "1.795",
-                "lockQuantity": "2.0093",
-                "unit": "克",
-                "x": 1,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cde21-a4f4-af1b-ba0b-2874836800e9",
-                "detailMaterialId": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
-                "code": null,
-                "name": "ODA",
-                "quantity": "25",
-                "lockQuantity": "2",
-                "unit": "克",
-                "x": 1,
-                "y": 2,
-                "z": 1,
-                "associateId": null
-            }
-        ]
-    },
-    {
-        "id": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
-        "typeName": "样品瓶",
-        "code": "0002-00406",
-        "barCode": "",
-        "name": "ODA",
-        "quantity": 1.795,
-        "lockQuantity": 2.00927,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    },
-    {
-        "id": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
-        "typeName": "样品瓶",
-        "code": "0002-00408",
-        "barCode": "",
-        "name": "MPDA",
-        "quantity": 10.505,
-        "lockQuantity": -0.0174,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    },
-    {
-        "id": "3a1cdeff-c92a-08f6-c822-732ab734154c",
-        "typeName": "样品板",
-        "code": "0008-00161",
-        "barCode": "",
-        "name": "1010sample2",
-        "quantity": 1.0,
-        "lockQuantity": 3.0,
-        "unit": "块",
-        "status": 1,
-        "isUse": false,
-        "locations": [
-            {
-                "id": "3a14198e-6929-31f0-8a22-0f98f72260df",
-                "whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
-                "whName": "粉末堆栈",
-                "code": "0002-0001",
-                "x": 1,
-                "y": 1,
-                "z": 1,
-                "quantity": 0
-            }
-        ],
-        "detail": [
-            {
-                "id": "3a1cdeff-c92b-3ace-9623-0bcdef6fa07d",
-                "detailMaterialId": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
-                "code": null,
-                "name": "BTDA1",
-                "quantity": "0.362",
-                "lockQuantity": "14.494",
-                "unit": "克",
-                "x": 1,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdeff-c92b-856e-f481-792b91b6dbde",
-                "detailMaterialId": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
-                "code": null,
-                "name": "BTDA3",
-                "quantity": "1.935",
-                "lockQuantity": "13.067",
-                "unit": "克",
-                "x": 1,
-                "y": 2,
-                "z": 1,
-                "associateId": null
-            },
-            {
-                "id": "3a1cdeff-c92b-d144-c5e5-ab9d94e21187",
-                "detailMaterialId": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
-                "code": null,
-                "name": "BTDA2",
-                "quantity": "1.903",
-                "lockQuantity": "13.035",
-                "unit": "克",
-                "x": 2,
-                "y": 1,
-                "z": 1,
-                "associateId": null
-            }
-        ]
-    },
-    {
-        "id": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
-        "typeName": "样品瓶",
-        "code": "0002-00411",
-        "barCode": "",
-        "name": "BTDA3",
-        "quantity": 1.935,
-        "lockQuantity": 13.067,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    },
-    {
-        "id": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
-        "typeName": "样品瓶",
-        "code": "0002-00410",
-        "barCode": "",
-        "name": "BTDA2",
-        "quantity": 1.903,
-        "lockQuantity": 13.035,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    },
-    {
-        "id": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
-        "typeName": "样品瓶",
-        "code": "0002-00409",
-        "barCode": "",
-        "name": "BTDA1",
-        "quantity": 0.362,
-        "lockQuantity": 14.494,
-        "unit": "克",
-        "status": 1,
-        "isUse": false,
-        "locations": [],
-        "detail": []
-    }
-]

test/resources/bioyond_materials_reaction.json

@@ -1,193 +0,0 @@
-[
-        {
-            "id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
-            "typeName": "烧杯",
-            "code": "0006-00160",
-            "barCode": "",
-            "name": "ODA",
-            "quantity": 120000.00000000000000000000000,
-            "lockQuantity": 695374.00000000000000000000000,
-            "unit": "微升",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0001",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
-            "typeName": "烧杯",
-            "code": "0006-00161",
-            "barCode": "",
-            "name": "MPDA",
-            "quantity": 120000.00000000000000000000000,
-            "lockQuantity": 681618.00000000000000000000000,
-            "unit": "",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0002",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
-            "typeName": "试剂瓶",
-            "code": "0004-00041",
-            "barCode": "",
-            "name": "NMP",
-            "quantity": 300000.00000000000000000000000,
-            "lockQuantity": 380000.00000000000000000000000,
-            "unit": "微升",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
-                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-                    "whName": "站内试剂存放堆栈",
-                    "code": "0003-0001",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
-            "typeName": "试剂瓶",
-            "code": "0004-00042",
-            "barCode": "",
-            "name": "PGME",
-            "quantity": 300000.00000000000000000000000,
-            "lockQuantity": 337892.00000000000000000000000,
-            "unit": "",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
-                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-                    "whName": "站内试剂存放堆栈",
-                    "code": "0003-0002",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c68c8-0574-d748-725e-97a2e549f085",
-            "typeName": "样品板",
-            "code": "0001-00004",
-            "barCode": "",
-            "name": "0917",
-            "quantity": 1.0000000000000000000000000000,
-            "lockQuantity": 4.0000000000000000000000000000,
-            "unit": "块",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0009",
-                    "x": 2,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": [
-                {
-                    "id": "3a1c68c8-0574-69a1-9858-4637e0193451",
-                    "detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
-                    "code": null,
-                    "name": "SIDA",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
-                    "detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
-                    "code": null,
-                    "name": "BTDA-2",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 2,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-da80-735b-53ae2197a360",
-                    "detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
-                    "code": null,
-                    "name": "BTDA-DD",
-                    "quantity": "300000",
-                    "lockQuantity": "28",
-                    "unit": "微升",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-e717-1b1b-99891f875455",
-                    "detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
-                    "code": null,
-                    "name": "BTDA-3",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 3,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
-                    "detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
-                    "code": null,
-                    "name": "BTDA-1",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 1,
-                    "z": 1,
-                    "associateId": null
-                }
-            ]
-        }
-    ]

test/resources/test_bottle_carrier.py

@@ -1,48 +0,0 @@
-import pytest
-
-from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
-from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
-
-
-def test_bottle_carrier() -> "BottleCarrier":
-    print("创建载架...")
-
-    # 创建6瓶载架
-    bottle_carrier = BIOYOND_Electrolyte_6VialCarrier("powder_carrier_01")
-    print(f"6瓶载架: {bottle_carrier.name}, 位置数: {len(bottle_carrier.sites)}")
-
-    # 创建1烧杯载架
-    beaker_carrier = BIOYOND_Electrolyte_1BottleCarrier("solution_carrier_01")
-    print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
-
-    # 创建瓶子和烧杯
-    powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
-    solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
-    reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
-
-    print(f"\n创建的物料:")
-    print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
-    print(f"溶液烧杯: {solution_beaker.name} - {solution_beaker.diameter}mm x {solution_beaker.height}mm, {solution_beaker.max_volume}μL")
-    print(f"试剂瓶: {reagent_bottle.name} - {reagent_bottle.diameter}mm x {reagent_bottle.height}mm, {reagent_bottle.max_volume}μL")
-
-    # 测试放置容器
-    print(f"\n测试放置容器...")
-
-    # 通过载架的索引操作来放置容器
-    # bottle_carrier[0] = powder_bottle  # 放置粉末瓶到第一个位置
-    print(f"粉末瓶已放置到6瓶载架的位置 0")
-
-    # beaker_carrier[0] = solution_beaker  # 放置烧杯到第一个位置
-    print(f"溶液烧杯已放置到1烧杯载架的位置 0")
-
-    # 验证放置结果
-    print(f"\n验证放置结果:")
-    bottle_at_0 = bottle_carrier[0].resource
-    beaker_at_0 = beaker_carrier[0].resource
-
-    if bottle_at_0:
-        print(f"位置 0 的瓶子: {bottle_at_0.name}")
-    if beaker_at_0:
-        print(f"位置 0 的烧杯: {beaker_at_0.name}")
-
-    print("\n载架设置完成！")

test/resources/test_converter_bioyond.py

@@ -1,76 +0,0 @@
-import pytest
-import json
-import os
-
-from pylabrobot.resources import Resource as ResourcePLR
-from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.registry.registry import lab_registry
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-lab_registry.setup()
-
-
-type_mapping = {
-    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-    "样品板": "BIOYOND_PolymerStation_6StockCarrier",
-    "分装板": "BIOYOND_PolymerStation_6VialCarrier",
-    "样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
-    "90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
-    "10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
-}
-
-type_uuid_mapping = {
-    "烧杯": "",
-    "试剂瓶": "",
-    "样品板": "",
-    "分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
-    "样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
-    "90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
-    "10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
-}
-
-
-@pytest.fixture
-def bioyond_materials_reaction() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_1() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.fixture
-def bioyond_materials_liquidhandling_2() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
-        data = json.load(f)
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-@pytest.mark.parametrize("materials_fixture", [
-    "bioyond_materials_reaction",
-    "bioyond_materials_liquidhandling_1",
-])
-def test_bioyond_to_plr(materials_fixture, request) -> list[dict]:
-    materials = request.getfixturevalue(materials_fixture)
-    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
-    output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
-    print(deck.summary())
-    print([resource.serialize() for resource in output])
-    print([resource.serialize_all_state() for resource in output])
-    json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)

unilabos-linux-64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -34,7 +33,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websockets
+  - websocket
   # Notebook
   - ipython
   - jupyter
@@ -62,11 +61,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
-  - zeep
-  - jinja2
-  - pprp
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-osx-64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -34,7 +33,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websockets
+  - websocket
   # Notebook
   - ipython
   - jupyter
@@ -61,11 +60,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
-  - zeep
-  - jinja2
-  - pprp
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-osx-arm64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -35,7 +34,8 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websockets
+  - websocket
+  - paho-mqtt
   # Notebook
   - ipython
   - jupyter
@@ -63,11 +63,7 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
-  - zeep
-  - jinja2
-  - pprp
+#  - ros-humble-unilabos-msgs
   - pip:
       - paho-mqtt
-      - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
+      - opentrons_shared_data

unilabos-win64.yaml

@@ -1,6 +1,5 @@
 name: unilab
 channels:
-  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -34,7 +33,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websockets
+  - websocket
   # Notebook
   - ipython
   - jupyter
@@ -62,16 +61,12 @@ dependencies:
   - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-  - uni-lab::ros-humble-unilabos-msgs
+  # ros-humble-unilabos-msgs
   # driver
   #- crcmod
-  - zeep
-  - jinja2
-  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data
-      - git+https://github.com/Xuwznln/pylabrobot
       # driver
       #- ur-rtde  # set PYTHONUTF8=1
       #- pyautogui

unilabos/__init__.py

@@ -1 +0,0 @@
-__version__ = "0.10.7"

unilabos/app/backend.py

@@ -1,48 +1,38 @@
 import threading
 
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils import logger
 
 
 # 根据选择的 backend 启动相应的功能
 def start_backend(
     backend: str,
-    devices_config: ResourceTreeSet,
-    resources_config: ResourceTreeSet,
-    resources_edge_config: list[dict] = [],
+    devices_config: dict = {},
+    resources_config: list = [],
+    resources_edge_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
     without_host: bool = False,
     visual: str = "None",
     resources_mesh_config: dict = {},
-    **kwargs,
+    **kwargs
 ):
     if backend == "ros":
         # 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
         from unilabos.ros.main_slave_run import main, slave  # 如果选择 'ros' 作为 backend
-    elif backend == "simple":
+    elif backend == 'simple':
         # 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
         # from simple_backend import main as simple_main
         pass
-    elif backend == "automancer":
+    elif backend == 'automancer':
         # from automancer_backend import main as automancer_main
         pass
     else:
         raise ValueError(f"Unsupported backend: {backend}")
-
+    
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(
-            devices_config,
-            resources_config,
-            resources_edge_config,
-            graph,
-            controllers_config,
-            bridges,
-            visual,
-            resources_mesh_config,
-        ),
+        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
         name="backend_thread",
         daemon=True,
     )

unilabos/app/communication.py

@@ -1,192 +0,0 @@
-#!/usr/bin/env python
-# coding=utf-8
-"""
-通信模块
-
-提供WebSocket的统一接口，支持通过配置选择通信协议。
-包含通信抽象层基类和通信客户端工厂。
-"""
-
-from abc import ABC, abstractmethod
-from typing import Optional
-from unilabos.config.config import BasicConfig
-from unilabos.utils import logger
-
-
-class BaseCommunicationClient(ABC):
-    """
-    通信客户端抽象基类
-
-    定义了所有通信客户端（WebSocket等）需要实现的接口。
-    """
-
-    def __init__(self):
-        self.is_disabled = True
-        self.client_id = ""
-
-    @abstractmethod
-    def start(self) -> None:
-        """
-        启动通信客户端连接
-        """
-        pass
-
-    @abstractmethod
-    def stop(self) -> None:
-        """
-        停止通信客户端连接
-        """
-        pass
-
-    @abstractmethod
-    def publish_device_status(self, device_status: dict, device_id: str, property_name: str) -> None:
-        """
-        发布设备状态信息
-
-        Args:
-            device_status: 设备状态字典
-            device_id: 设备ID
-            property_name: 属性名称
-        """
-        pass
-
-    @abstractmethod
-    def publish_job_status(
-        self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
-    ) -> None:
-        """
-        发布作业状态信息
-
-        Args:
-            feedback_data: 反馈数据
-            job_id: 作业ID
-            status: 作业状态
-            return_info: 返回信息
-        """
-        pass
-
-    @abstractmethod
-    def send_ping(self, ping_id: str, timestamp: float) -> None:
-        """
-        发送ping消息
-
-        Args:
-            ping_id: ping ID
-            timestamp: 时间戳
-        """
-        pass
-
-    def setup_pong_subscription(self) -> None:
-        """
-        设置pong消息订阅（可选实现）
-        """
-        pass
-
-    @property
-    def is_connected(self) -> bool:
-        """
-        检查是否已连接
-
-        Returns:
-            是否已连接
-        """
-        return not self.is_disabled
-
-
-class CommunicationClientFactory:
-    """
-    通信客户端工厂类
-
-    根据配置文件中的通信协议设置创建相应的客户端实例。
-    """
-
-    _client_cache: Optional[BaseCommunicationClient] = None
-
-    @classmethod
-    def create_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
-        """
-        创建通信客户端实例
-
-        Args:
-            protocol: 指定的协议类型，如果为None则使用配置文件中的设置
-
-        Returns:
-            通信客户端实例
-
-        Raises:
-            ValueError: 当协议类型不支持时
-        """
-        if protocol is None:
-            protocol = BasicConfig.communication_protocol
-
-        protocol = protocol.lower()
-
-        if protocol == "websocket":
-            return cls._create_websocket_client()
-        else:
-            logger.error(f"[CommunicationFactory] Unsupported protocol: {protocol}")
-            logger.warning(f"[CommunicationFactory] Falling back to WebSocket")
-            return cls._create_websocket_client()
-
-    @classmethod
-    def get_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
-        """
-        获取通信客户端实例（单例模式）
-
-        Args:
-            protocol: 指定的协议类型，如果为None则使用配置文件中的设置
-
-        Returns:
-            通信客户端实例
-        """
-        if cls._client_cache is None:
-            cls._client_cache = cls.create_client(protocol)
-            logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
-
-        return cls._client_cache
-
-    @classmethod
-    def _create_websocket_client(cls) -> BaseCommunicationClient:
-        """创建WebSocket客户端"""
-        try:
-            from unilabos.app.ws_client import WebSocketClient
-
-            return WebSocketClient()
-        except Exception as e:
-            logger.error(f"[CommunicationFactory] Failed to create WebSocket client: {str(e)}")
-            raise
-
-    @classmethod
-    def reset_client(cls):
-        """重置客户端缓存（用于测试或重新配置）"""
-        if cls._client_cache:
-            try:
-                cls._client_cache.stop()
-            except Exception as e:
-                logger.warning(f"[CommunicationFactory] Error stopping old client: {str(e)}")
-
-        cls._client_cache = None
-        logger.info("[CommunicationFactory] Client cache reset")
-
-    @classmethod
-    def get_supported_protocols(cls) -> list[str]:
-        """
-        获取支持的协议列表
-
-        Returns:
-            支持的协议列表
-        """
-        return ["websocket"]
-
-
-def get_communication_client(protocol: Optional[str] = None) -> BaseCommunicationClient:
-    """
-    获取通信客户端实例的便捷函数
-
-    Args:
-        protocol: 指定的协议类型，如果为None则使用配置文件中的设置
-
-    Returns:
-        通信客户端实例
-    """
-    return CommunicationClientFactory.get_client(protocol)

unilabos/app/main.py

@@ -1,17 +1,16 @@
 import argparse
 import asyncio
+import json
 import os
-import shutil
 import signal
 import sys
 import threading
 import time
-from typing import Dict, Any, List
+from copy import deepcopy
 
-import networkx as nx
 import yaml
 
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
+from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -19,14 +18,13 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.resources.graphio import modify_to_backend_format
 
 
 def load_config_from_file(config_path):
     if config_path is None:
-        config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
@@ -39,34 +37,19 @@ def load_config_from_file(config_path):
         load_config(config_path)
 
 
-def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
-    # easier for user input, easier for dev search code
-    option_strings = list(args._option_string_actions.keys())
-    for i, arg in enumerate(sys.argv):
-        for option_string in option_strings:
-            if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
-                sys.argv[i] = new_arg
-                break
-
-
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
-    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
+    parser.add_argument("-g", "--graph", help="Physical setup graph.")
+    parser.add_argument("-d", "--devices", help="Devices config file.")
+    parser.add_argument("-r", "--resources", help="Resources config file.")
+    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
     parser.add_argument(
         "--registry_path",
         type=str,
         default=None,
         action="append",
-        help="Path to the registry directory",
-    )
-    parser.add_argument(
-        "--working_dir",
-        type=str,
-        default=None,
-        help="Path to the working directory",
+        help="Path to the registry",
     )
     parser.add_argument(
         "--backend",
@@ -77,181 +60,69 @@ def parse_args():
     parser.add_argument(
         "--app_bridges",
         nargs="+",
-        default=["websocket", "fastapi"],
-        help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
+        default=["mqtt", "fastapi"],
+        help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
     )
     parser.add_argument(
-        "--is_slave",
+        "--without_host",
         action="store_true",
-        help="Run the backend as slave node (without host privileges).",
+        help="Run the backend as slave (without host).",
     )
     parser.add_argument(
         "--slave_no_host",
         action="store_true",
-        help="Skip waiting for host service in slave mode",
+        help="Slave模式下跳过等待host服务",
     )
     parser.add_argument(
         "--upload_registry",
         action="store_true",
-        help="Upload registry information when starting unilab",
-    )
-    parser.add_argument(
-        "--use_remote_resource",
-        action="store_true",
-        help="Use remote resources when starting unilab",
+        help="启动unilab时同时报送注册表信息",
     )
     parser.add_argument(
         "--config",
         type=str,
         default=None,
-        help="Configuration file path, supports .py format Python config files",
+        help="配置文件路径，支持.py格式的Python配置文件",
     )
     parser.add_argument(
         "--port",
         type=int,
         default=8002,
-        help="Port for web service information page",
+        help="信息页web服务的启动端口",
     )
     parser.add_argument(
         "--disable_browser",
-        action="store_true",
-        help="Disable opening information page on startup",
+        action='store_true',
+        help="是否在启动时关闭信息页",
     )
     parser.add_argument(
         "--2d_vis",
-        action="store_true",
-        help="Enable 2D visualization when starting pylabrobot instance",
+        action='store_true',
+        help="是否在pylabrobot实例启动时，同时启动可视化",
     )
     parser.add_argument(
         "--visual",
         choices=["rviz", "web", "disable"],
         default="disable",
-        help="Choose visualization tool: rviz, web, or disable",
+        help="选择可视化工具: rviz, web",
     )
-    parser.add_argument(
-        "--ak",
-        type=str,
-        default="",
-        help="Access key for laboratory requests",
-    )
-    parser.add_argument(
-        "--sk",
-        type=str,
-        default="",
-        help="Secret key for laboratory requests",
-    )
-    parser.add_argument(
-        "--addr",
-        type=str,
-        default="https://uni-lab.bohrium.com/api/v1",
-        help="Laboratory backend address",
-    )
-    parser.add_argument(
-        "--skip_env_check",
-        action="store_true",
-        help="Skip environment dependency check on startup",
-    )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete registry information",
-    )
-    return parser
+    return parser.parse_args()
 
 
 def main():
     """主函数"""
     # 解析命令行参数
     args = parse_args()
-    convert_argv_dashes_to_underscores(args)
-    args_dict = vars(args.parse_args())
-
-    # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
-        from unilabos.utils.environment_check import check_environment
-
-        print_status("正在进行环境依赖检查...", "info")
-        if not check_environment(auto_install=True):
-            print_status("环境检查失败，程序退出", "error")
-            os._exit(1)
-    else:
-        print_status("跳过环境依赖检查", "warning")
+    args_dict = vars(args)
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
-        working_dir = os.path.abspath(os.getcwd())
-    else:
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-    if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir", "")
-        if config_path and not os.path.exists(config_path):
-            config_path = os.path.join(working_dir, "local_config.py")
-            if not os.path.exists(config_path):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
-                )
-                os._exit(1)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(config_path)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-        if input() != "n":
-            os.makedirs(working_dir, exist_ok=True)
-            config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
-                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
-            )
-            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-        else:
-            os._exit(1)
-    # 加载配置文件
-    print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path)
-    if args_dict["addr"] == "test":
-        print_status("使用测试环境地址", "info")
-        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-    elif args_dict["addr"] == "uat":
-        print_status("使用uat环境地址", "info")
-        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-    elif args_dict["addr"] == "local":
-        print_status("使用本地环境地址", "info")
-        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
-    else:
-        HTTPConfig.remote_addr = args_dict.get("addr", "")
 
     # 设置BasicConfig参数
-    if args_dict.get("ak", ""):
-        BasicConfig.ak = args_dict.get("ak", "")
-        print_status("传入了ak参数，优先采用传入参数！", "info")
-    if args_dict.get("sk", ""):
-        BasicConfig.sk = args_dict.get("sk", "")
-        print_status("传入了sk参数，优先采用传入参数！", "info")
-
-    # 使用远程资源启动
-    if args_dict["use_remote_resource"]:
-        print_status("使用远程资源启动", "info")
-        from unilabos.app.web import http_client
-
-        res = http_client.resource_get("host_node", False)
-        if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
-            print_status("远程资源已存在，使用云端物料！", "info")
-            args_dict["graph"] = None
-        else:
-            print_status("远程资源不存在，本地将进行首次上报！", "info")
-
-    BasicConfig.working_dir = working_dir
-    BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
+    BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
-    BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
@@ -261,105 +132,48 @@ def main():
         read_node_link_json,
         read_graphml,
         dict_from_graph,
+        dict_to_nested_dict,
+        initialize_resources,
     )
-    from unilabos.app.communication import get_communication_client
+    from unilabos.app.mq import mqtt_client
     from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
-    from unilabos.app.register import register_devices_and_resources
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
     # 注册表
-    lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
-    )
-
-    if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
-        os._exit(1)
-    graph: nx.Graph
-    resource_tree_set: ResourceTreeSet
-    resource_links: List[Dict[str, Any]]
-    request_startup_json = http_client.request_startup_json()
-    if args_dict["graph"] is None:
-        if not request_startup_json:
-            print_status(
-                "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
-            )
-            os._exit(1)
+    build_registry(args_dict["registry_path"])
+    resource_edge_info = []
+    devices_and_resources = None
+    if args_dict["graph"] is not None:
+        import unilabos.resources.graphio as graph_res
+        if args_dict["graph"].endswith(".json"):
+            graph, data = read_node_link_json(args_dict["graph"])
         else:
-            print_status("联网获取设备加载文件成功", "info")
-        graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
+            graph, data = read_graphml(args_dict["graph"])
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
+        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
+        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        args_dict["resources_config"] = list(devices_and_resources.values())
+        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
+        args_dict["graph"] = graph_res.physical_setup_graph
     else:
-        file_path = args_dict["graph"]
-        if file_path.endswith(".json"):
-            graph, resource_tree_set, resource_links = read_node_link_json(file_path)
-        else:
-            graph, resource_tree_set, resource_links = read_graphml(file_path)
-    import unilabos.resources.graphio as graph_res
+        if args_dict["devices"] is None or args_dict["resources"] is None:
+            print_status("Either graph or devices and resources must be provided.", "error")
+            sys.exit(1)
+        args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
+        # args_dict["resources_config"] = initialize_resources(
+        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+        # )
+        args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
 
-    graph_res.physical_setup_graph = graph
-    resource_edge_info = modify_to_backend_format(resource_links)
-    materials = lab_registry.obtain_registry_resource_info()
-    materials.extend(lab_registry.obtain_registry_device_info())
-    materials = {k["id"]: k for k in materials}
-    # 从 ResourceTreeSet 中获取节点信息
-    nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
-    edge_info = len(resource_edge_info)
-    for ind, i in enumerate(resource_edge_info[::-1]):
-        source_node: ResourceDict = nodes[i["source"]]
-        target_node: ResourceDict = nodes[i["target"]]
-        source_handle = i["sourceHandle"]
-        target_handle = i["targetHandle"]
-        source_handler_keys = [
-            h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
-        ]
-        target_handler_keys = [
-            h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
-        ]
-        if source_handle not in source_handler_keys:
-            print_status(
-                f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
-                "error",
-            )
-            resource_edge_info.pop(edge_info - ind - 1)
-            continue
-        if target_handle not in target_handler_keys:
-            print_status(
-                f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
-                "error",
-            )
-            resource_edge_info.pop(edge_info - ind - 1)
-            continue
-
-    # 如果从远端获取了物料信息，则与本地物料进行同步
-    if request_startup_json and "nodes" in request_startup_json:
-        print_status("开始同步远端物料到本地...", "info")
-        remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
-        resource_tree_set.merge_remote_resources(remote_tree_set)
-        print_status("远端物料同步完成", "info")
-
-    # 使用 ResourceTreeSet 代替 list
-    args_dict["resources_config"] = resource_tree_set
-    args_dict["devices_config"] = resource_tree_set
-    args_dict["graph"] = graph_res.physical_setup_graph
-
-    if BasicConfig.upload_registry:
-        # 设备注册到服务端 - 需要 ak 和 sk
-        if args_dict.get("ak") and args_dict.get("sk"):
-            print_status("开始注册设备到服务端...", "info")
-            try:
-                register_devices_and_resources(lab_registry)
-                print_status("设备注册完成", "info")
-            except Exception as e:
-                print_status(f"设备注册失败: {e}", "error")
-        else:
-            print_status("未提供 ak 和 sk，跳过设备注册", "info")
-    else:
-        print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
+    print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
+    for i in args_dict["resources_config"]:
+        print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
 
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
@@ -368,47 +182,32 @@ def main():
 
     args_dict["bridges"] = []
 
-    # 获取通信客户端（仅支持WebSocket）
-    comm_client = get_communication_client()
-
-    if "websocket" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(comm_client)
+    if "mqtt" in args_dict["app_bridges"]:
+        args_dict["bridges"].append(mqtt_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
-    if "websocket" in args_dict["app_bridges"]:
+    if "mqtt" in args_dict["app_bridges"]:
 
         def _exit(signum, frame):
-            comm_client.stop()
+            mqtt_client.stop()
             sys.exit(0)
 
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
-        comm_client.start()
+        mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
     args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
-        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
         if devices_and_resources is not None:
-            from unilabos.device_mesh.resource_visalization import (
-                ResourceVisualization,
-            )  # 此处开启后，logger会变更为INFO，有需要请调整
-
-            resource_visualization = ResourceVisualization(
-                devices_and_resources,
-                [n.res_content for n in args_dict["resources_config"].all_nodes],  # type: ignore  # FIXME
-                enable_rviz=enable_rviz,
-            )
+            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
+            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(
-                target=start_server,
-                kwargs=dict(
-                    open_browser=not args_dict["disable_browser"],
-                    port=args_dict["port"],
-                ),
-            )
+            server_thread = threading.Thread(target=start_server, kwargs=dict(
+                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
+            ))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()
@@ -416,16 +215,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(
-                open_browser=not args_dict["disable_browser"],
-                port=args_dict["port"],
-            )
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
     else:
         start_backend(**args_dict)
-        start_server(
-            open_browser=not args_dict["disable_browser"],
-            port=args_dict["port"],
-        )
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -50,16 +50,11 @@ 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(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
-    action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
-    task_id: str = Field(examples=["task_id"], description="task uuid")
+    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
     job_id: str = Field(examples=["job_id"], description="goal uuid")
     node_id: str = Field(examples=["node_id"], description="node uuid")
     server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
 
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
-
 
 class JobStepFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")

unilabos/app/mq.py

@@ -0,0 +1,221 @@
+import json
+import time
+import traceback
+from typing import Optional
+import uuid
+
+import paho.mqtt.client as mqtt
+import ssl
+import base64
+import hmac
+from hashlib import sha1
+import tempfile
+import os
+
+from unilabos.config.config import MQConfig
+from unilabos.app.controler import job_add
+from unilabos.app.model import JobAddReq
+from unilabos.utils import logger
+from unilabos.utils.type_check import TypeEncoder
+
+from paho.mqtt.enums import CallbackAPIVersion
+
+
+class MQTTClient:
+    mqtt_disable = True
+
+    def __init__(self):
+        self.mqtt_disable = not MQConfig.lab_id
+        self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
+        logger.info("[MQTT] Client_id: " + self.client_id)
+        self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
+        self._setup_callbacks()
+
+    def _setup_callbacks(self):
+        self.client.on_log = self._on_log
+        self.client.on_connect = self._on_connect
+        self.client.on_message = self._on_message
+        self.client.on_disconnect = self._on_disconnect
+
+    def _on_log(self, client, userdata, level, buf):
+        # logger.info(f"[MQTT] log: {buf}")
+        pass
+
+    def _on_connect(self, client, userdata, flags, rc, properties=None):
+        logger.info("[MQTT] Connected with result code " + str(rc))
+        client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
+
+    def _on_message(self, client, userdata, msg) -> None:
+        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+        try:
+            payload_str = msg.payload.decode("utf-8")
+            payload_json = json.loads(payload_str)
+            if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
+                if "data" not in payload_json:
+                    payload_json["data"] = {}
+                if "action" in payload_json:
+                    payload_json["data"]["action"] = payload_json.pop("action")
+                if "action_type" in payload_json:
+                    payload_json["data"]["action_type"] = payload_json.pop("action_type")
+                if "action_args" in payload_json:
+                    payload_json["data"]["action_args"] = payload_json.pop("action_args")
+                if "action_kwargs" in payload_json:
+                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
+                job_req = JobAddReq.model_validate(payload_json)
+                data = job_add(job_req)
+                return
+            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
+                # 处理pong响应，通知HostNode
+                from unilabos.ros.nodes.presets.host_node import HostNode
+
+                host_instance = HostNode.get_instance(0)
+                if host_instance:
+                    host_instance.handle_pong_response(payload_json)
+                return
+
+        except json.JSONDecodeError as e:
+            logger.error(f"[MQTT] JSON 解析错误: {e}")
+            logger.error(f"[MQTT] Raw message: {msg.payload}")
+            logger.error(traceback.format_exc())
+        except Exception as e:
+            logger.error(f"[MQTT] 处理消息时出错: {e}")
+            logger.error(traceback.format_exc())
+
+    def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
+        if rc != 0:
+            logger.error(f"[MQTT] Unexpected disconnection {rc}")
+
+    def _setup_ssl_context(self):
+        temp_files = []
+        try:
+            with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
+                ca_temp.write(MQConfig.ca_content)
+                temp_files.append(ca_temp.name)
+
+            with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
+                cert_temp.write(MQConfig.cert_content)
+                temp_files.append(cert_temp.name)
+
+            with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
+                key_temp.write(MQConfig.key_content)
+                temp_files.append(key_temp.name)
+
+            context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
+            context.load_verify_locations(cafile=temp_files[0])
+            context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
+            self.client.tls_set_context(context)
+        finally:
+            for temp_file in temp_files:
+                try:
+                    os.unlink(temp_file)
+                except Exception as e:
+                    pass
+
+    def start(self):
+        if self.mqtt_disable:
+            logger.warning("MQTT is disabled, skipping connection.")
+            return
+        userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
+        password = base64.b64encode(
+            hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
+        ).decode()
+
+        self.client.username_pw_set(userName, password)
+        self._setup_ssl_context()
+
+        # 创建连接线程
+        def connect_thread_func():
+            try:
+                self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
+                self.client.loop_start()
+
+                # 添加连接超时检测
+                max_attempts = 5
+                attempt = 0
+                while not self.client.is_connected() and attempt < max_attempts:
+                    logger.info(
+                        f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
+                    )
+                    time.sleep(3)
+                    attempt += 1
+
+                if self.client.is_connected():
+                    logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
+                else:
+                    logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
+                    self.client.loop_stop()
+            except Exception as e:
+                logger.error(f"[MQTT] 连接失败: {str(e)}")
+
+        connect_thread_func()
+        # connect_thread = threading.Thread(target=connect_thread_func)
+        # connect_thread.daemon = True
+        # connect_thread.start()
+
+    def stop(self):
+        if self.mqtt_disable:
+            return
+        self.client.disconnect()
+        self.client.loop_stop()
+
+    def publish_device_status(self, device_status: dict, device_id, property_name):
+        # status = device_status.get(device_id, {})
+        if self.mqtt_disable:
+            return
+        status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
+        address = f"labs/{MQConfig.lab_id}/devices/"
+        self.client.publish(address, json.dumps(status), qos=2)
+        logger.debug(f"Device status published: address: {address}, {status}")
+
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
+        if self.mqtt_disable:
+            return
+        if return_info is None:
+            return_info = "{}"
+        jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
+        self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
+
+    def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/registry/"
+        registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
+        self.client.publish(address, registry_data, qos=2)
+        if print_debug:
+            logger.debug(f"Registry data published: address: {address}, {registry_data}")
+
+    def publish_actions(self, action_id: str, action_info: dict):
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/actions/"
+        self.client.publish(address, json.dumps(action_info), qos=2)
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
+
+    def send_ping(self, ping_id: str, timestamp: float):
+        """发送ping消息到服务端"""
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/ping/"
+        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
+        self.client.publish(address, json.dumps(ping_data), qos=2)
+
+    def setup_pong_subscription(self):
+        """设置pong消息订阅"""
+        if self.mqtt_disable:
+            return
+        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
+        self.client.subscribe(pong_topic, 0)
+        logger.debug(f"Subscribed to pong topic: {pong_topic}")
+
+    def handle_pong(self, pong_data: dict):
+        """处理pong响应（这个方法会在收到pong消息时被调用）"""
+        logger.debug(f"Pong received: {pong_data}")
+        # 这里会被HostNode的ping-pong处理逻辑调用
+        pass
+
+
+mqtt_client = MQTTClient()
+
+if __name__ == "__main__":
+    mqtt_client.start()

unilabos/app/register.py

@@ -1,57 +1,73 @@
-import json
+import argparse
 import time
 
+from unilabos.registry.registry import build_registry
+
+from unilabos.app.main import load_config_from_file
 from unilabos.utils.log import logger
-from unilabos.utils.type_check import TypeEncoder
 
 
-def register_devices_and_resources(lab_registry):
+def register_devices_and_resources(mqtt_client, lab_registry):
     """
-    注册设备和资源到服务器（仅支持HTTP）
+    注册设备和资源到 MQTT
     """
-
-    # 注册资源信息 - 使用HTTP方式
-    from unilabos.app.web.client import http_client
-
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
     # 注册设备信息
-    devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = json.loads(
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
-        )
-        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
+        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
-    resources_to_register = {}
+    # 注册资源信息
     for resource_info in lab_registry.obtain_registry_resource_info():
-        resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
 
-    # 注册设备
-    if devices_to_register:
-        try:
-            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
-            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
-            else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
-        except Exception as e:
-            logger.error(f"[UniLab Register] 设备注册异常: {e}")
-
-    # 注册资源
-    if resources_to_register:
-        try:
-            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
-            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
-            else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
-        except Exception as e:
-            logger.error(f"[UniLab Register] 资源注册异常: {e}")
+    time.sleep(10)
 
     logger.info("[UniLab Register] 设备和资源注册完成.")
+
+
+def main():
+    """
+    命令行入口函数
+    """
+    parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
+    parser.add_argument(
+        "--registry",
+        type=str,
+        default=None,
+        action="append",
+        help="注册表路径",
+    )
+    parser.add_argument(
+        "--config",
+        type=str,
+        default=None,
+        help="配置文件路径，支持.py格式的Python配置文件",
+    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
+    args = parser.parse_args()
+
+    # 构建注册表
+    build_registry(args.registry, args.complete_registry)
+    load_config_from_file(args.config)
+
+    from unilabos.app.mq import mqtt_client
+
+    # 连接mqtt
+    mqtt_client.start()
+
+    from unilabos.registry.registry import lab_registry
+
+    # 注册设备和资源
+    register_devices_and_resources(mqtt_client, lab_registry)
+
+
+if __name__ == "__main__":
+    main()

unilabos/app/web/client.py

@@ -4,14 +4,11 @@ HTTP客户端模块
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 
-import json
-import os
 from typing import List, Dict, Any, Optional
 
 import requests
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
 from unilabos.utils.log import info
-from unilabos.config.config import HTTPConfig, BasicConfig
+from unilabos.config.config import MQConfig, HTTPConfig
 from unilabos.utils import logger
 
 
@@ -26,17 +23,14 @@ class HTTPClient:
             remote_addr: 远程服务器地址，如果不提供则从配置中获取
             auth: 授权信息
         """
-        self.initialized = False
         self.remote_addr = remote_addr or HTTPConfig.remote_addr
         if auth is not None:
             self.auth = auth
         else:
-            auth_secret = BasicConfig.auth_secret()
-            self.auth = auth_secret
-            info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
+            self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
@@ -47,127 +41,31 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/edge/material/edge",
-            json={
-                "edges": resources,
-            },
-            headers={"Authorization": f"Lab {self.auth}"},
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=100,
         )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料关系失败: {response.text}")
         if response.status_code != 200 and response.status_code != 201:
             logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
         return response
 
-    def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
-        """
-        添加资源
-
-        Args:
-            resources: 要添加的资源树集合（ResourceTreeSet）
-            mount_uuid: 要挂载的资源的uuid
-            first_add: 是否为首次添加资源，可以是host也可以是slave来的
-        Returns:
-            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
-        """
-        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
-        old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
-        if not self.initialized or first_add:
-            self.initialized = True
-            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
-                f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        else:
-            response = requests.put(
-                f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-
-        # 处理响应，构建UUID映射
-        uuid_mapping = {}
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料失败: {response.text}")
-            else:
-                data = res["data"]
-                for i in data:
-                    uuid_mapping[i["uuid"]] = i["cloud_uuid"]
-        else:
-            logger.error(f"添加物料失败: {response.text}")
-        for u, n in old_uuids.items():
-            if u in uuid_mapping:
-                n.res_content.uuid = uuid_mapping[u]
-                for c in n.children:
-                    c.res_content.parent_uuid = n.res_content.uuid
-            else:
-                logger.warning(f"资源UUID未更新: {u}")
-        return uuid_mapping
-
-    def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
-        """
-        添加资源
-
-        Args:
-            uuid_list: List[str]
-        Returns:
-            Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
-        """
-        response = requests.post(
-            f"{self.remote_addr}/edge/material/query",
-            json={"uuids": uuid_list, "with_children": with_children},
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=100,
-        )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"查询物料失败: {response.text}")
-            else:
-                data = res["data"]["nodes"]
-                return data
-        else:
-            logger.error(f"查询物料失败: {response.text}")
-        return []
-
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
         Args:
             resources: 要添加的资源列表
+            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
-        if not self.initialized:
-            self.initialized = True
-            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        else:
-            response = requests.put(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料失败: {response.text}")
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=100,
+        )
         if response.status_code != 200:
             logger.error(f"添加物料失败: {response.text}")
         return response
@@ -184,9 +82,9 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/material",
+            f"{self.remote_addr}/lab/resource/?edge_format=1",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"Lab {self.auth}"},
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -204,7 +102,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"Lab {self.auth}"},
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=20,
         )
         return response
@@ -219,29 +117,13 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        if not self.initialized:
-            self.initialized = True
-            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        else:
-            response = requests.put(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料失败: {response.text}")
-        if response.status_code != 200:
-            logger.error(f"添加物料失败: {response.text}")
-        return response.json()
+        response = requests.patch(
+            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=100,
+        )
+        return response
 
     def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
         """
@@ -262,61 +144,11 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"Lab {self.auth}"},
+                headers={"Authorization": f"lab {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
-        """
-        注册资源到服务器
-
-        Args:
-            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.post(
-            f"{self.remote_addr}/lab/resource",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=30,
-        )
-        if response.status_code not in [200, 201]:
-            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
-        return response
-
-    def request_startup_json(self) -> Optional[Dict[str, Any]]:
-        """
-        请求启动配置
-
-        Args:
-            startup_json: 启动配置JSON数据
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.get(
-            f"{self.remote_addr}/edge/material/download",
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=(3, 30),
-        )
-        if response.status_code != 200:
-            logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
-        else:
-            try:
-                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
-                    f.write(response.text)
-                target_dict = json.loads(response.text)
-                if "data" in target_dict:
-                    target_dict = target_dict["data"]
-                return target_dict
-            except json.JSONDecodeError as e:
-                logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
-                logger.error(f"响应内容: {response.text}")
-        return None
-
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/pages.py

@@ -78,23 +78,21 @@ def setup_web_pages(router: APIRouter) -> None:
             HTMLResponse: 渲染后的HTML页面
         """
         try:
-            # 准备初始数据结构（这些数据将通过WebSocket实时更新）
+            # 准备设备数据
             devices = []
             resources = []
             modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
 
-            # 获取在线设备信息（用于初始渲染）
+            # 获取在线设备信息
             ros_node_info = get_ros_node_info()
-            # 获取主机节点信息（用于初始渲染）
+            # 获取主机节点信息
             host_node_info = get_host_node_info()
-            # 获取Registry路径信息（静态信息，不需要实时更新）
+            # 获取Registry路径信息
             registry_info = get_registry_info()
 
-            # 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
+            # 获取已加载的设备
             if lab_registry:
-                devices = json.loads(
-                    json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
-                )
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(
@@ -105,7 +103,7 @@ def setup_web_pages(router: APIRouter) -> None:
                         }
                     )
 
-            # 获取导入的模块（初始数据）
+            # 获取导入的模块
             if msg_converter_manager:
                 modules["names"] = msg_converter_manager.list_modules()
                 all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
@@ -173,20 +171,3 @@ def setup_web_pages(router: APIRouter) -> None:
         except Exception as e:
             error(f"打开文件夹时出错: {str(e)}")
             return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
-
-    @router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
-    async def registry_editor_page() -> str:
-        """
-        注册表编辑页面，用于导入Python文件并生成注册表
-
-        Returns:
-            HTMLResponse: 渲染后的HTML页面
-        """
-        try:
-            # 使用模板渲染页面
-            template = env.get_template("registry_editor.html")
-            html = template.render()
-            return html
-        except Exception as e:
-            error(f"生成注册表编辑页面时出错: {str(e)}")
-            raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")

unilabos/app/web/templates/base.html

@@ -162,6 +162,7 @@
 <body>
     <h1>{% block header %}UniLab{% endblock %}</h1>
     {% block nav %}
+    <a href="/unilabos/webtic" class="home-link">Home</a>
     {% endblock %}
 
     {% block top_info %}{% endblock %}

unilabos/app/web/templates/home.html

@@ -1,25 +1,22 @@
-{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
-header %}UniLab API{% endblock %} {% block nav %}
-<div class="nav-tabs">
-  <a
-    href="/"
-    class="nav-tab"
-    style="background-color: #2196f3; color: white"
-    target="_blank"
-    >主页</a
-  >
-  <a href="/status" class="nav-tab">状态</a>
-  <a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
-</div>
-{% endblock %} {% block content %}
-<div class="card">
-  <h2>Available Endpoints</h2>
-  {% for route in routes %}
-  <div class="endpoint">
-    <span class="method">{{ route.method }}</span>
-    <a href="{{ route.path }}">{{ route.path }}</a>
-    <p>{{ route.summary }}</p>
-  </div>
-  {% endfor %}
-</div>
+{% extends "base.html" %}
+
+{% block title %}UniLab API{% endblock %}
+
+{% block header %}UniLab API{% endblock %}
+
+{% block nav %}
+<a href="/status" class="status-link">System Status</a>
 {% endblock %}
+
+{% block content %}
+<div class="card">
+    <h2>Available Endpoints</h2>
+    {% for route in routes %}
+    <div class="endpoint">
+        <span class="method">{{ route.method }}</span>
+        <a href="{{ route.path }}">{{ route.path }}</a>
+        <p>{{ route.summary }}</p>
+    </div>
+    {% endfor %}
+</div>
+{% endblock %} 

unilabos/compile/__init__.py

@@ -15,6 +15,7 @@ from .heatchill_protocol import (
     generate_heat_chill_to_temp_protocol  # 保留导入，但不注册为协议
 )
 from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
+from .transfer_protocol import generate_transfer_protocol
 from .clean_vessel_protocol import generate_clean_vessel_protocol
 from .dissolve_protocol import generate_dissolve_protocol
 from .filter_through_protocol import generate_filter_through_protocol
@@ -46,7 +47,6 @@ action_protocol_generators = {
     HeatChillStopProtocol: generate_heat_chill_stop_protocol,
     HydrogenateProtocol: generate_hydrogenate_protocol,
     PumpTransferProtocol: generate_pump_protocol_with_rinsing,
-    TransferProtocol: generate_pump_protocol,
     RecrystallizeProtocol: generate_recrystallize_protocol,
     ResetHandlingProtocol: generate_reset_handling_protocol,
     RunColumnProtocol: generate_run_column_protocol,
@@ -54,5 +54,6 @@ action_protocol_generators = {
     StartStirProtocol: generate_start_stir_protocol,
     StirProtocol: generate_stir_protocol,
     StopStirProtocol: generate_stop_stir_protocol,
+    TransferProtocol: generate_transfer_protocol,
     WashSolidProtocol: generate_wash_solid_protocol,
 }

unilabos/compile/add_protocol.py

@@ -1,24 +1,313 @@
-from functools import partial
-
 import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Union
-
-from .utils.unit_parser import parse_volume_input, parse_mass_input, parse_time_input
-from .utils.vessel_parser import get_vessel, find_solid_dispenser, find_connected_stirrer, find_reagent_vessel
-from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"[ADD] {message}", flush=True)
     logger.info(f"[ADD] {message}")
 
+def parse_volume_input(volume_input: Union[str, float]) -> float:
+    """
+    解析体积输入，支持带单位的字符串
+    
+    Args:
+        volume_input: 体积输入（如 "2.7 mL", "2.67 mL", "?", 10.0）
+    
+    Returns:
+        float: 体积（毫升）
+    """
+    if isinstance(volume_input, (int, float)):
+        debug_print(f"📏 体积输入为数值: {volume_input}")
+        return float(volume_input)
+    
+    if not volume_input or not str(volume_input).strip():
+        debug_print(f"⚠️ 体积输入为空，返回0.0mL")
+        return 0.0
+    
+    volume_str = str(volume_input).lower().strip()
+    debug_print(f"🔍 解析体积输入: '{volume_str}'")
+    
+    # 处理未知体积
+    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_volume = 10.0  # 默认10mL
+        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
+        return default_volume
+    
+    # 移除空格并提取数字和单位
+    volume_clean = re.sub(r'\s+', '', volume_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析体积: '{volume_str}'，使用默认值10mL")
+        return 10.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'ml'  # 默认单位为毫升
+    
+    # 转换为毫升
+    if unit in ['l', 'liter']:
+        volume = value * 1000.0  # L -> mL
+        debug_print(f"🔄 体积转换: {value}L → {volume}mL")
+    elif unit in ['μl', 'ul', 'microliter']:
+        volume = value / 1000.0  # μL -> mL
+        debug_print(f"🔄 体积转换: {value}μL → {volume}mL")
+    else:  # ml, milliliter 或默认
+        volume = value  # 已经是mL
+        debug_print(f"✅ 体积已为mL: {volume}mL")
+    
+    return volume
+
+def parse_mass_input(mass_input: Union[str, float]) -> float:
+    """
+    解析质量输入，支持带单位的字符串
+    
+    Args:
+        mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
+    
+    Returns:
+        float: 质量（克）
+    """
+    if isinstance(mass_input, (int, float)):
+        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
+        return float(mass_input)
+    
+    if not mass_input or not str(mass_input).strip():
+        debug_print(f"⚠️ 质量输入为空，返回0.0g")
+        return 0.0
+    
+    mass_str = str(mass_input).lower().strip()
+    debug_print(f"🔍 解析质量输入: '{mass_str}'")
+    
+    # 移除空格并提取数字和单位
+    mass_clean = re.sub(r'\s+', '', mass_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
+        return 0.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 'g'  # 默认单位为克
+    
+    # 转换为克
+    if unit in ['mg', 'milligram']:
+        mass = value / 1000.0  # mg -> g
+        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
+    elif unit in ['kg', 'kilogram']:
+        mass = value * 1000.0  # kg -> g
+        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
+    else:  # g, gram 或默认
+        mass = value  # 已经是g
+        debug_print(f"✅ 质量已为g: {mass}g")
+    
+    return mass
+
+def parse_time_input(time_input: Union[str, float]) -> float:
+    """
+    解析时间输入，支持带单位的字符串
+    
+    Args:
+        time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if isinstance(time_input, (int, float)):
+        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
+        return float(time_input)
+    
+    if not time_input or not str(time_input).strip():
+        debug_print(f"⚠️ 时间输入为空，返回0秒")
+        return 0.0
+    
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间输入: '{time_str}'")
+    
+    # 处理未知时间
+    if time_str in ['?', 'unknown', 'tbd']:
+        default_time = 60.0  # 默认1分钟
+        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
+        return default_time
+    
+    # 移除空格并提取数字和单位
+    time_clean = re.sub(r'\s+', '', time_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
+    
+    if not match:
+        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
+        return 0.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 's'  # 默认单位为秒
+    
+    # 转换为秒
+    if unit in ['min', 'minute']:
+        time_sec = value * 60.0  # min -> s
+        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
+    elif unit in ['h', 'hr', 'hour']:
+        time_sec = value * 3600.0  # h -> s
+        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
+    elif unit in ['d', 'day']:
+        time_sec = value * 86400.0  # d -> s
+        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
+    else:  # s, sec, second 或默认
+        time_sec = value  # 已经是s
+        debug_print(f"✅ 时间已为秒: {time_sec}秒")
+    
+    return time_sec
+
+def find_reagent_vessel(G: nx.DiGraph, reagent: str) -> str:
+    """增强版试剂容器查找，支持固体和液体"""
+    debug_print(f"🔍 开始查找试剂 '{reagent}' 的容器...")
+    
+    # 🔧 方法1：直接搜索 data.reagent_name 和 config.reagent
+    debug_print(f"📋 方法1: 搜索reagent字段...")
+    for node in G.nodes():
+        node_data = G.nodes[node].get('data', {})
+        node_type = G.nodes[node].get('type', '')
+        config_data = G.nodes[node].get('config', {})
+        
+        # 只搜索容器类型的节点
+        if node_type == 'container':
+            reagent_name = node_data.get('reagent_name', '').lower()
+            config_reagent = config_data.get('reagent', '').lower()
+            
+            # 精确匹配
+            if reagent_name == reagent.lower() or config_reagent == reagent.lower():
+                debug_print(f"✅ 通过reagent字段精确匹配到容器: {node} 🎯")
+                return node
+            
+            # 模糊匹配
+            if (reagent.lower() in reagent_name and reagent_name) or \
+               (reagent.lower() in config_reagent and config_reagent):
+                debug_print(f"✅ 通过reagent字段模糊匹配到容器: {node} 🔍")
+                return node
+    
+    # 🔧 方法2：常见的容器命名规则
+    debug_print(f"📋 方法2: 使用命名规则查找...")
+    reagent_clean = reagent.lower().replace(' ', '_').replace('-', '_')
+    possible_names = [
+        reagent_clean,
+        f"flask_{reagent_clean}",
+        f"bottle_{reagent_clean}",
+        f"vessel_{reagent_clean}", 
+        f"{reagent_clean}_flask",
+        f"{reagent_clean}_bottle",
+        f"reagent_{reagent_clean}",
+        f"reagent_bottle_{reagent_clean}",
+        f"solid_reagent_bottle_{reagent_clean}",
+        f"reagent_bottle_1",  # 通用试剂瓶
+        f"reagent_bottle_2",
+        f"reagent_bottle_3"
+    ]
+    
+    debug_print(f"🔍 尝试的容器名称: {possible_names[:5]}... (共{len(possible_names)}个)")
+    
+    for name in possible_names:
+        if name in G.nodes():
+            node_type = G.nodes[name].get('type', '')
+            if node_type == 'container':
+                debug_print(f"✅ 通过命名规则找到容器: {name} 📝")
+                return name
+    
+    # 🔧 方法3：节点名称模糊匹配
+    debug_print(f"📋 方法3: 节点名称模糊匹配...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if node_data.get('type') == 'container':
+            # 检查节点名称是否包含试剂名称
+            if reagent_clean in node_id.lower():
+                debug_print(f"✅ 通过节点名称模糊匹配到容器: {node_id} 🔍")
+                return node_id
+            
+            # 检查液体类型匹配
+            vessel_data = node_data.get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type.lower() == reagent.lower():
+                        debug_print(f"✅ 通过液体类型匹配到容器: {node_id} 💧")
+                        return node_id
+    
+    # 🔧 方法4：使用第一个试剂瓶作为备选
+    debug_print(f"📋 方法4: 查找备选试剂瓶...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        if (node_data.get('type') == 'container' and 
+            ('reagent' in node_id.lower() or 'bottle' in node_id.lower())):
+            debug_print(f"⚠️ 未找到专用容器，使用备选试剂瓶: {node_id} 🔄")
+            return node_id
+    
+    debug_print(f"❌ 所有方法都失败了，无法找到容器!")
+    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器")
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找连接到指定容器的搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
+    
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+    
+    debug_print(f"📊 共找到 {len(stirrer_nodes)} 个搅拌器")
+    
+    # 查找连接到容器的搅拌器
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
+            return stirrer
+    
+    # 返回第一个搅拌器
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
+        return stirrer_nodes[0]
+    
+    debug_print(f"❌ 未找到任何搅拌器")
+    return ""
+
+def find_solid_dispenser(G: nx.DiGraph) -> str:
+    """查找固体加样器"""
+    debug_print(f"🔍 查找固体加样器...")
+    
+    for node in G.nodes():
+        node_class = G.nodes[node].get('class', '').lower()
+        if 'solid_dispenser' in node_class or 'dispenser' in node_class:
+            debug_print(f"✅ 找到固体加样器: {node} 🥄")
+            return node
+    
+    debug_print(f"❌ 未找到固体加样器")
+    return ""
 
 # 🆕 创建进度日志动作
-create_action_log = partial(action_log, prefix="[ADD]")
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志"""
+    full_message = f"{emoji} {message}"
+    debug_print(full_message)
+    logger.info(full_message)
+    print(f"[ACTION] {full_message}", flush=True)
+    
+    return {
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 0.1,
+            "log_message": full_message
+        }
+    }
 
 def generate_add_protocol(
     G: nx.DiGraph,
@@ -57,7 +346,7 @@ def generate_add_protocol(
     """
 
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     # 🔧 修改：更新容器的液体体积（假设有 liquid_volume 字段）
     if "data" in vessel and "liquid_volume" in vessel["data"]:
@@ -108,7 +397,12 @@ def generate_add_protocol(
     final_time = parse_time_input(time)
     
     debug_print(f"📊 解析结果:")
-    debug_print(f"  体积: {final_volume}mL, 质量: {final_mass}g, 时间: {final_time}s, 摩尔: '{mol}', 事件: '{event}', 速率: '{rate_spec}'")
+    debug_print(f"  📏 体积: {final_volume}mL")
+    debug_print(f"  ⚖️ 质量: {final_mass}g")
+    debug_print(f"  ⏱️ 时间: {final_time}s")
+    debug_print(f"  🧬 摩尔: '{mol}'")
+    debug_print(f"  🎯 事件: '{event}'")
+    debug_print(f"  ⚡ 速率: '{rate_spec}'")
     
     # === 判断添加类型 ===
     debug_print("🔍 步骤3: 判断添加类型...")
@@ -155,7 +449,7 @@ def generate_add_protocol(
                             "device_id": stirrer_id,
                             "action_name": "start_stir",
                             "action_kwargs": {
-                                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                                "vessel": vessel_id,  # 🔧 使用 vessel_id
                                 "stir_speed": stir_speed,
                                 "purpose": f"准备添加固体 {reagent}"
                             }
@@ -169,7 +463,7 @@ def generate_add_protocol(
                 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                    "vessel": vessel_id,  # 🔧 使用 vessel_id
                     "reagent": reagent,
                     "purpose": purpose,
                     "event": event,
@@ -232,7 +526,7 @@ def generate_add_protocol(
                         "device_id": stirrer_id,
                         "action_name": "start_stir",
                         "action_kwargs": {
-                            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                            "vessel": vessel_id,  # 🔧 使用 vessel_id
                             "stir_speed": stir_speed,
                             "purpose": f"准备添加液体 {reagent}"
                         }

unilabos/compile/adjustph_protocol.py

@@ -1,15 +1,31 @@
 import networkx as nx
 import logging
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"[ADJUST_PH] {message}", flush=True)
     logger.info(f"[ADJUST_PH] {message}")
 
+# 🆕 创建进度日志动作
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志"""
+    full_message = f"{emoji} {message}"
+    debug_print(full_message)
+    logger.info(full_message)
+    print(f"[ACTION] {full_message}", flush=True)
+    
+    return {
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 0.1,
+            "log_message": full_message
+        }
+    }
+
 def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
     """
     查找酸碱试剂容器，支持多种匹配模式
@@ -219,7 +235,13 @@ def generate_adjust_ph_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     
-    vessel_id, vessel_data = get_vessel(vessel)
+    # 统一处理vessel参数
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        vessel_data = vessel.get("data", {})
+    else:
+        vessel_id = str(vessel)
+        vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
     
     if not vessel_id:
         debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
@@ -325,7 +347,7 @@ def generate_adjust_ph_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": {"id": vessel_id},
+                        "vessel": vessel_id,
                         "stir_speed": stir_speed,
                         "purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
                     }

unilabos/compile/centrifuge_protocol.py

@@ -156,7 +156,7 @@ def generate_centrifuge_protocol(
         "device_id": centrifuge_id,
         "action_name": "centrifuge",
         "action_kwargs": {
-            "vessel": {"id": centrifuge_vessel},
+            "vessel": centrifuge_vessel,
             "speed": speed,
             "time": time,
             "temp": temp

unilabos/compile/clean_vessel_protocol.py

@@ -1,9 +1,101 @@
 from typing import List, Dict, Any
 import networkx as nx
-from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .pump_protocol import generate_pump_protocol
 
 
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器，支持多种匹配模式：
+    1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
+    2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
+    """
+    print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 第一步：通过容器名称匹配
+    possible_names = [
+        f"flask_{solvent}",           # flask_water, flask_ethanol
+        f"bottle_{solvent}",          # bottle_water, bottle_ethanol  
+        f"vessel_{solvent}",          # vessel_water, vessel_ethanol
+        f"{solvent}_flask",           # water_flask, ethanol_flask
+        f"{solvent}_bottle",          # water_bottle, ethanol_bottle
+        f"{solvent}",                 # 直接用溶剂名
+        f"solvent_{solvent}",         # solvent_water, solvent_ethanol
+        f"reagent_bottle_{solvent}",  # reagent_bottle_DMF
+    ]
+    
+    # 尝试名称匹配
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    
+    # 第二步：通过模糊名称匹配（名称中包含溶剂名）
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查节点ID或名称中是否包含溶剂名
+            node_name = G.nodes[node_id].get('name', '').lower()
+            if (solvent.lower() in node_id.lower() or 
+                solvent.lower() in node_name):
+                print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
+                return node_id
+    
+    # 第三步：通过液体类型匹配
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    # 支持两种格式的液体类型字段
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    reagent_name = vessel_data.get('reagent_name', '')
+                    config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
+                    
+                    # 检查多个可能的字段
+                    if (liquid_type.lower() == solvent.lower() or 
+                        reagent_name.lower() == solvent.lower() or
+                        config_reagent.lower() == solvent.lower()):
+                        print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
+                        print(f"  - liquid_type: {liquid_type}")
+                        print(f"  - reagent_name: {reagent_name}")
+                        print(f"  - config.reagent: {config_reagent}")
+                        return node_id
+    
+    # 第四步：列出所有可用的容器信息帮助调试
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            config_data = G.nodes[node_id].get('config', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            container_info = {
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquid_types': [],
+                'reagent_name': vessel_data.get('reagent_name', ''),
+                'config_reagent': config_data.get('reagent', '')
+            }
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
+                    if liquid_type:
+                        container_info['liquid_types'].append(liquid_type)
+            
+            available_containers.append(container_info)
+    
+    print(f"CLEAN_VESSEL: 可用容器列表:")
+    for container in available_containers:
+        print(f"  - {container['id']}: {container['name']}")
+        print(f"    液体类型: {container['liquid_types']}")
+        print(f"    试剂名称: {container['reagent_name']}")
+        print(f"    配置试剂: {container['config_reagent']}")
+    
+    raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
+
+
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
     """
     增强版溶剂容器查找，支持各种匹配方式的别名函数
@@ -89,7 +181,7 @@ def generate_clean_vessel_protocol(
         clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     action_sequence = []
     
@@ -143,7 +235,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
@@ -295,7 +387,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": vessel_id  # 🔧 使用 vessel_id
             }
         }
         action_sequence.append(heatchill_stop_action)

unilabos/compile/dissolve_protocol.py

@@ -1,22 +1,31 @@
-from functools import partial
-
 import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Union
-
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"[DISSOLVE] {message}", flush=True)
     logger.info(f"[DISSOLVE] {message}")
 
 # 🆕 创建进度日志动作
-create_action_log = partial(action_log, prefix="[DISSOLVE]")
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志"""
+    full_message = f"{emoji} {message}"
+    debug_print(full_message)
+    logger.info(full_message)
+    print(f"[ACTION] {full_message}", flush=True)
+    
+    return {
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 0.1,
+            "log_message": full_message
+        }
+    }
 
 def parse_volume_input(volume_input: Union[str, float]) -> float:
     """
@@ -437,7 +446,7 @@ def generate_dissolve_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     debug_print("=" * 60)
     debug_print("🧪 开始生成溶解协议")
@@ -563,7 +572,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill_start",
                     "action_kwargs": {
-                        "vessel": {"id": vessel_id},
+                        "vessel": vessel_id,
                         "temp": final_temp,
                         "purpose": f"溶解准备 - {event}" if event else "溶解准备"
                     }
@@ -587,7 +596,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "start_stir",
                     "action_kwargs": {
-                        "vessel": {"id": vessel_id},
+                        "vessel": vessel_id,
                         "stir_speed": stir_speed,
                         "purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
                     }
@@ -612,7 +621,7 @@ def generate_dissolve_protocol(
                 
                 # 固体加样
                 add_kwargs = {
-                    "vessel": {"id": vessel_id},
+                    "vessel": vessel_id,
                     "reagent": reagent or amount or "solid reagent",
                     "purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
                     "event": event
@@ -758,7 +767,7 @@ def generate_dissolve_protocol(
                     "device_id": heatchill_id,
                     "action_name": "heat_chill",
                     "action_kwargs": {
-                        "vessel": {"id": vessel_id},
+                        "vessel": vessel_id,
                         "temp": final_temp,
                         "time": final_time,
                         "stir": True,
@@ -776,7 +785,7 @@ def generate_dissolve_protocol(
                     "device_id": stirrer_id,
                     "action_name": "stir",
                     "action_kwargs": {
-                        "vessel": {"id": vessel_id},
+                        "vessel": vessel_id,
                         "stir_time": final_time,
                         "stir_speed": stir_speed,
                         "settling_time": 0,
@@ -802,7 +811,7 @@ def generate_dissolve_protocol(
                 "device_id": heatchill_id,
                 "action_name": "heat_chill_stop",
                 "action_kwargs": {
-                    "vessel": {"id": vessel_id},
+                    "vessel": vessel_id
                 }
             }
             action_sequence.append(stop_action)

unilabos/compile/dry_protocol.py

@@ -1,8 +1,6 @@
 import networkx as nx
 from typing import List, Dict, Any
 
-from unilabos.compile.utils.vessel_parser import get_vessel
-
 
 def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
     """
@@ -65,7 +63,7 @@ def generate_dry_protocol(
         List[Dict[str, Any]]: 动作序列
     """
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     action_sequence = []
     
@@ -167,7 +165,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "purpose": f"干燥 {compound or '化合物'}"
         }
@@ -191,7 +189,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "temp": dry_temp,
             "time": simulation_time,
             "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
@@ -251,7 +249,7 @@ def generate_dry_protocol(
         "device_id": heater_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
-            "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "purpose": f"干燥完成，停止加热"
         }
     })

unilabos/compile/evacuateandrefill_protocol.py

@@ -1,12 +1,8 @@
-from functools import partial
-
 import networkx as nx
 import logging
 import uuid
 import sys
 from typing import List, Dict, Any, Optional
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
 
 # 设置日志
@@ -25,17 +21,48 @@ def debug_print(message):
     try:
         # 确保消息是字符串格式
         safe_message = str(message)
+        print(f"[抽真空充气] {safe_message}", flush=True)
         logger.info(f"[抽真空充气] {safe_message}")
     except UnicodeEncodeError:
         # 如果编码失败，尝试替换不支持的字符
         safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        print(f"[抽真空充气] {safe_message}", flush=True)
         logger.info(f"[抽真空充气] {safe_message}")
     except Exception as e:
         # 最后的安全措施
         fallback_message = f"日志输出错误: {repr(message)}"
+        print(f"[抽真空充气] {fallback_message}", flush=True)
         logger.info(f"[抽真空充气] {fallback_message}")
 
-create_action_log = partial(action_log, prefix="[抽真空充气]")
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志 - 支持中文和emoji"""
+    try:
+        full_message = f"{emoji} {message}"
+        debug_print(full_message)
+        logger.info(full_message)
+        
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": full_message,
+                "progress_message": full_message
+            }
+        }
+    except Exception as e:
+        # 如果emoji有问题，使用纯文本
+        safe_message = f"[日志] {message}"
+        debug_print(safe_message)
+        logger.info(safe_message)
+        
+        return {
+            "action_name": "wait", 
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": safe_message,
+                "progress_message": safe_message
+            }
+        }
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
     """
@@ -261,7 +288,7 @@ def generate_evacuateandrefill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     # 硬编码重复次数为 3
     repeats = 3
@@ -452,7 +479,7 @@ def generate_evacuateandrefill_protocol(
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "stir_speed": STIR_SPEED,
                 "purpose": "抽真空充气前预搅拌"
             }
@@ -685,7 +712,7 @@ def generate_evacuateandrefill_protocol(
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": {"id": vessel_id},}  # 🔧 使用 vessel_id
+            "action_kwargs": {"vessel": vessel_id}  # 🔧 使用 vessel_id
         })
     else:
         action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))

unilabos/compile/evaporate_protocol.py

@@ -2,15 +2,75 @@ from typing import List, Dict, Any, Optional, Union
 import networkx as nx
 import logging
 import re
-from .utils.vessel_parser import get_vessel
-from .utils.unit_parser import parse_time_input
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"🧪 [EVAPORATE] {message}", flush=True)
     logger.info(f"[EVAPORATE] {message}")
 
+def parse_time_input(time_input: Union[str, float]) -> float:
+    """
+    解析时间输入，支持带单位的字符串
+    
+    Args:
+        time_input: 时间输入（如 "3 min", "180", "0.5 h" 等）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if isinstance(time_input, (int, float)):
+        debug_print(f"⏱️ 时间输入为数字: {time_input}s ✨")
+        return float(time_input)  # 🔧 确保返回float
+    
+    if not time_input or not str(time_input).strip():
+        debug_print(f"⚠️ 时间输入为空，使用默认值: 180s (3分钟) 🕐")
+        return 180.0  # 默认3分钟
+    
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间输入: '{time_str}' 📝")
+    
+    # 处理未知时间
+    if time_str in ['?', 'unknown', 'tbd']:
+        default_time = 180.0  # 默认3分钟
+        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (3分钟) 🤷‍♀️")
+        return default_time
+    
+    # 移除空格并提取数字和单位
+    time_clean = re.sub(r'\s+', '', time_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
+    
+    if not match:
+        # 如果无法解析，尝试直接转换为数字（默认秒）
+        try:
+            value = float(time_str)
+            debug_print(f"✅ 时间解析成功: {time_str} → {value}s（无单位，默认秒）⏰")
+            return float(value)  # 🔧 确保返回float
+        except ValueError:
+            debug_print(f"❌ 无法解析时间: '{time_str}'，使用默认值180s (3分钟) 😅")
+            return 180.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 's'  # 默认单位为秒
+    
+    # 转换为秒
+    if unit in ['min', 'minute']:
+        time_sec = value * 60.0  # min -> s
+        debug_print(f"🕐 时间转换: {value} 分钟 → {time_sec}s ⏰")
+    elif unit in ['h', 'hr', 'hour']:
+        time_sec = value * 3600.0  # h -> s
+        debug_print(f"🕐 时间转换: {value} 小时 → {time_sec}s ({time_sec/60:.1f}分钟) ⏰")
+    elif unit in ['d', 'day']:
+        time_sec = value * 86400.0  # d -> s
+        debug_print(f"🕐 时间转换: {value} 天 → {time_sec}s ({time_sec/3600:.1f}小时) ⏰")
+    else:  # s, sec, second 或默认
+        time_sec = value  # 已经是s
+        debug_print(f"🕐 时间转换: {value}s → {time_sec}s (已是秒) ⏰")
+    
+    return float(time_sec)  # 🔧 确保返回float
 
 def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
@@ -141,7 +201,7 @@ def generate_evaporate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     debug_print("🌟" * 20)
     debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
@@ -329,7 +389,7 @@ def generate_evaporate_protocol(
         "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": {"id": target_vessel},
+            "vessel": target_vessel,
             "pressure": float(pressure),
             "temp": float(temp),
             "time": float(final_time),  # 🔧 强制转换为float类型

unilabos/compile/filter_protocol.py

@@ -1,13 +1,13 @@
 from typing import List, Dict, Any, Optional
 import networkx as nx
 import logging
-from .utils.vessel_parser import get_vessel
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"🧪 [FILTER] {message}", flush=True)
     logger.info(f"[FILTER] {message}")
 
 def find_filter_device(G: nx.DiGraph) -> str:
@@ -51,7 +51,7 @@ def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") ->
 def generate_filter_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
-    filtrate_vessel: dict = {"id": "waste"},
+    filtrate_vessel: str = "",
     **kwargs
 ) -> List[Dict[str, Any]]:
     """
@@ -68,8 +68,7 @@ def generate_filter_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
-    filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
+    vessel_id = vessel["id"]
     
     debug_print("🌊" * 20)
     debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
@@ -103,7 +102,7 @@ def generate_filter_protocol(
     # 验证可选参数
     debug_print("  🔍 验证可选参数...")
     if filtrate_vessel:
-        validate_vessel(G, filtrate_vessel_id, "滤液容器")
+        validate_vessel(G, filtrate_vessel, "滤液容器")
         debug_print("  🌊 模式: 过滤并收集滤液 💧")
     else:
         debug_print("  🧱 模式: 过滤并收集固体 🔬")
@@ -160,8 +159,8 @@ def generate_filter_protocol(
             # 使用pump protocol转移液体到过滤器
             transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel={"id": vessel_id},  # 🔧 使用 vessel_id
-                to_vessel={"id": filter_device},
+                from_vessel=vessel_id,  # 🔧 使用 vessel_id
+                to_vessel=filter_device,
                 volume=0.0,  # 转移所有液体
                 amount="",
                 time=0.0,
@@ -212,8 +211,8 @@ def generate_filter_protocol(
     # 构建过滤动作参数
     debug_print("  ⚙️ 构建过滤参数...")
     filter_kwargs = {
-        "vessel": {"id": filter_device},  # 过滤器设备
-        "filtrate_vessel": {"id": filtrate_vessel_id},  # 滤液容器（可能为空）
+        "vessel": filter_device,  # 过滤器设备
+        "filtrate_vessel": filtrate_vessel,  # 滤液容器（可能为空）
         "stir": kwargs.get("stir", False),
         "stir_speed": kwargs.get("stir_speed", 0.0),
         "temp": kwargs.get("temp", 25.0),
@@ -244,8 +243,8 @@ def generate_filter_protocol(
     # === 收集滤液（如果需要）===
     debug_print("📍 步骤5: 收集滤液... 💧")
     
-    if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
-        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
+    if filtrate_vessel:
+        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel} 💧")
         
         try:
             debug_print("  🔄 开始执行收集操作...")
@@ -274,20 +273,20 @@ def generate_filter_protocol(
                 debug_print("  🔧 更新滤液容器体积...")
                 
                 # 更新filtrate_vessel在图中的体积（如果它是节点）
-                if filtrate_vessel_id in G.nodes():
-                    if 'data' not in G.nodes[filtrate_vessel_id]:
-                        G.nodes[filtrate_vessel_id]['data'] = {}
+                if filtrate_vessel in G.nodes():
+                    if 'data' not in G.nodes[filtrate_vessel]:
+                        G.nodes[filtrate_vessel]['data'] = {}
                     
-                    current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
+                    current_filtrate_volume = G.nodes[filtrate_vessel]['data'].get('liquid_volume', 0.0)
                     if isinstance(current_filtrate_volume, list):
                         if len(current_filtrate_volume) > 0:
-                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'][0] += expected_filtrate_volume
+                            G.nodes[filtrate_vessel]['data']['liquid_volume'][0] += expected_filtrate_volume
                         else:
-                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
+                            G.nodes[filtrate_vessel]['data']['liquid_volume'] = [expected_filtrate_volume]
                     else:
-                        G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
+                        G.nodes[filtrate_vessel]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
                     
-                    debug_print(f"  📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
+                    debug_print(f"  📊 滤液容器 {filtrate_vessel} 体积增加 {expected_filtrate_volume:.2f}mL")
                 
             else:
                 debug_print("  ⚠️ 收集协议返回空序列 🤔")
@@ -352,7 +351,7 @@ def generate_filter_protocol(
     debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
     debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
     debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
-    debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
+    debug_print(f"💧 滤液容器: {filtrate_vessel or '无（保留固体）'} 🧱")
     debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
     if original_liquid_volume > 0:
         debug_print(f"📊 体积变化统计:")
@@ -364,3 +363,4 @@ def generate_filter_protocol(
     debug_print("🎊" * 20)
     
     return action_sequence
+

unilabos/compile/heatchill_protocol.py

@@ -2,15 +2,81 @@ from typing import List, Dict, Any, Union
 import networkx as nx
 import logging
 import re
-from .utils.vessel_parser import get_vessel
-from .utils.unit_parser import parse_time_input
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"🌡️ [HEATCHILL] {message}", flush=True)
     logger.info(f"[HEATCHILL] {message}")
 
+def parse_time_input(time_input: Union[str, float, int]) -> float:
+    """
+    解析时间输入（统一函数）
+    
+    Args:
+        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if not time_input:
+        return 300.0
+    
+    # 🔢 处理数值输入
+    if isinstance(time_input, (int, float)):
+        result = float(time_input)
+        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
+        return result
+    
+    # 📝 处理字符串输入
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间: '{time_str}'")
+    
+    # ❓ 特殊值处理
+    special_times = {
+        '?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
+        'overnight': 43200.0, 'several hours': 10800.0, 
+        'few hours': 7200.0, 'long time': 3600.0, 'short time': 300.0
+    }
+    
+    if time_str in special_times:
+        result = special_times[time_str]
+        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
+        return result
+    
+    # 🔢 纯数字处理
+    try:
+        result = float(time_str)
+        debug_print(f"⏰ 纯数字: {time_str} → {result}s")
+        return result
+    except ValueError:
+        pass
+    
+    # 📐 正则表达式解析
+    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
+    match = re.match(pattern, time_str)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 300s")
+        return 300.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or 's'
+    
+    # 📏 单位转换
+    unit_multipliers = {
+        's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
+        'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
+        'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
+        'd': 86400.0, 'day': 86400.0, 'days': 86400.0
+    }
+    
+    multiplier = unit_multipliers.get(unit, 1.0)
+    result = value * multiplier
+    
+    debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
+    return result
 
 def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
     """
@@ -151,7 +217,7 @@ def generate_heat_chill_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     debug_print("🌡️" * 20)
     debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
@@ -220,7 +286,7 @@ def generate_heat_chill_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
-            "vessel": {"id": vessel},
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "temp": float(final_temp),
             "time": float(final_time),
             "stir": bool(stir),
@@ -254,7 +320,7 @@ def generate_heat_chill_to_temp_protocol(
     **kwargs
 ) -> List[Dict[str, Any]]:
     """生成加热到指定温度的协议（简化版）"""
-    vessel_id, _ = get_vessel(vessel)
+    vessel_id = vessel["id"]
     debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
     return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
 
@@ -268,7 +334,7 @@ def generate_heat_chill_start_protocol(
     """生成开始加热操作的协议序列"""
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, _ = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     debug_print("🔥 开始生成启动加热协议 ✨")
     debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
@@ -286,9 +352,9 @@ def generate_heat_chill_start_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill_start",
         "action_kwargs": {
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
             "temp": temp,
-            "purpose": purpose or f"开始加热到 {temp}°C",
-            "vessel": {"id": vessel_id},
+            "purpose": purpose or f"开始加热到 {temp}°C"
         }
     }]
     
@@ -303,7 +369,7 @@ def generate_heat_chill_stop_protocol(
     """生成停止加热操作的协议序列"""
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, _ = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     debug_print("🛑 开始生成停止加热协议 ✨")
     debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
@@ -321,8 +387,10 @@ def generate_heat_chill_stop_protocol(
         "device_id": heatchill_id,
         "action_name": "heat_chill_stop",
         "action_kwargs": {
+            "vessel": vessel_id  # 🔧 使用 vessel_id
         }
     }]
     
     debug_print(f"✅ 停止加热协议生成完成 🎯")
     return action_sequence
+