Correct runze pump multiple receive method.

(cherry picked from commit 4771ff2347)

.conda/recipe.yaml

@@ -0,0 +1,90 @@
+package:
+  name: unilabos
+  version: 0.10.3
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+     - unilab = unilabos.app.main:main
+     - unilab-register = unilabos.app.register: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
+  run:
+  - conda-forge::python ==3.11.11
+  - compilers
+  - cmake
+  - zstd
+  - 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

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

.conda/scripts/post-link.sh

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

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,35 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is. The bug may results in:
+        - abnormal interruption of the program,
+        - systematic or randomized numerical error, or
+        - relatively low efficiency.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Desktop (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Browser [e.g. chrome, safari]
+ - Version [e.g. 22]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.

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

@@ -0,0 +1,131 @@
+name: Multi-Platform 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: 'osx-arm64'
+      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
+            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: ${{ matrix.os }}
+
+    defaults:
+      run:
+        shell: bash -l {0}
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Check if platform should be built
+        id: should_build
+        run: |
+          if [[ "${{ 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,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: ${{ matrix.os }}"
+
+      - name: Build conda package
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          else
+            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          fi
+
+      - name: List built packages
+        if: steps.should_build.outputs.should_build == 'true'
+        run: |
+          echo "Built packages in 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-${{ matrix.platform }}
+          path: conda-packages-temp
+          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

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

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

.gitignore

@@ -1,3 +1,7 @@
+configs/
+temp/
+output/
+unilabos_data/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -6,6 +10,7 @@ __pycache__/
 .vscode
 *.py[cod]
 *$py.class
+service
 
 # C extensions
 *.so
@@ -229,6 +234,15 @@ CATKIN_IGNORE
 
 .DS_Store
 
-local_config.py
+/**/local_config.py
 
-*.graphml
+*.graphml
+unilabos/device_mesh/view_robot.rviz
+
+
+# Certs
+**/.certs
+local_test2.py
+ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
+*.bz2
+test_config.py

MANIFEST.in

@@ -0,0 +1,5 @@
+recursive-include unilabos/registry *.yaml
+recursive-include unilabos/app/web/static *
+recursive-include unilabos/app/web/templates *
+recursive-include unilabos/device_mesh/devices *
+recursive-include unilabos/device_mesh/resources *

README.md

@@ -1 +1,78 @@
-# Uni-Lab-OS
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# 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)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![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 is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
+
+## 🏆 Competition
+
+Join the [Intelligent Organic Chemistry Synthesis Competition](https://bohrium.dp.tech/competitions/1451645258) to explore automated synthesis with Uni-Lab-OS!
+
+## Key Features
+
+- Multi-device integration management
+- Automated experimental workflows
+- Cloud connectivity capabilities
+- Flexible configuration system
+- Support for multiple experimental protocols
+
+## Documentation
+
+Detailed documentation can be found at:
+
+- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## Quick Start
+
+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
+```
+
+## Install Dev Uni-Lab-OS
+
+```bash
+# Clone the repository
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# Install Uni-Lab-OS
+pip install .
+```
+
+3. Start Uni-Lab System:
+
+Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## Message Format
+
+Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
+
+## License
+
+This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
+
+## Project Statistics
+
+### Stars Trend
+
+<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
+  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
+</a>
+
+## Contact Us
+
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -0,0 +1,80 @@
+<div align="center">
+  <img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
+</div>
+
+# 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)
+[![GitHub Forks](https://img.shields.io/github/forks/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
+[![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。
+
+## 🏆 比赛
+
+欢迎参加[有机化学合成智能实验大赛](https://bohrium.dp.tech/competitions/1451645258)，使用 Uni-Lab-OS 探索自动化合成！
+
+## 核心特点
+
+- 多设备集成管理
+- 自动化实验流程
+- 云端连接能力
+- 灵活的配置系统
+- 支持多种实验协议
+
+## 文档
+
+详细文档可在以下位置找到:
+
+- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
+
+## 快速开始
+
+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
+```
+
+2. 安装开发版 Uni-Lab-OS:
+
+```bash
+# 克隆仓库
+git clone https://github.com/dptech-corp/Uni-Lab-OS.git
+cd Uni-Lab-OS
+
+# 安装 Uni-Lab-OS
+pip install .
+```
+
+3. 启动 Uni-Lab 系统:
+
+请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
+
+## 消息格式
+
+Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
+
+## 许可证
+
+此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
+
+## 项目统计
+
+### Stars 趋势
+
+<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
+  <img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
+</a>
+
+## 联系我们
+
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

docs/user_guide/configuration.md

@@ -18,7 +18,7 @@ Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵
 from dataclasses import dataclass
 
 # 配置类定义
-@dataclass
+
 class MQConfig:
     """MQTT 配置类"""
     lab_id: str = "YOUR_LAB_ID"
@@ -34,7 +34,7 @@ class 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
-@dataclass
+
 class MQConfig:
     """MQTT 配置类"""
     lab_id: str = "7AAEDBEA"  # 实验室唯一标识
@@ -46,9 +46,9 @@ class MQConfig:
     port: int = 8883
     
     # 可以直接提供证书文件路径
-    ca_file: str = "/path/to/ca.pem"
-    cert_file: str = "/path/to/cert.pem"
-    key_file: str = "/path/to/key.pem"
+    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 = ""
@@ -74,22 +74,18 @@ MQTT连接支持两种方式配置证书：
 配置ROS消息转换器需要加载的模块：
 
 ```python
-@dataclass
+
 class ROSConfig:
     """ROS模块配置"""
-    modules: list = None
-    
-    def __post_init__(self):
-        if self.modules is None:
-            self.modules = [
-                "std_msgs.msg",
-                "geometry_msgs.msg",
-                "control_msgs.msg",
-                "control_msgs.action",
-                "nav2_msgs.action",
-                "unilabos_msgs.msg",
-                "unilabos_msgs.action",
-            ]
+    modules = [
+        "std_msgs.msg",
+        "geometry_msgs.msg",
+        "control_msgs.msg",
+        "control_msgs.action",
+        "nav2_msgs.action",
+        "unilabos_msgs.msg",
+        "unilabos_msgs.action",
+    ]
 ```
 
 您可以根据需要添加其他ROS模块。
@@ -106,14 +102,7 @@ class ROSConfig:
 unilab --config path/to/your/config.py
 ```
 
-## 环境变量覆盖
-
-某些配置项可以通过环境变量进行覆盖，这在不同环境部署时特别有用：
-
-```bash
-# 设置环境变量覆盖配置
-export UNILAB_LAB_ID="YOUR_LAB_ID"
-export UNILAB_MQTT_BROKER="mqtt-broker-address"
+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
 
 # 启动Uni-Lab
 python -m unilabos.app.main --config path/to/your/config.py

docs/user_guide/installation.md

@@ -6,7 +6,7 @@
 
 ```shell
 mamba env create -f unilabos-<YOUR_OS>.yaml
-mamba activate ilab
+mamba activate unilab
 ```
 
 其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`

example_devices.py

@@ -0,0 +1,588 @@
+"""
+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,
+        }

recipes/conda_build_config.yaml

@@ -1,3 +1,6 @@
+channel_sources:
+  - robostack,robostack-staging,conda-forge,defaults
+  
 gazebo:
   - '11'
 libpqxx:

recipes/macos_sdk_config.yaml

@@ -0,0 +1,7 @@
+CONDA_BUILD_SYSROOT:
+  - /Library/Developer/CommandLineTools/SDKs/MacOSX.sdk
+MACOSX_DEPLOYMENT_TARGET:
+  - "11.0"
+CONDA_SUBDIR:
+  - osx-arm64
+# boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs

recipes/msgs/bld_ament_cmake.bat

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

recipes/msgs/build_ament_cmake.sh

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

recipes/msgs/recipe.yaml

@@ -0,0 +1,76 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.10.3
+source:
+  path: ../../unilabos_msgs
+  target_directory: src
+
+build:
+  script:
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
+    - call %SRC_DIR%\bld_ament_cmake.bat
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
+    - bash $SRC_DIR/build_ament_cmake.sh
+
+about:
+  repository: https://github.com/dptech-corp/Uni-Lab-OS
+  license: BSD-3-Clause
+  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
+
+requirements:
+  build:
+  - ${{ compiler('cxx') }}
+  - ${{ compiler('c') }}
+  - python ==3.11.11
+  - numpy
+  - if: build_platform != target_platform
+    then:
+    - pkg-config
+    - cross-python_${{ target_platform }}
+  - if: linux and x86_64
+    then:
+    - sysroot_linux-64 ==2.17
+  - ninja
+  - setuptools
+  - cython
+  - cmake
+  - if: unix
+    then:
+    - make
+    - coreutils
+  - if: osx
+    then:
+    - tapi
+  - if: win
+    then:
+    - vs2022_win-64
+  host:
+  - numpy
+  - pip
+  - if: build_platform == target_platform
+    then:
+    - pkg-config
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-ament-cmake
+  - robostack-staging::ros-humble-ament-lint-auto
+  - robostack-staging::ros-humble-ament-lint-common
+  - robostack-staging::ros-humble-ros-environment
+  - robostack-staging::ros-humble-ros-workspace
+  - robostack-staging::ros-humble-rosidl-default-generators
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros2-distro-mutex=0.6
+  run:
+  - robostack-staging::ros-humble-action-msgs
+  - robostack-staging::ros-humble-ros-workspace
+  - robostack-staging::ros-humble-rosidl-default-runtime
+  - robostack-staging::ros-humble-std-msgs
+  - robostack-staging::ros-humble-geometry-msgs
+  - robostack-staging::ros2-distro-mutex=0.6
+  - if: osx and x86_64
+    then:
+    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

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

@@ -1,61 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.8.0
-source:
-  path: ../../unilabos_msgs
-  folder: ros-humble-unilabos-msgs/src/work
-
-build:
-  script:
-    sel(win): bld_ament_cmake.bat
-    sel(unix): build_ament_cmake.sh
-  number: 5
-about:
-  home: https://www.ros.org/
-  license: BSD-3-Clause
-  summary: |
-    Robot Operating System
-
-extra:
-  recipe-maintainers:
-    - ros-forge
-
-requirements:
-  build:
-    - "{{ compiler('cxx') }}"
-    - "{{ compiler('c') }}"
-    - sel(linux64): sysroot_linux-64 2.17
-    - ninja
-    - setuptools
-    - sel(unix): make
-    - sel(unix): coreutils
-    - sel(osx): tapi
-    - sel(build_platform != target_platform): pkg-config
-    - cmake
-    - cython
-    - sel(win): vs2022_win-64
-    - sel(build_platform != target_platform): python
-    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
-    - sel(build_platform != target_platform): numpy
-  host:
-    - numpy
-    - pip
-    - sel(build_platform == target_platform): pkg-config
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ament-cmake
-    - robostack-staging::ros-humble-ament-lint-auto
-    - robostack-staging::ros-humble-ament-lint-common
-    - robostack-staging::ros-humble-ros-environment
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-generators
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-  run:
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-runtime
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.6.*
-    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.8.0"
+  version: "0.10.3"
 
 source:
   path: ../..

setup.cfg

@@ -1,4 +1,2 @@
-[develop]
-script_dir=$base/lib/unilabos
 [install]
 install_scripts=$base/lib/unilabos

setup.py

@@ -1,32 +1,23 @@
 from setuptools import setup, find_packages
-from glob import glob
-import os
 
 package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.8.0',
+    version='0.10.3',
     packages=find_packages(),
-    # data_files=[
-    #     ('share/ament_index/resource_index/packages',
-    #         ['resource/' + package_name]),
-    #     ('share/' + package_name, ['package.xml']),
-    #     # (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
-    #     # (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
-    #     # (os.path.join('share', package_name, 'meshes'), glob('meshes/*')),
-    #     # (os.path.join('share', package_name, 'config'), glob('config/*'))
-    # ],
+    include_package_data=True,
     install_requires=['setuptools'],
     zip_safe=True,
     maintainer='Junhan Chang',
     maintainer_email='changjh@pku.edu.cn',
-    description='TODO: Package description',
-    license='TODO: License declaration',
+    description='',
+    license='GPL v3',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
             "unilab = unilabos.app.main:main",
+            "unilab-register = unilabos.app.register:main"
         ],
     },
 )

test/commands/resource_add.md

@@ -0,0 +1,11 @@
+使用plr_test.json启动，将Well加入Plate中
+
+```bash
+ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+```
+
+使用mock_all.json启动，重新捕获MockContainerForChiller1
+
+```bash
+ros2 action send_goal /devices/host_node/create_resource unilabos_msgs/action/_resource_create_from_outer_easy/ResourceCreateFromOuterEasy "{ 'res_id': 'MockContainerForChiller1', 'device_id': 'MockChiller1', 'class_name': 'container', 'parent': 'MockChiller1', 'bind_locations': { 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'liquid_input_slot': [ -1 ], 'liquid_type': [ 'CuCl2' ], 'liquid_volume': [ 100.0 ], 'slot_on_deck': '' }"
+```

test/experiments/HPLC.json

@@ -5,7 +5,7 @@
             "name": "HPLC",
             "parent": null,
             "type": "device",
-            "class": "hplc",
+            "class": "hplc.agilent",
             "position": {
                 "x": 620.6111111111111,
                 "y": 171,
@@ -19,8 +19,8 @@
         },
         {
             "id": "BottlesRack3",
-            "name": "Revvity上样盘3",
-            "parent": "Revvity",
+            "name": "上样盘3",
+            "parent": "HPLC",
             "type": "plate",
             "class": null,
             "position": {

test/experiments/Protocol_Test_Station/add_protocol_test_station.json

@@ -0,0 +1,563 @@
+{
+    "nodes": [
+        {
+            "id": "AddProtocolTestStation",
+            "name": "添加协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "stirrer_1",
+                "stirrer_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "collection_bottle_2"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol", "AddProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 750,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "试剂分配阀",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "反应器分配阀",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 750,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主反应器搅拌器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "stirrer_2",
+            "name": "副反应器搅拌器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 900,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER2",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮试剂瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 450,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "AddProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve2_main_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_secondary_reactor",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer_head",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_stirrer2_secondary_reactor",
+            "source": "stirrer_2",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_2": "stirrer_head",
+                "secondary_reactor": "stirrer_port"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/centrifuge_protocol_test_station.json

@@ -0,0 +1,438 @@
+{
+    "nodes": [
+        {
+            "id": "CentrifugeProtocolTestStation",
+            "name": "离心协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "centrifuge_1",
+                "reaction_mixture",
+                "centrifuge_tube",
+                "collection_bottle_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "CentrifugeProtocol",
+                    "PumpTransferProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_CENTRIFUGE1",
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "cell_suspension",
+                        "liquid_volume": 200.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "centrifuge_tube",
+            "name": "离心管",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 15.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "上清液收集瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "CentrifugeProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_centrifuge_tube",
+            "source": "multiway_valve_2",
+            "target": "centrifuge_tube",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "centrifuge_tube": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_centrifuge1_centrifuge_tube",
+            "source": "centrifuge_1",
+            "target": "centrifuge_tube",
+            "type": "transport",
+            "port": {
+                "centrifuge_1": "centrifuge",
+                "centrifuge_tube": "centrifuge_port"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/clean_vessel_protocol_test_station.json

@@ -0,0 +1,446 @@
+{
+    "nodes": [
+        {
+            "id": "CleanVesselProtocolTestStation",
+            "name": "容器清洗协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "heatchill_1",
+                "flask_water",
+                "flask_acetone",
+                "flask_ethanol",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "CleanVesselProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主清洗泵",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副清洗泵",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 450,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "容器分配阀",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 450,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热清洗器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 10.0,
+                "max_stir_speed": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 50,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 150,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 250,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 350,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "residue",
+                        "liquid_volume": 50.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "organic_residue",
+                        "liquid_volume": 30.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "清洗废液瓶",
+            "children": [],
+            "parent": "CleanVesselProtocolTestStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 700,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+        "links": [
+        {
+            "id": "link_pump1_to_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_to_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_to_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_to_valve2_for_cleaning",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "multiway_valve_2": "8"
+            }
+        },
+        {
+            "id": "link_valve2_to_main_reactor_in",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "top"
+            }
+        },
+        {
+            "id": "link_valve2_to_secondary_reactor_in",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "top"
+            }
+        },
+        {
+            "id": "link_main_reactor_out_to_valve2",
+            "source": "main_reactor",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "main_reactor": "bottom",
+                "multiway_valve_2": "6"
+            }
+        },
+        {
+            "id": "link_secondary_reactor_out_to_valve2",
+            "source": "secondary_reactor",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "secondary_reactor": "bottom",
+                "multiway_valve_2": "7"
+            }
+        },
+        {
+            "id": "link_valve2_to_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "waste_workup": "top"
+            }
+        },
+        {
+            "id": "link_heatchill1_to_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "main_reactor": "bind"
+            }
+        },
+        {
+            "id": "link_heatchill1_to_secondary_reactor",
+            "source": "heatchill_1",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "secondary_reactor": "bind"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/dual_valve_pump_test_station.json

@@ -0,0 +1,367 @@
+{
+    "nodes": [
+        {
+            "id": "DualValvePumpStation",
+            "name": "双阀门泵站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_air",
+                "main_reactor",
+                "waste_workup",
+                "collection_bottle_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 700,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "第一个八通阀",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "第二个八通阀",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 700,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "DualValvePumpStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve2_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/evacuateandrefill_test_station.json

@@ -0,0 +1,557 @@
+{
+    "nodes": [
+        {
+            "id": "EvacuateRefillTestStation",
+            "name": "抽真空充气测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_air",
+                "vacuum_pump_1",
+                "gas_source_nitrogen",
+                "gas_source_air",
+                "solenoid_valve_vacuum",
+                "solenoid_valve_gas",
+                "main_reactor",
+                "stirrer_1",
+                "waste_workup",
+                "collection_bottle_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 700,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "第一个八通阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "第二个八通阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 700,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "vacuum_pump_1",
+            "name": "真空泵1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_vacuum_pump",
+            "position": {
+                "x": 150,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VACUUM1",
+                "max_pressure": -0.9
+            },
+            "data": {
+                "status": "OFF",
+                "pressure": 0.0
+            }
+        },
+        {
+            "id": "gas_source_nitrogen",
+            "name": "氮气源",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 850,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_GAS_N2",
+                "gas_type": "nitrogen",
+                "max_pressure": 5.0
+            },
+            "data": {
+                "status": "OFF",
+                "flow_rate": 0.0
+            }
+        },
+        {
+            "id": "gas_source_air",
+            "name": "空气源",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 950,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_GAS_AIR",
+                "gas_type": "air",
+                "max_pressure": 3.0
+            },
+            "data": {
+                "status": "OFF",
+                "flow_rate": 0.0
+            }
+        },
+        {
+            "id": "solenoid_valve_vacuum",
+            "name": "真空电磁阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 225,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_SOLENOID_VACUUM"
+            },
+            "data": {
+                "valve_position": "CLOSED"
+            }
+        },
+        {
+            "id": "solenoid_valve_gas",
+            "name": "气源电磁阀",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 775,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_SOLENOID_GAS"
+            },
+            "data": {
+                "valve_position": "CLOSED"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "OFF"
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "EvacuateRefillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_vacuum_solenoid",
+            "source": "vacuum_pump_1",
+            "target": "solenoid_valve_vacuum",
+            "type": "fluid",
+            "port": {
+                "vacuum_pump_1": "outlet",
+                "solenoid_valve_vacuum": "inlet"
+            }
+        },
+        {
+            "id": "link_solenoid_vacuum_valve1",
+            "source": "solenoid_valve_vacuum",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "solenoid_valve_vacuum": "outlet",
+                "multiway_valve_1": "7"
+            }
+        },
+        {
+            "id": "link_gas_solenoid",
+            "source": "gas_source_nitrogen",
+            "target": "solenoid_valve_gas",
+            "type": "fluid",
+            "port": {
+                "gas_source_nitrogen": "outlet",
+                "solenoid_valve_gas": "inlet"
+            }
+        },
+        {
+            "id": "link_solenoid_gas_valve2",
+            "source": "solenoid_valve_gas",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "solenoid_valve_gas": "outlet",
+                "multiway_valve_2": "8"
+            }
+        },
+        {
+            "id": "link_air_source_valve2",
+            "source": "gas_source_air",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "gas_source_air": "outlet",
+                "multiway_valve_2": "2"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve2_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer",
+                "main_reactor": "stirrer"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/evaporate_protocol_test_station.json

@@ -0,0 +1,503 @@
+{
+    "nodes": [
+        {
+            "id": "EvaporateProtocolTestStation",
+            "name": "蒸发协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "rotavap_1",
+                "heatchill_1",
+                "reaction_mixture",
+                "rotavap_flask",
+                "rotavap_condenser",
+                "flask_distillate",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "EvaporateProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.5
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "容器分配阀",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "rotavap_1",
+            "name": "旋转蒸发仪",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_rotavap",
+            "position": {
+                "x": 700,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_ROTAVAP1",
+                "max_temp": 180.0,
+                "max_rotation_speed": 280.0
+            },
+            "data": {
+                "status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "预加热器",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 100,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 10.0,
+                "max_stir_speed": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "reaction_mixture",
+                        "liquid_volume": 600.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "rotavap_flask",
+            "name": "旋蒸样品瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "rotavap_condenser",
+            "name": "旋蒸冷凝器",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_distillate",
+            "name": "溶剂回收瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "EvaporateProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_rotavap_flask",
+            "source": "multiway_valve_2",
+            "target": "rotavap_flask",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "rotavap_flask": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_rotavap_condenser",
+            "source": "multiway_valve_2",
+            "target": "rotavap_condenser",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "rotavap_condenser": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_distillate",
+            "source": "multiway_valve_2",
+            "target": "flask_distillate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "flask_distillate": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_rotavap1_rotavap_flask",
+            "source": "rotavap_1",
+            "target": "rotavap_flask",
+            "type": "fluid",
+            "port": {
+                "rotavap_1": "rotavap-sample",
+                "rotavap_flask": "rotavap_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_reaction_mixture",
+            "source": "heatchill_1",
+            "target": "reaction_mixture",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "reaction_mixture": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/filter_protocol_test_station.json

@@ -0,0 +1,534 @@
+{
+    "nodes": [
+        {
+            "id": "FilterProtocolTestStation",
+            "name": "过滤协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "filter_1",
+                "heatchill_1",
+                "reaction_mixture",
+                "filter_vessel",
+                "filtrate_vessel",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "FilterProtocol",
+                    "PumpTransferProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_FILTER1",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0,
+                "max_volume": 500.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热搅拌器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 100.0,
+                "min_temp": 4.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "cell_suspension",
+                        "liquid_volume": 200.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filter_vessel",
+            "name": "过滤器容器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "filtrate_vessel",
+            "name": "滤液收集容器",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "FilterProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_filter_vessel",
+            "source": "multiway_valve_2",
+            "target": "filter_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "filter_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_filtrate_vessel",
+            "source": "multiway_valve_2",
+            "target": "filtrate_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "filtrate_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_filter1_filter_vessel",
+            "source": "filter_1",
+            "target": "filter_vessel",
+            "type": "transport",
+            "port": {
+                "filter_1": "filter",
+                "filter_vessel": "filter_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_filter_vessel",
+            "source": "heatchill_1",
+            "target": "filter_vessel",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "filter_vessel": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/heatchill_protocol_test_station.json

@@ -0,0 +1,671 @@
+{
+    "nodes": [
+        {
+            "id": "HeatChillProtocolTestStation",
+            "name": "加热冷却协议测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2", 
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "stirrer_1",
+                "stirrer_2",
+                "heatchill_1",
+                "heatchill_2",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "flask_acetone",
+                "flask_water",
+                "flask_ethanol",
+                "flask_air",
+                "main_reactor",
+                "secondary_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "collection_bottle_2"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "PumpTransferProtocol", 
+                    "AddProtocol", 
+                    "HeatChillProtocol", 
+                    "HeatChillStartProtocol", 
+                    "HeatChillStopProtocol",
+                    "DissolveProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 250,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "转移泵2",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 750,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "试剂分配阀",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 250,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "反应器分配阀",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 750,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主反应器搅拌器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "stirrer_2",
+            "name": "副反应器搅拌器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 900,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER2",
+                "max_speed": 1500.0,
+                "default_speed": 300.0
+            },
+            "data": {
+                "speed": 0.0,
+                "status": "Stopped"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "主反应器加热冷却器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 550,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_2",
+            "name": "副反应器加热冷却器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 850,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL2",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 50,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+                {
+            "id": "flask_ethanol",
+            "name": "乙醇试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 650,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮试剂瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 350,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 450,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "HeatChillProtocolTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve1_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve2_main_reactor",
+            "source": "multiway_valve_2",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_secondary_reactor",
+            "source": "multiway_valve_2",
+            "target": "secondary_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "secondary_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_waste",
+            "source": "multiway_valve_2",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection1",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_collection2",
+            "source": "multiway_valve_2",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer_head",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_stirrer2_secondary_reactor",
+            "source": "stirrer_2",
+            "target": "secondary_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_2": "stirrer_head",
+                "secondary_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "thermal",
+            "port": {
+                "heatchill_1": "heating_surface",
+                "main_reactor": "heating_jacket"
+            }
+        },
+        {
+            "id": "link_heatchill2_secondary_reactor",
+            "source": "heatchill_2",
+            "target": "secondary_reactor",
+            "type": "thermal",
+            "port": {
+                "heatchill_2": "heating_surface",
+                "secondary_reactor": "heating_jacket"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "flask_ethanol": "outlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/pumptransfer_filterthrough_test_station.json

@@ -0,0 +1,778 @@
+{
+    "nodes": [
+        {
+            "id": "PumpTransferFilterThroughTestStation",
+            "name": "泵转移+过滤介质测试站",
+            "children": [
+                "transfer_pump_1",
+                "transfer_pump_2",
+                "multiway_valve_1",
+                "multiway_valve_2",
+                "reaction_mixture",
+                "crude_product",
+                "filter_celite",
+                "column_silica_gel",
+                "filter_C18",
+                "pure_product",
+                "collection_bottle_1",
+                "collection_bottle_2",
+                "collection_bottle_3",
+                "intermediate_vessel_1",
+                "intermediate_vessel_2",
+                "flask_water",
+                "flask_ethanol",
+                "flask_methanol",
+                "flask_ethyl_acetate",
+                "flask_acetone",
+                "flask_hexane",
+                "flask_air",
+                "waste_workup"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "PumpTransferProtocol",
+                    "FilterThroughProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "主转移泵",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 200,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "transfer_pump_2",
+            "name": "副转移泵",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 400,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP2",
+                "max_volume": 25.0,
+                "transfer_rate": 2.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "溶剂分配阀",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 200,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "multiway_valve_2",
+            "name": "样品分配阀",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 400,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE2",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "reaction_mixture",
+            "name": "反应混合物",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "organic_reaction_mixture",
+                        "liquid_volume": 250.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "crude_product",
+            "name": "粗产品",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "crude_organic_compound",
+                        "liquid_volume": 150.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filter_celite",
+            "name": "硅藻土过滤器",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 300.0,
+                "filter_type": "celite_pad"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "column_silica_gel",
+            "name": "硅胶柱",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 200.0,
+                "filter_type": "silica_gel_column"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "filter_C18",
+            "name": "C18固相萃取柱",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 100.0,
+                "filter_type": "C18_cartridge"
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "pure_product",
+            "name": "纯产品",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 550,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "intermediate_vessel_1",
+            "name": "中间容器1",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "intermediate_vessel_2",
+            "name": "中间容器2",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "蒸馏水瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 900.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 500,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "acetone",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "PumpTransferFilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 600,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump1_valve1",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_pump2_valve2",
+            "source": "transfer_pump_2",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_2": "transferpump",
+                "multiway_valve_2": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve1_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve1_water",
+            "source": "multiway_valve_1",
+            "target": "flask_water",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_water": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethanol",
+            "source": "multiway_valve_1",
+            "target": "flask_ethanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_acetone",
+            "source": "multiway_valve_1",
+            "target": "flask_acetone",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "flask_acetone": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_hexane",
+            "source": "multiway_valve_1",
+            "target": "flask_hexane",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "flask_hexane": "outlet"
+            }
+        },
+        {
+            "id": "link_valve1_valve2",
+            "source": "multiway_valve_1",
+            "target": "multiway_valve_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "multiway_valve_2": "1"
+            }
+        },
+        {
+            "id": "link_valve2_reaction_mixture",
+            "source": "multiway_valve_2",
+            "target": "reaction_mixture",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "2",
+                "reaction_mixture": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_crude_product",
+            "source": "multiway_valve_2",
+            "target": "crude_product",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "3",
+                "crude_product": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_intermediate1",
+            "source": "multiway_valve_2",
+            "target": "intermediate_vessel_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "4",
+                "intermediate_vessel_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_intermediate2",
+            "source": "multiway_valve_2",
+            "target": "intermediate_vessel_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "5",
+                "intermediate_vessel_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_celite",
+            "source": "multiway_valve_2",
+            "target": "filter_celite",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "6",
+                "filter_celite": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_silica_gel",
+            "source": "multiway_valve_2",
+            "target": "column_silica_gel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "7",
+                "column_silica_gel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve2_C18",
+            "source": "multiway_valve_2",
+            "target": "filter_C18",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_2": "8",
+                "filter_C18": "inlet"
+            }
+        },
+        {
+            "id": "link_celite_collection1",
+            "source": "filter_celite",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "filter_celite": "outlet",
+                "collection_bottle_1": "inlet"
+            }
+        },
+        {
+            "id": "link_silica_gel_collection2",
+            "source": "column_silica_gel",
+            "target": "collection_bottle_2",
+            "type": "fluid",
+            "port": {
+                "column_silica_gel": "outlet",
+                "collection_bottle_2": "inlet"
+            }
+        },
+        {
+            "id": "link_C18_collection3",
+            "source": "filter_C18",
+            "target": "collection_bottle_3",
+            "type": "fluid",
+            "port": {
+                "filter_C18": "outlet",
+                "collection_bottle_3": "inlet"
+            }
+        },
+        {
+            "id": "link_collection1_pure_product",
+            "source": "collection_bottle_1",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_1": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_collection2_pure_product",
+            "source": "collection_bottle_2",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_2": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_collection3_pure_product",
+            "source": "collection_bottle_3",
+            "target": "pure_product",
+            "type": "fluid",
+            "port": {
+                "collection_bottle_3": "outlet",
+                "pure_product": "inlet"
+            }
+        },
+        {
+            "id": "link_waste_connection",
+            "source": "pure_product",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "pure_product": "waste_outlet",
+                "waste_workup": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/pumptransfer_test_station.json

@@ -0,0 +1,304 @@
+{
+    "nodes": [
+        {
+            "id": "SimpleProtocolStation",
+            "name": "简单协议工作站",
+            "children": [
+                "transfer_pump_1",
+                "multiway_valve_1",
+                "flask_DMF",
+                "flask_ethyl_acetate", 
+                "flask_methanol",
+                "main_reactor",
+                "waste_workup",
+                "collection_bottle_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 500,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "position": 0.0,
+                "status": "Idle",
+                "valve_position": "0"
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 500,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "flask_DMF",
+            "name": "DMF试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇试剂瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 800.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_workup",
+            "name": "废液处理瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_bottle_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "SimpleProtocolStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump_valve",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump", 
+                "multiway_valve_1": "transferpump"  
+            }
+        },
+        {
+            "id": "link_valve_air",
+            "source": "multiway_valve_1",
+            "target": "flask_air",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_air": "top"
+            }
+        },
+        {
+            "id": "link_valve_DMF",
+            "source": "multiway_valve_1",
+            "target": "flask_DMF",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_DMF": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_reactor",
+            "source": "multiway_valve_1",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "main_reactor": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_waste",
+            "source": "multiway_valve_1",
+            "target": "waste_workup",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "waste_workup": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection",
+            "source": "multiway_valve_1",
+            "target": "collection_bottle_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "collection_bottle_1": "inlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/run_column_protocol_test_station.json

@@ -0,0 +1,432 @@
+{
+    "nodes": [
+        {
+            "id": "RunColumnTestStation",
+            "name": "柱层析测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "multiway_valve_1",
+                "column_1",
+                "flask_sample",
+                "flask_hexane",
+                "flask_ethyl_acetate",
+                "flask_methanol",
+                "column_vessel",
+                "collection_flask_1",
+                "collection_flask_2",
+                "collection_flask_3",
+                "waste_flask",
+                "main_reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["RunColumnProtocol", "PumpTransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_PUMP1",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "position": 0.0
+            }
+        },
+        {
+            "id": "multiway_valve_1",
+            "name": "八通阀门",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 300,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_VALVE1",
+                "positions": 8
+            },
+            "data": {
+                "current_position": 1
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "柱层析设备",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_COLUMN1",
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5
+            },
+            "data": {
+                "status": "Idle",
+                "column_state": "Ready"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_mixture",
+                        "volume": 200.0,
+                        "concentration": 70.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 200,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "hexane",
+                        "volume": 1500.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethyl_acetate",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "column_vessel",
+            "name": "柱容器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 300.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 800,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 500,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 600,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "reaction_mixture",
+                        "volume": 300.0,
+                        "concentration": 85.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_pump_valve",
+            "source": "transfer_pump_1",
+            "target": "multiway_valve_1",
+            "type": "fluid",
+            "port": {
+                "transfer_pump_1": "transferpump",
+                "multiway_valve_1": "transferpump"
+            }
+        },
+        {
+            "id": "link_valve_sample",
+            "source": "multiway_valve_1",
+            "target": "flask_sample",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "1",
+                "flask_sample": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_hexane",
+            "source": "multiway_valve_1",
+            "target": "flask_hexane",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "2",
+                "flask_hexane": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_ethyl_acetate",
+            "source": "multiway_valve_1",
+            "target": "flask_ethyl_acetate",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "3",
+                "flask_ethyl_acetate": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_methanol",
+            "source": "multiway_valve_1",
+            "target": "flask_methanol",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "4",
+                "flask_methanol": "outlet"
+            }
+        },
+        {
+            "id": "link_valve_column_vessel",
+            "source": "multiway_valve_1",
+            "target": "column_vessel",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "5",
+                "column_vessel": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection1",
+            "source": "multiway_valve_1",
+            "target": "collection_flask_1",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "6",
+                "collection_flask_1": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_collection2",
+            "source": "multiway_valve_1",
+            "target": "collection_flask_2",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "7",
+                "collection_flask_2": "inlet"
+            }
+        },
+        {
+            "id": "link_valve_waste",
+            "source": "multiway_valve_1",
+            "target": "waste_flask",
+            "type": "fluid",
+            "port": {
+                "multiway_valve_1": "8",
+                "waste_flask": "inlet"
+            }
+        },
+        {
+            "id": "link_column_device_vessel",
+            "source": "column_1",
+            "target": "column_vessel",
+            "type": "transport",
+            "port": {
+                "column_1": "columnin",
+                "column_vessel": "column_port"
+            }
+        },
+        {
+            "id": "link_column_collection3",
+            "source": "column_1",
+            "target": "collection_flask_3",
+            "type": "transport",
+            "port": {
+                "column_1": "columnout",
+                "collection_flask_3": "column_outlet"
+            }
+        }
+    ]
+}

test/experiments/Protocol_Test_Station/simple_stir_heatchill_test_station.json

@@ -0,0 +1,141 @@
+{
+    "nodes": [
+        {
+            "id": "SimpleStirHeatChillTestStation",
+            "name": "搅拌加热测试站",
+            "children": [
+                "stirrer_1",
+                "heatchill_1",
+                "main_reactor",
+                "secondary_reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 500,
+                "y": 200,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "StirProtocol",
+                    "StartStirProtocol", 
+                    "StopStirProtocol",
+                    "HeatChillProtocol", 
+                    "HeatChillStartProtocol", 
+                    "HeatChillStopProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "stirrer_1",
+            "name": "主搅拌器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 400,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_STIRRER1",
+                "max_speed": 1500.0,
+                "min_speed": 50.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "主加热冷却器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 600,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL_HEATCHILL1",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "main_reactor",
+            "name": "主反应器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 500,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 500.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "secondary_reactor",
+            "name": "副反应器",
+            "children": [],
+            "parent": "SimpleStirHeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 700,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "id": "link_stirrer1_main_reactor",
+            "source": "stirrer_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "stirrer_1": "stirrer",
+                "main_reactor": "stirrer_port"
+            }
+        },
+        {
+            "id": "link_heatchill1_main_reactor",
+            "source": "heatchill_1",
+            "target": "main_reactor",
+            "type": "mechanical",
+            "port": {
+                "heatchill_1": "heatchill",
+                "main_reactor": "heating_jacket"
+            }
+        }
+    ]
+}

test/experiments/biomek.json

@@ -0,0 +1,22 @@
+{
+    "nodes": [
+        {
+            "id": "BIOMEK",
+            "name": "BIOMEK",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler.biomek",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {},
+            "children": [
+            ]
+        }
+    ],
+    "links": []
+}

test/experiments/camera.json

@@ -0,0 +1,45 @@
+{
+    "nodes": [
+        {
+            "id": "Camera",
+            "name": "摄像头",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "camera",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "camera_index": 0,
+                "period": 0.05
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "Gripper1",
+            "name": "假夹爪",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "gripper.mock",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

test/experiments/comprehensive_protocol/checklist.md

@@ -0,0 +1,258 @@
+1. 用到的仪器
+                virtual_multiway_valve(√)                                                     八通阀门
+                virtual_transfer_pump(√)                                                        转移泵
+                virtual_centrifuge()                                                            离心机
+                virtual_rotavap()                                                               旋蒸仪
+                virtual_heatchill()                                                             加热器
+                virtual_stirrer()                                                               搅拌器
+                virtual_solenoid_valve()                                                        电磁阀
+                virtual_vacuum_pump(√)                       vacuum_pump.mock                            真空泵
+                virtual_gas_source(√)                                                                    气源
+                virtual_filter()                                                                过滤器
+                virtual_column(√)                                                               层析柱
+                separator()                         homemade_grbl_conductivity                  分液漏斗
+2. 用到的protocol
+    PumpTransferProtocol: generate_pump_protocol_with_rinsing,                      (√)
+    这个重复了，删掉CleanProtocol: generate_clean_protocol,
+    SeparateProtocol: generate_separate_protocol,                           (×)
+    EvaporateProtocol: generate_evaporate_protocol,                                 (√)
+    EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,                 (√)
+    CentrifugeProtocol: generate_centrifuge_protocol,                               (√)
+    AddProtocol: generate_add_protocol,                                             (√)
+    FilterProtocol: generate_filter_protocol,                                       (√)
+    HeatChillProtocol: generate_heat_chill_protocol,                                (√)
+    HeatChillStartProtocol: generate_heat_chill_start_protocol,                     (√)
+    HeatChillStopProtocol: generate_heat_chill_stop_protocol,                       (√)
+    HeatChillToTempProtocol:
+    StirProtocol: generate_stir_protocol,                                           (√)
+    StartStirProtocol: generate_start_stir_protocol,                                (√)
+    StopStirProtocol: generate_stop_stir_protocol,                                  (√)
+    这个重复了，删掉TransferProtocol: generate_transfer_protocol,
+    CleanVesselProtocol: generate_clean_vessel_protocol,                            (√)
+    DissolveProtocol: generate_dissolve_protocol,                                   (√)
+    FilterThroughProtocol: generate_filter_through_protocol,                        (√)
+    RunColumnProtocol: generate_run_column_protocol,                                (√)<RunColumn Rf="?" column="column" from_vessel="rotavap" ratio="5:95" solvent1="methanol" solvent2="chloroform" to_vessel="rotavap"/>
+
+上下文体积搜索
+3. 还没创建的protocol
+    ResetHandling                         写完了                               <ResetHandling solvent="methanol"/>
+    Dry                                  写完了                                 <Dry compound="product" vessel="filter"/>
+    AdjustPH                               写完了                                <AdjustPH pH="8.0" reagent="hydrochloric acid" vessel="main_reactor"/>
+    Recrystallize                          写完了                              <Recrystallize ratio="?" solvent1="dichloromethane" solvent2="methanol" vessel="filter" volume="?"/>
+    TakeSample                                                                  <TakeSample id="a" vessel="rotavap"/>
+    Hydrogenate                                                                 <Hydrogenate temp="45 °C" time="?" vessel="main_reactor"/>
+4. 参数对齐
+
+
+
+
+
+
+
+
+
+
+class PumpTransferProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    volume: float
+    amount: str = ""
+    time: float = 0
+    viscous: bool = False
+    rinsing_solvent: str = "air"        <Transfer from_vessel="main_reactor" to_vessel="rotavap"/>
+    rinsing_volume: float = 5000        <Transfer event="A" from_vessel="reactor" rate_spec="dropwise" to_vessel="main_reactor"/>
+    rinsing_repeats: int = 2            <Transfer from_vessel="separator" through="cartridge" to_vessel="rotavap"/>
+    solid: bool = False                 测完了三个都能跑✅
+    flowrate: float = 500
+    transfer_flowrate: float = 2500
+
+class SeparateProtocol(BaseModel):
+    purpose: str
+    product_phase: str
+    from_vessel: str
+    separation_vessel: str
+    to_vessel: str
+    waste_phase_to_vessel: str
+    solvent: str
+    solvent_volume: float               <Separate product_phase="bottom" purpose="wash" solvent="water" vessel="separator" volume="?"/>
+    through: str                        <Separate product_phase="top" purpose="separate" vessel="separator"/>
+    repeats: int                        <Separate product_phase="bottom" purpose="extract" repeats="3" solvent="CH2Cl2" vessel="separator" volume="?"/>
+    stir_time: float                    <Separate product_phase="top" product_vessel="flask" purpose="separate" vessel="separator" waste_vessel="separator"/>
+    stir_speed: float
+    settling_time: float                测完了能跑✅
+
+
+class EvaporateProtocol(BaseModel):
+    vessel: str
+    pressure: float
+    temp: float                         <Evaporate solvent="ethanol" vessel="rotavap"/>
+    time: float                         测完了能跑✅
+    stir_speed: float
+
+
+class EvacuateAndRefillProtocol(BaseModel):
+    vessel: str
+    gas: str                            <EvacuateAndRefill gas="nitrogen" vessel="main_reactor"/>
+    repeats: int                        测完了能跑✅
+
+class AddProtocol(BaseModel):
+    vessel: str
+    reagent: str
+    volume: float
+    mass: float
+    amount: str
+    time: float
+    stir: bool
+    stir_speed: float                   <Add reagent="ethanol" vessel="main_reactor" volume="2.7 mL"/>
+    <Add event="A" mass="19.3 g" mol="0.28 mol" rate_spec="portionwise" reagent="sodium nitrite" time="1 h" vessel="main_reactor"/>
+    <Add mass="4.5 g" mol="16.2 mmol" reagent="(S)-2-phthalimido-6-hydroxyhexanoic acid" vessel="main_reactor"/>
+    <Add purpose="dilute" reagent="hydrochloric acid" vessel="main_reactor" volume="?"/>
+    <Add equiv="1.1" event="B" mol="25.2 mmol" rate_spec="dropwise" reagent="1-fluoro-2-nitrobenzene" time="20 min" 
+    vessel="main_reactor" volume="2.67 mL"/>
+    <Add ratio="?" reagent="tetrahydrofuran|tert-butanol" vessel="main_reactor" volume="?"/>
+    viscous: bool
+    purpose: str                        测完了能跑✅
+
+class CentrifugeProtocol(BaseModel):
+    vessel: str
+    speed: float
+    time: float                         没毛病
+    temp: float
+
+class FilterProtocol(BaseModel):
+    vessel: str
+    filtrate_vessel: str
+    stir: bool                          <Filter vessel="filter"/>
+    stir_speed: float                   <Filter filtrate_vessel="rotavap" vessel="filter"/>
+    temp: float                         测完了能跑✅
+    continue_heatchill: bool
+    volume: float
+
+class HeatChillProtocol(BaseModel):
+    vessel: str
+    temp: float
+    time: float                         <HeatChill pressure="1 mbar" temp_spec="room temperature" time="?" vessel="main_reactor"/>
+                                        <HeatChill temp_spec="room temperature" time_spec="overnight" vessel="main_reactor"/>
+                                        <HeatChill temp="256 °C" time="?" vessel="main_reactor"/>
+                                        <HeatChill reflux_solvent="methanol" temp_spec="reflux" time="2 h" vessel="main_reactor"/>
+                                        <HeatChillToTemp temp_spec="room temperature" vessel="main_reactor"/>
+    stir: bool                          测完了能跑✅
+    stir_speed: float
+    purpose: str
+
+class HeatChillStartProtocol(BaseModel):
+    vessel: str
+    temp: float                     疑似没有
+    purpose: str
+
+class HeatChillStopProtocol(BaseModel):
+    vessel: str                     疑似没有
+
+class StirProtocol(BaseModel):
+    stir_time: float
+    stir_speed: float               <Stir time="0.5 h" vessel="main_reactor"/>
+                                    <Stir event="A" time="30 min" vessel="main_reactor"/>
+                                    <Stir time_spec="several minutes" vessel="filter"/>
+    settling_time: float            测完了能跑✅
+
+class StartStirProtocol(BaseModel):
+    vessel: str
+    stir_speed: float               疑似没有
+    purpose: str
+
+class StopStirProtocol(BaseModel):
+    vessel: str                     疑似没有
+
+class TransferProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    volume: float
+    amount: str = ""
+    time: float = 0
+    viscous: bool = False   
+    rinsing_solvent: str = ""
+    rinsing_volume: float = 0.0
+    rinsing_repeats: int = 0
+    solid: bool = False             这个protocol早该删掉了
+
+class CleanVesselProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float
+    temp: float
+    repeats: int = 1                    <CleanVessel vessel="centrifuge"/>
+
+class DissolveProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float       <Dissolve mass="2.9 g" mol="0.12 mol" reagent="magnesium" vessel="main_reactor"/>
+    amount: str = ""    <Dissolve mass="12.9 g" reagent="4-tert-butylbenzyl bromide" vessel="main_reactor"/>
+    temp: float = 25.0  <Dissolve solvent="diisopropyl ether" vessel="rotavap" volume="?"/>
+    time: float = 0.0   <Dissolve event="A" mass="?" reagent="pyridinone" vessel="main_reactor"/>
+    stir_speed: float = 0.0     测完了能跑✅
+
+class FilterThroughProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str
+    filter_through: str
+    eluting_solvent: str = ""
+    eluting_volume: float = 0.0                 疑似没有
+    eluting_repeats: int = 0
+    residence_time: float = 0.0
+
+class RunColumnProtocol(BaseModel):
+    from_vessel: str
+    to_vessel: str              <RunColumn Rf="?" column="column" from_vessel="rotavap" pct1="40 %" pct2="50 %" solvent1="ethyl acetate" solvent2="hexane" to_vessel="rotavap"/>
+    column: str                 测完了能跑✅
+
+class WashSolidProtocol(BaseModel):
+    vessel: str
+    solvent: str
+    volume: float
+    filtrate_vessel: str = ""   <WashSolid repeats="4" solvent="water" vessel="main_reactor" volume="400 mL"/>
+    temp: float = 25.0          <WashSolid filtrate_vessel="rotavap" solvent="formic acid" vessel="main_reactor" volume="?"/>
+    stir: bool = False          <WashSolid solvent="acetone" vessel="rotavap" volume="5 mL"/>
+                                <WashSolid solvent="ethyl alcohol" vessel="main_reactor" volume_spec="small volume"/>
+                                <WashSolid filtrate_vessel="rotavap" mass="10 g" solvent="toluene" vessel="separator"/>
+                                <WashSolid repeats_spec="several" solvent="water" vessel="main_reactor" volume="?"/>
+    stir_speed: float = 0.0     测完了能跑✅
+    time: float = 0.0
+    repeats: int = 1
+
+class AdjustPHProtocol(BaseModel):
+    vessel: str = Field(..., description="目标容器")
+    ph_value: float = Field(..., description="目标pH值")  # 改为 ph_value
+    reagent: str = Field(..., description="酸碱试剂名称")
+    # 移除其他可选参数，使用默认值                                                   <新写的，没问题>
+
+class ResetHandlingProtocol(BaseModel):
+    solvent: str = Field(..., description="溶剂名称")                               <新写的，没问题>
+
+class DryProtocol(BaseModel):
+    compound: str = Field(..., description="化合物名称")                            <新写的，没问题>
+    vessel: str = Field(..., description="目标容器")
+
+class RecrystallizeProtocol(BaseModel):
+    ratio: str = Field(..., description="溶剂比例（如 '1:1', '3:7'）")
+    solvent1: str = Field(..., description="第一种溶剂名称")                        <新写的，没问题>
+    solvent2: str = Field(..., description="第二种溶剂名称")
+    vessel: str = Field(..., description="目标容器")
+    volume: float = Field(..., description="总体积 (mL)")
+
+class HydrogenateProtocol(BaseModel):
+    temp: str = Field(..., description="反应温度（如 '45 °C'）")
+    time: str = Field(..., description="反应时间（如 '2 h'）")                          <新写的，没问题>
+    vessel: str = Field(..., description="反应容器")
+
+    还差
+    <dissolve>
+    <separate>
+    <CleanVessel vessel="centrifuge"/>
+
+
+单位修复：
+    evaporate
+    heatchill
+    recrysitallize
+    stir
+    wash solid

test/experiments/comprehensive_protocol/comprehensive_slim.json

@@ -0,0 +1,69 @@
+{
+    "nodes": [
+        {
+            "id": "OrganicSynthesisStation",
+            "name": "有机化学流程综合测试工作站",
+            "children": [
+                "heater_1"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 600,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": [
+                    "AddProtocol",
+                    "StartStirProtocol",
+                    "StopStirProtocol",
+                    "StirProtocol",
+                    "RunColumnProtocol",
+                    "CentrifugeProtocol",
+                    "FilterProtocol",
+                    "CleanVesselProtocol",
+                    "DissolveProtocol",
+                    "FilterThroughProtocol",
+                    "WashSolidProtocol",
+                    "SeparateProtocol",
+                    "EvaporateProtocol",
+                    "HeatChillProtocol",
+                    "HeatChillStartProtocol",
+                    "HeatChillStopProtocol",
+                    "EvacuateAndRefillProtocol",
+                    "PumpTransferProtocol",
+                    "AdjustPHProtocol",
+                    "ResetHandlingProtocol",
+                    "DryProtocol",
+                    "HydrogenateProtocol",
+                    "RecrystallizeProtocol"
+                ]
+            },
+            "data": {}
+        },
+        {
+            "id": "heater_1",
+            "name": "加热器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 450,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "max_temp": 200.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_all.json

@@ -0,0 +1,314 @@
+{
+    "nodes": [
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [
+                "MockContainerForChiller1"
+            ],
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        },
+        {
+            "id": "MockContainerForChiller1",
+            "name": "模拟容器",
+            "type": "container",
+            "parent": "MockChiller1",
+            "position": {
+                "x": 5,
+                "y": 0,
+                "z": 0
+            },
+            "data": {
+                "liquid_type": "CuCl2",
+                "liquid_volume": "100"
+            },
+            "children": []
+        },
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        },
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        },
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        },
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        },
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        },
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        },
+        {  
+            "id": "MockStirrer1NEW",  
+            "name": "模拟搅拌器(new)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        },
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        },
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_chiller.json

@@ -0,0 +1,30 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockChiller1",  
+            "name": "模拟冷却器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_chiller",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_cooling": false,  
+                "is_heating": false,
+                "vessel": "",
+                "purpose": ""
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_filter.json

@@ -0,0 +1,36 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockFilter1",  
+            "name": "模拟过滤器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_filter",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "is_filtering": false,  
+                "flow_rate": 0.0,
+                "filter_life": 100.0,
+                "vessel": "",
+                "filtrate_vessel": "",
+                "filtered_volume": 0.0,
+                "target_volume": 0.0,
+                "progress": 0.0,
+                "stir": false,
+                "stir_speed": 0.0,
+                "temperature": 25.0,
+                "continue_heatchill": false
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_heater.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockHeater1",  
+            "name": "模拟加热器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_heater",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "current_temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "status": "Idle",  
+                "is_heating": false,  
+                "heating_power": 0.0,  
+                "max_temperature": 300.0,
+                "vessel": "Unknown",
+                "purpose": "Unknown",
+                "stir": false,
+                "stir_speed": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_pump.json

@@ -0,0 +1,44 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockPump1",  
+            "name": "模拟泵设备",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_pump",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "current_device": "MockPump1",
+                "pump_state": "Stopped",  
+                "flow_rate": 0.0,  
+                "target_flow_rate": 0.0,  
+                "pressure": 0.0,  
+                "total_volume": 0.0,  
+                "max_flow_rate": 100.0,  
+                "max_pressure": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "transfer_volume": 0.0,
+                "amount": "",
+                "transfer_time": 0.0,
+                "is_viscous": false,
+                "rinsing_solvent": "",
+                "rinsing_volume": 0.0,
+                "rinsing_repeats": 0,
+                "is_solid": false,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_rotavap.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockRotavap1",  
+            "name": "模拟旋转蒸发器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_rotavap",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "rotate_state": "Stopped",  
+                "rotate_time": 0.0,  
+                "rotate_speed": 0.0,  
+                "pump_state": "Stopped",  
+                "pump_time": 0.0,  
+                "vacuum_level": 1013.25,  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "success": "True"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_separator.json

@@ -0,0 +1,43 @@
+{
+    "nodes": [
+        {
+            "id": "MockSeparator1",
+            "name": "模拟分离器",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "mock_separator",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "port": "MOCK"
+            },
+            "data": {
+                "status": "Idle",
+                "settling_time": 0.0,
+                "valve_state": "Closed",
+                "shake_time": 0.0,
+                "shake_status": "Not Shaking",
+                "current_device": "MockSeparator1",
+                "purpose": "",
+                "product_phase": "",
+                "from_vessel": "",
+                "separation_vessel": "",
+                "to_vessel": "",
+                "waste_phase_to_vessel": "",
+                "solvent": "",
+                "solvent_volume": 0.0,
+                "through": "",
+                "repeats": 1,
+                "stir_time": 0.0,
+                "stir_speed": 0.0,
+                "time_spent": 0.0,
+                "time_remaining": 0.0
+            }
+        }
+    ],
+    "links": []
+}

test/experiments/mock_devices/mock_solenoid_valve.json

@@ -0,0 +1,25 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockSolenoidValve1",  
+            "name": "模拟电磁阀",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_solenoid_valve",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "valve_status": "Closed"  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1",  
+            "name": "模拟搅拌器",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",   
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",  
+                "temperature": 25.0,  
+                "target_temperature": 25.0,  
+                "heating_state": "Off",  
+                "heating_power": 0.0,  
+                "max_stir_speed": 2000.0,  
+                "max_temperature": 300.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_stirrer_new.json

@@ -0,0 +1,33 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockStirrer1COPY",  
+            "name": "模拟搅拌器(Copy)",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_stirrer_new",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",
+                "vessel": "",
+                "purpose": "",
+                "stir_speed": 0.0,  
+                "target_stir_speed": 0.0,  
+                "stir_state": "Stopped",
+                "stir_time": 0.0,
+                "settling_time": 0.0,
+                "progress": 0.0,
+                "max_stir_speed": 2000.0
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_devices/mock_vacuum.json

@@ -0,0 +1,31 @@
+{  
+    "nodes": [  
+        {  
+            "id": "MockVacuum1",  
+            "name": "模拟真空泵",  
+            "children": [],  
+            "parent": null,  
+            "type": "device",  
+            "class": "mock_vacuum",  
+            "position": {  
+                "x": 620.6111111111111,  
+                "y": 171,  
+                "z": 0  
+            },  
+            "config": {  
+                "port": "MOCK"  
+            },  
+            "data": {  
+                "status": "Idle",  
+                "power_state": "Off",  
+                "pump_state": "Stopped",  
+                "vacuum_level": 1013.25,  
+                "target_vacuum": 50.0,  
+                "pump_speed": 0.0,  
+                "pump_efficiency": 95.0,  
+                "max_pump_speed": 100.0  
+            }  
+        }  
+    ],  
+    "links": []  
+}

test/experiments/mock_protocol/addteststation.json

@@ -0,0 +1,376 @@
+{
+    "nodes": [
+        {
+            "id": "AddTestStation",
+            "name": "添加试剂测试工作站",
+            "children": [
+                "transfer_pump",
+                "multiway_valve", 
+                "stirrer",
+                "flask_reagent1",
+                "flask_reagent2",
+                "flask_reagent3",
+                "flask_reagent4",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing",
+                "flask_buffer"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "TransferProtocol", "StartStirProtocol", "StopStirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump",
+            "name": "注射器泵",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "multiway_valve",
+            "name": "八通阀门",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_multiway_valve",
+            "position": {
+                "x": 420,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "positions": 8
+            },
+            "data": {
+                "status": "Idle",
+                "current_position": 1
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 720,
+                "y": 450,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_reagent1",
+            "name": "试剂瓶1 (甲醇)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "甲醇",
+                        "volume": 800.0,
+                        "concentration": "99.9%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent2",
+            "name": "试剂瓶2 (乙醇)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 180,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "乙醇",
+                        "volume": 750.0,
+                        "concentration": "95%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent3",
+            "name": "试剂瓶3 (丙酮)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 260,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "丙酮",
+                        "volume": 900.0,
+                        "concentration": "99.5%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_reagent4",
+            "name": "试剂瓶4 (二氯甲烷)",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 340,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "二氯甲烷",
+                        "volume": 850.0,
+                        "concentration": "99.8%"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 720,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "去离子水",
+                        "volume": 800.0,
+                        "concentration": "纯净"
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "AddTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "磷酸盐缓冲液",
+                        "volume": 700.0,
+                        "concentration": "0.1M, pH 7.4"
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump",
+            "target": "multiway_valve",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "syringe-port",
+                "multiway_valve": "multiway-valve-inlet"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent1",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-1",
+                "flask_reagent1": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent2",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-2",
+                "flask_reagent2": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent3",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-3",
+                "flask_reagent3": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_reagent4",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-4",
+                "flask_reagent4": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-6",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-7",
+                "flask_rinsing": "top"
+            }
+        },
+        {
+            "source": "multiway_valve",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "multiway_valve": "multiway-valve-port-8",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "stirrer-vessel",
+                "reactor": "bottom"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/centrifugeteststation.json

@@ -0,0 +1,271 @@
+{
+    "nodes": [
+        {
+            "id": "CentrifugeTestStation",
+            "name": "离心机测试工作站",
+            "children": [
+                "pump_add",
+                "flask_1",
+                "flask_2", 
+                "flask_3",
+                "reactor",
+                "stirrer",
+                "centrifuge_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "CentrifugeProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "centrifuge_1",
+            "name": "离心机",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "device",
+            "class": "virtual_centrifuge",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 15000.0,
+                "max_temp": 40.0,
+                "min_temp": 4.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_1",
+            "name": "样品瓶1",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_2",
+            "name": "样品瓶2",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_3",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CentrifugeTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_1",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_3",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_3": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_1",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_1": "vessel"
+            }
+        },
+        {
+            "source": "centrifuge_1",
+            "target": "flask_2",
+            "type": "logical",
+            "port": {
+                "centrifuge_1": "chamber",
+                "flask_2": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/cleanvesselteststation.json

@@ -0,0 +1,362 @@
+{
+    "nodes": [
+        {
+            "id": "CleanVesselTestStation",
+            "name": "容器清洗测试工作站",
+            "children": [
+                "transfer_pump_cleaner",
+                "heatchill_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_acetone",
+                "flask_waste",
+                "reactor",
+                "flask_buffer",
+                "flask_sample",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["CleanVesselProtocol", "TransferProtocol", "AddProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_cleaner",
+            "name": "清洗转移泵",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮溶剂瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 1800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "residue",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "CleanVesselTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "4",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_cleaner",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "transfer_pump_cleaner": "8",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/dissolveteststation.json

@@ -0,0 +1,343 @@
+{
+    "nodes": [
+        {
+            "id": "DissolveTestStation",
+            "name": "溶解测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "flask_water",
+                "flask_ethanol",
+                "flask_dmso",
+                "reactor",
+                "flask_sample",
+                "flask_buffer"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["DissolveProtocol", "TransferProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1500.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_dmso",
+            "name": "DMSO溶剂瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "dmso",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_sample",
+                        "volume": 10.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "DissolveTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "buffer",
+                        "volume": 1000.0,
+                        "concentration": 10.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_dmso",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_dmso": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterteststation.json

@@ -0,0 +1,270 @@
+{
+    "nodes": [
+        {
+            "id": "FilterTestStation",
+            "name": "过滤器测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_filtrate", 
+                "flask_buffer",
+                "reactor",
+                "stirrer",
+                "filter_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_filtrate",
+            "name": "滤液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer",
+            "name": "缓冲液瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "FilterTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_filtrate",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_filtrate": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "filter_1": "input",
+                "flask_sample": "vessel"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_filtrate",
+            "type": "logical",
+            "port": {
+                "filter_1": "output",
+                "flask_filtrate": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/filterthroughteststation.json

@@ -0,0 +1,388 @@
+{
+    "nodes": [
+        {
+            "id": "FilterThroughTestStation",
+            "name": "过滤通过测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "flask_celite",
+                "flask_silica"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["FilterThroughProtocol", "TransferProtocol", "FilterProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇溶剂瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_product",
+                        "volume": 200.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "sample_mixture",
+                        "volume": 100.0,
+                        "concentration": 50.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_celite",
+            "name": "硅藻土容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "celite",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_silica",
+            "name": "硅胶容器",
+            "children": [],
+            "parent": "FilterThroughTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 300,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "silica",
+                        "volume": 30.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/heatchillteststation.json

@@ -0,0 +1,262 @@
+{
+    "nodes": [
+        {
+            "id": "HeatChillTestStation",
+            "name": "加热冷却测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "heatchill_1",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "HeatChillProtocol", "HeatChillStartProtocol", "HeatChillStopProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "pump_add",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "stirrer",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 800,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 200.0,
+                "min_temp": -80.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "HeatChillTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "vessel"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "logical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "vessel"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/runcolumnteststation.json

@@ -0,0 +1,412 @@
+{
+    "nodes": [
+        {
+            "id": "RunColumnTestStation",
+            "name": "柱层析测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "column_1",
+                "flask_sample",
+                "flask_hexane",
+                "flask_ethyl_acetate",
+                "flask_methanol",
+                "collection_flask_1",
+                "collection_flask_2",
+                "collection_flask_3",
+                "waste_flask",
+                "reactor"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["RunColumnProtocol", "TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "column_1",
+            "name": "柱层析设备",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "device",
+            "class": "virtual_column",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5
+            },
+            "data": {
+                "status": "Idle",
+                "column_state": "Ready",
+                "current_flow_rate": 0.0,
+                "max_flow_rate": 5.0,
+                "column_length": 30.0,
+                "column_diameter": 2.5,
+                "processed_volume": 0.0,
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_mixture",
+                        "volume": 200.0,
+                        "concentration": 70.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_hexane",
+            "name": "正己烷洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "hexane",
+                        "volume": 1500.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_ethyl_acetate",
+            "name": "乙酸乙酯洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethyl_acetate",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇洗脱剂",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask_1",
+            "name": "收集瓶1",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 750,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_2",
+            "name": "收集瓶2",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 900,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "collection_flask_3",
+            "name": "收集瓶3",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1050,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1200,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "RunColumnTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "reaction_mixture",
+                        "volume": 300.0,
+                        "concentration": 85.0
+                    }
+                ]
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_hexane",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_hexane": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethyl_acetate",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_ethyl_acetate": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "column_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "column_1": "inlet"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "collection_flask_3": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "10",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_1",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_1": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_2",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_2": "top"
+            }
+        },
+        {
+            "source": "column_1",
+            "target": "collection_flask_3",
+            "type": "physical",
+            "port": {
+                "column_1": "outlet",
+                "collection_flask_3": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/stirteststation.json

@@ -0,0 +1,250 @@
+{
+    "nodes": [
+        {
+            "id": "StirTestStation",
+            "name": "搅拌测试工作站",
+            "children": [
+                "pump_add",
+                "flask_sample",
+                "flask_buffer1", 
+                "flask_buffer2",
+                "reactor",
+                "stirrer",
+                "flask_waste",
+                "flask_air"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["AddProtocol", "PumpTransferProtocol", "CleanProtocol", "StirProtocol", "StartStirProtocol", "StopStirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "pump_add",
+            "name": "添加泵",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 25.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "stirrer",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer1",
+            "name": "缓冲液瓶1",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_buffer2",
+            "name": "缓冲液瓶2",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 5000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 3000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_air",
+            "name": "空气瓶",
+            "children": [],
+            "parent": "StirTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "stirrer",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer": "top",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer1",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer1": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_buffer2",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_buffer2": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "pump_add": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "pump_add",
+            "target": "flask_air",
+            "type": "physical",
+            "port": {
+                "pump_add": "inlet",
+                "flask_air": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/transferteststation.json

@@ -0,0 +1,249 @@
+{
+    "nodes": [
+        {
+            "id": "TransferTestStation",
+            "name": "液体转移测试工作站",
+            "children": [
+                "transfer_pump",
+                "flask_source1",
+                "flask_source2",
+                "flask_target1",
+                "flask_target2",
+                "reactor",
+                "flask_waste",
+                "flask_rinsing"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["TransferProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump",
+            "name": "转移泵",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 5.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "flask_source1",
+            "name": "源容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_source2",
+            "name": "源容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target1",
+            "name": "目标容器1",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_target2",
+            "name": "目标容器2",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_waste",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_rinsing",
+            "name": "冲洗液瓶",
+            "children": [],
+            "parent": "TransferTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 950,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump",
+            "target": "flask_source1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_source2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_source2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target1",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target1": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_target2",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_target2": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_waste",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "outlet",
+                "flask_waste": "top"
+            }
+        },
+        {
+            "source": "transfer_pump",
+            "target": "flask_rinsing",
+            "type": "physical",
+            "port": {
+                "transfer_pump": "inlet",
+                "flask_rinsing": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_protocol/washsolidteststation.json

@@ -0,0 +1,494 @@
+{
+    "nodes": [
+        {
+            "id": "WashSolidTestStation",
+            "name": "固体清洗测试工作站",
+            "children": [
+                "transfer_pump_1",
+                "heatchill_1",
+                "stirrer_1",
+                "filter_1",
+                "flask_ethanol",
+                "flask_water",
+                "flask_acetone",
+                "flask_methanol",
+                "reactor",
+                "collection_flask",
+                "waste_flask",
+                "flask_sample",
+                "filtrate_flask"
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "workstation",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "protocol_type": ["WashSolidProtocol", "TransferProtocol", "FilterProtocol", "HeatChillProtocol", "StirProtocol"]
+            },
+            "data": {}
+        },
+        {
+            "id": "transfer_pump_1",
+            "name": "转移泵",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_transfer_pump",
+            "position": {
+                "x": 520.6111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_volume": 50.0,
+                "transfer_rate": 10.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_volume": 0.0,
+                "max_volume": 50.0,
+                "transfer_rate": 10.0,
+                "from_vessel": "",
+                "to_vessel": "",
+                "progress": 0.0,
+                "transferred_volume": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "heatchill_1",
+            "name": "加热冷却器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_heatchill",
+            "position": {
+                "x": 650.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 150.0,
+                "min_temp": -20.0
+            },
+            "data": {
+                "status": "Idle",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "vessel": "",
+                "purpose": "",
+                "progress": 0.0,
+                "current_status": "Ready"
+            }
+        },
+        {
+            "id": "stirrer_1",
+            "name": "搅拌器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_stirrer",
+            "position": {
+                "x": 750.1111111111111,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle"
+            }
+        },
+        {
+            "id": "filter_1",
+            "name": "过滤器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "device",
+            "class": "virtual_filter",
+            "position": {
+                "x": 850.1111111111111,
+                "y": 478,
+                "z": 0
+            },
+            "config": {
+                "port": "VIRTUAL",
+                "max_temp": 100.0,
+                "max_stir_speed": 1000.0
+            },
+            "data": {
+                "status": "Idle",
+                "filter_state": "Ready",
+                "current_temp": 25.0,
+                "target_temp": 25.0,
+                "max_temp": 100.0,
+                "stir_speed": 0.0,
+                "max_stir_speed": 1000.0,
+                "filtered_volume": 0.0,
+                "progress": 0.0,
+                "message": ""
+            }
+        },
+        {
+            "id": "flask_ethanol",
+            "name": "乙醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 100,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "ethanol",
+                        "volume": 1500.0,
+                        "concentration": 99.5
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_water",
+            "name": "水清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 250,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "water",
+                        "volume": 1800.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_acetone",
+            "name": "丙酮清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 400,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "acetone",
+                        "volume": 800.0,
+                        "concentration": 99.8
+                    }
+                ]
+            }
+        },
+        {
+            "id": "flask_methanol",
+            "name": "甲醇清洗剂",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 550,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "methanol",
+                        "volume": 800.0,
+                        "concentration": 99.9
+                    }
+                ]
+            }
+        },
+        {
+            "id": "reactor",
+            "name": "反应器",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 698.1111111111111,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "solid_product",
+                        "volume": 50.0,
+                        "concentration": 100.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "collection_flask",
+            "name": "收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 850,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "waste_flask",
+            "name": "废液瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 428,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 2000.0
+            },
+            "data": {
+                "liquid": []
+            }
+        },
+        {
+            "id": "flask_sample",
+            "name": "样品瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1150,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0
+            },
+            "data": {
+                "liquid": [
+                    {
+                        "name": "crude_solid",
+                        "volume": 30.0,
+                        "concentration": 80.0
+                    }
+                ]
+            }
+        },
+        {
+            "id": "filtrate_flask",
+            "name": "滤液收集瓶",
+            "children": [],
+            "parent": "WashSolidTestStation",
+            "type": "container",
+            "class": null,
+            "position": {
+                "x": 1000,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 1500.0
+            },
+            "data": {
+                "liquid": []
+            }
+        }
+    ],
+    "links": [
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_ethanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "1",
+                "flask_ethanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_water",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "2",
+                "flask_water": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_acetone",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "3",
+                "flask_acetone": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_methanol",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "4",
+                "flask_methanol": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "5",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "collection_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "6",
+                "collection_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "waste_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "7",
+                "waste_flask": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "8",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "transfer_pump_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "transfer_pump_1": "9",
+                "filtrate_flask": "top"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "reactor": "bottom"
+            }
+        },
+        {
+            "source": "heatchill_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "heatchill_1": "heating_element",
+                "flask_sample": "bottom"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "reactor": "center"
+            }
+        },
+        {
+            "source": "stirrer_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "stirrer_1": "stir_rod",
+                "flask_sample": "center"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "reactor",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "reactor": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "flask_sample",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "flask_sample": "top"
+            }
+        },
+        {
+            "source": "filter_1",
+            "target": "filtrate_flask",
+            "type": "physical",
+            "port": {
+                "filter_1": "filter_element",
+                "filtrate_flask": "top"
+            }
+        }
+    ]
+}

test/experiments/mock_reactor.json

@@ -14,8 +14,8 @@
             "type": "device",
             "class": "workstation",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {
@@ -30,14 +30,17 @@
             "children": [],
             "parent": "ReactorX",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 698.1111111111111,
                 "y": 428,
                 "z": 0
             },
             "config": {
-                "max_volume": 5000.0
+                "max_volume": 5000.0,
+                "size_x": 200.0,
+                "size_y": 200.0,
+                "size_z": 200.0
             },
             "data": {
                 "liquid": [
@@ -71,7 +74,7 @@
             "type": "device",
             "class": "solenoid_valve.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 780,
                 "y": 171,
                 "z": 0
             },
@@ -89,7 +92,7 @@
             "type": "device",
             "class": "vacuum_pump.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 500,
                 "y": 171,
                 "z": 0
             },
@@ -107,7 +110,7 @@
             "type": "device",
             "class": "gas_source.mock",
             "position": {
-                "x": 620.6111111111111,
+                "x": 900,
                 "y": 171,
                 "z": 0
             },
@@ -119,39 +122,39 @@
     ],
     "links": [
         {
-            "source": "reactor",
-            "target": "vacuum_valve",
-            "type": "physical",
+            "source": "vacuum_valve",
+            "target": "reactor",
+            "type": "fluid",
             "port": {
                 "reactor": "top",
-                "vacuum_valve": "1"
+                "vacuum_valve": "out"
             }
         },
         {
-            "source": "reactor",
-            "target": "gas_valve",
-            "type": "physical",
+            "source": "gas_valve",
+            "target": "reactor",
+            "type": "fluid",
             "port": {
                 "reactor": "top",
-                "gas_valve": "1"
+                "gas_valve": "out"
             }
         },
         {
             "source": "vacuum_pump",
             "target": "vacuum_valve",
-            "type": "physical",
+            "type": "fluid",
             "port": {
                 "vacuum_pump": "out",
-                "vacuum_valve": "0"
+                "vacuum_valve": "in"
             }
         },
         {
             "source": "gas_source",
             "target": "gas_valve",
-            "type": "physical",
+            "type": "fluid",
             "port": {
                 "gas_source": "out",
-                "gas_valve": "0"
+                "gas_valve": "in"
             }
         }
     ]

test/experiments/plr_test.json

@@ -6679,8 +6679,7 @@
                 "plate_well_11_3",
                 "plate_well_11_4",
                 "plate_well_11_5",
-                "plate_well_11_6",
-                "plate_well_11_7"
+                "plate_well_11_6"
             ],
             "parent": "deck",
             "type": "device",
@@ -10508,45 +10507,6 @@
                 "pending_liquids": [],
                 "liquid_history": []
             }
-        },
-        {
-            "id": "plate_well_11_7",
-            "name": "plate_well_11_7",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 109.87,
-                "y": 7.77,
-                "z": 3.03
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 6.86,
-                "size_y": 6.86,
-                "size_z": 10.67,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "well",
-                "model": null,
-                "max_volume": 360,
-                "material_z_thickness": 0.5,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "flat",
-                "cross_section_type": "circle"
-            },
-            "data": {
-                "liquids": [],
-                "pending_liquids": [],
-                "liquid_history": []
-            }
         }
     ],
     "links": []

test/experiments/test.json

@@ -4,13 +4,14 @@
             "id": "Gripper1",
             "name": "假夹爪",
             "children": [
+                "Plate1"
             ],
             "parent": null,
             "type": "device",
             "class": "gripper.mock",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {
@@ -23,18 +24,120 @@
             "name": "Plate1",
             "children": [
             ],
-            "parent": null,
+            "parent": "Gripper1",
             "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
+            "class": "nest_96_wellplate_100ul_pcr_full_skirt",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
+                "x": 0,
+                "y": 0,
+                "z": 69
             },
             "config": {
             },
             "data": {
             }
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+                
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
         }
     ],
     "links": [

test/experiments/test_copy.json

@@ -0,0 +1,135 @@
+{
+    "nodes": [
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "data": {
+                    "children": [
+                        {
+                            "_resource_child_name": "deck",
+                            "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
+                        }
+                    ],
+                    "backend": {
+                        "type": "LiquidHandlerRvizBackend"
+                    }
+                }
+            },
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier"
+            ],
+            "parent": "PLR_STATION",
+            "type": "deck",
+            "class": "OTDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "OTDeck",
+                "with_trash": false,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+
+        {
+            "id": "teaching_carrier",
+            "name": "teaching_carrier",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier_A1"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "opentrons_96_filtertiprack_1000ul",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 69
+            },
+            "config": {
+                "type": "Resource",
+                "size_x": 127,
+                "size_y": 85,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": null,
+                "model": null
+            },
+            "data": {}
+        },
+        {
+            "id": "teaching_carrier_A1",
+            "name": "teaching_carrier_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "teaching_carrier",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.87,
+                "y": 70.77,
+                "z": 9.47
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 6.86,
+                "size_y": 6.86,
+                "size_z": 10.67,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        }
+    ],
+    "links": [
+        
+    ]
+}

test/experiments/test_moveit.json

@@ -0,0 +1,51 @@
+{
+    "nodes": [
+
+
+        {
+            "id": "arm_slider",
+            "name": "arm_slider",
+            "children": [],
+            "parent": null,
+            "type": "device",
+            "class": "robotic_arm.SCARA_with_slider.virtual",
+            "position": {
+                "x": -500,
+                "y": 1000,
+                "z": -100
+            },
+            "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
+                        ]
+                    }
+                },
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": -1.5708,
+                    "type": "Rotation"
+                },
+                "device_config": {}
+            },
+            "data": {}
+        }
+    ],
+    "links": [
+        
+    ]
+}

test/experiments/workshop.json

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

unilabos-linux-64.yaml

@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -33,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -48,14 +49,21 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot

unilabos-osx-64.yaml

@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -33,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -56,6 +57,12 @@ dependencies:
   # - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot

unilabos-osx-arm64.yaml

@@ -1,5 +1,6 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
@@ -34,8 +35,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
-  - paho-mqtt
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -50,14 +50,21 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
+  - pip:
+      - paho-mqtt
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot

unilabos-win64.yaml

@@ -1,17 +1,18 @@
 name: unilab
 channels:
+  - unilab
   - robostack
   - robostack-staging
   - conda-forge
 dependencies:
   # Basics
   - python=3.11.11
-  - compilers
-  - cmake
-  - make
-  - ninja
-  - sphinx
-  - sphinx_rtd_theme
+  # - compilers
+  # - cmake
+  # - make
+  # - ninja
+  # - sphinx
+  # - sphinx_rtd_theme
   # Data Visualization
   - numpy
   - scipy
@@ -23,7 +24,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus==3.6.9
   - python-can
   - pyvisa
   - opencv
@@ -33,7 +34,7 @@ dependencies:
   - uvicorn
   - gradio
   - flask
-  - websocket
+  - websockets
   # Notebook
   - ipython
   - jupyter
@@ -48,14 +49,28 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
-#  - ros-humble-unilabos-msgs
+  - uni-lab::ros-humble-unilabos-msgs
+  # driver
+  #- crcmod
+  - pip:
+      - paho-mqtt
+      - opentrons_shared_data
+      - git+https://github.com/Xuwznln/pylabrobot
+      # driver
+      #- ur-rtde  # set PYTHONUTF8=1
+      #- pyautogui
+      #- pywinauto
+      #- pywinauto_recorder

unilabos/app/backend.py

@@ -7,11 +7,14 @@ from unilabos.utils import logger
 def start_backend(
     backend: str,
     devices_config: dict = {},
-    resources_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
 ):
     if backend == "ros":
@@ -29,7 +32,9 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        name="backend_thread",
+        daemon=True,
     )
     backend_thread.start()
     logger.info(f"Backend {backend} started.")

unilabos/app/communication.py

@@ -0,0 +1,204 @@
+#!/usr/bin/env python
+# coding=utf-8
+"""
+通信模块
+
+提供MQTT和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（MQTT、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 == "mqtt":
+            return cls._create_mqtt_client()
+        elif protocol == "websocket":
+            return cls._create_websocket_client()
+        else:
+            logger.error(f"[CommunicationFactory] Unsupported protocol: {protocol}")
+            logger.warning(f"[CommunicationFactory] Falling back to MQTT")
+            return cls._create_mqtt_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_mqtt_client(cls) -> BaseCommunicationClient:
+        """创建MQTT客户端"""
+        try:
+            from unilabos.app.mq import mqtt_client
+            return mqtt_client
+        except Exception as e:
+            logger.error(f"[CommunicationFactory] Failed to create MQTT client: {str(e)}")
+            raise
+
+    @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)}")
+            logger.warning(f"[CommunicationFactory] Falling back to MQTT")
+            return cls._create_mqtt_client()
+
+    @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 ["mqtt", "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/controler.py

@@ -1,8 +1,10 @@
 
 import json
+import traceback
 import uuid
 from unilabos.app.model import JobAddReq, JobData
 from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.utils.type_check import serialize_result_info
 
 
 def get_resources() -> tuple:
@@ -25,10 +27,19 @@ def job_add(req: JobAddReq) -> JobData:
     if req.job_id is None:
         req.job_id = str(uuid.uuid4())
     action_name = req.data["action"]
-    action_kwargs = req.data["action_kwargs"]
-    req.data['action'] = action_name
-    if action_name == "execute_command_from_outer":
-        action_kwargs = {"command": json.dumps(action_kwargs)}
-    print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
+    action_type = req.data.get("action_type", "LocalUnknown")
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
+    if action_args is None:
+        action_args = req.data.get("action_args")
+    else:
+        if "command" in action_args:
+            action_args = action_args["command"]
+    # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
+    try:
+        HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
+    except Exception as e:
+        for bridge in HostNode.get_instance().bridges:
+            traceback.print_exc()
+            if hasattr(bridge, "publish_job_status"):
+                bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
     return JobData(jobId=req.job_id)

unilabos/app/main.py

@@ -1,27 +1,57 @@
 import argparse
+import asyncio
 import os
+import shutil
 import signal
 import sys
-import json
-import yaml
+import threading
+import time
 from copy import deepcopy
 
+import yaml
+
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
-ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
-if ilabos_dir not in sys.path:
-    sys.path.append(ilabos_dir)
+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
+from unilabos.config.config import load_config, BasicConfig, HTTPConfig
 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)
+    if config_path:
+        if not os.path.exists(config_path):
+            print_status(f"配置文件 {config_path} 不存在", "error")
+        elif not config_path.endswith(".py"):
+            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
+        else:
+            load_config(config_path)
+    else:
+        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
+        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.")
-    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",
@@ -30,6 +60,12 @@ def parse_args():
         action="append",
         help="Path to the registry",
     )
+    parser.add_argument(
+        "--working_dir",
+        type=str,
+        default=None,
+        help="Path to the working directory",
+    )
     parser.add_argument(
         "--backend",
         choices=["ros", "simple", "automancer"],
@@ -52,35 +88,166 @@ def parse_args():
         action="store_true",
         help="Slave模式下跳过等待host服务",
     )
+    parser.add_argument(
+        "--upload_registry",
+        action="store_true",
+        help="启动unilab时同时报送注册表信息",
+    )
+    parser.add_argument(
+        "--use_remote_resource",
+        action="store_true",
+        help="启动unilab时使用远程资源启动",
+    )
     parser.add_argument(
         "--config",
         type=str,
         default=None,
         help="配置文件路径，支持.py格式的Python配置文件",
     )
-
-    return parser.parse_args()
+    parser.add_argument(
+        "--port",
+        type=int,
+        default=8002,
+        help="信息页web服务的启动端口",
+    )
+    parser.add_argument(
+        "--disable_browser",
+        action="store_true",
+        help="是否在启动时关闭信息页",
+    )
+    parser.add_argument(
+        "--2d_vis",
+        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="选择可视化工具: rviz, web",
+    )
+    parser.add_argument(
+        "--ak",
+        type=str,
+        default="",
+        help="实验室请求的ak",
+    )
+    parser.add_argument(
+        "--sk",
+        type=str,
+        default="",
+        help="实验室请求的sk",
+    )
+    parser.add_argument(
+        "--addr",
+        type=str,
+        default="https://uni-lab.bohrium.com/api/v1",
+        help="实验室后端地址",
+    )
+    parser.add_argument(
+        "--websocket",
+        action="store_true",
+        help="使用websocket而非mqtt作为通信协议",
+    )
+    parser.add_argument(
+        "--skip_env_check",
+        action="store_true",
+        help="跳过启动时的环境依赖检查",
+    )
+    return parser
 
 
 def main():
     """主函数"""
     # 解析命令行参数
     args = parse_args()
-    args_dict = vars(args)
+    convert_argv_dashes_to_underscores(args)
+    args_dict = vars(args.parse_args())
 
-    # 加载配置文件 - 这里保持最先加载配置的逻辑
-    if args_dict.get("config"):
-        config_path = args_dict["config"]
-        if not os.path.exists(config_path):
-            print_status(f"配置文件 {config_path} 不存在", "error")
-        elif not config_path.endswith(".py"):
-            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
+    # 环境检查 - 检查并自动安装必需的包 (可选)
+    if not args_dict.get("skip_env_check", False):
+        from unilabos.utils.environment_check import check_environment
+
+        print_status("正在进行环境依赖检查...", "info")
+        if not check_environment(auto_install=True):
+            print_status("环境检查失败，程序退出", "error")
+            os._exit(1)
+    else:
+        print_status("跳过环境依赖检查", "warning")
+
+    # 加载配置文件，优先加载config，然后从env读取
+    config_path = args_dict.get("config")
+    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")
+            os._exit(1)
         else:
-            load_config(config_path)
+            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", "")
+
+    if args_dict["use_remote_resource"]:
+        print_status("使用远程资源启动", "info")
+        from unilabos.app.web import http_client
+
+        res = http_client.resource_get("host_node", False)
+        if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
+            print_status("远程资源已存在，使用云端物料！", "info")
+            args_dict["graph"] = None
+        else:
+            print_status("远程资源不存在，本地将进行首次上报！", "info")
 
     # 设置BasicConfig参数
+    BasicConfig.ak = args_dict.get("ak", "")
+    BasicConfig.sk = args_dict.get("sk", "")
+    BasicConfig.working_dir = working_dir
     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" if args_dict.get("websocket", False) else "mqtt"
+    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
+    BasicConfig.vis_2d_enable = args_dict["2d_vis"]
 
     from unilabos.resources.graphio import (
         read_node_link_json,
@@ -89,38 +256,63 @@ def main():
         dict_to_nested_dict,
         initialize_resources,
     )
-    from unilabos.app.mq import mqtt_client
+    from unilabos.app.communication import get_communication_client
     from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
-    from unilabos.web import http_client
-    from unilabos.web import start_server
+    from unilabos.app.web import http_client
+    from unilabos.app.web import start_server
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
     # 注册表
-    build_registry(args_dict["registry_path"])
-
-    if args_dict["graph"] is not None:
-        import unilabos.resources.graphio as graph_res
-        graph_res.physical_setup_graph = (
-            read_node_link_json(args_dict["graph"])
-            if args_dict["graph"].endswith(".json")
-            else read_graphml(args_dict["graph"])
-        )
-        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["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-        # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
-        args_dict["graph"] = graph_res.physical_setup_graph
+    lab_registry = build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
+    if args_dict["graph"] is None:
+        request_startup_json = http_client.request_startup_json()
+        if not request_startup_json:
+            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)
+        else:
+            print_status("联网获取设备加载文件成功", "info")
+        graph, data = read_node_link_json(request_startup_json)
     else:
-        if args_dict["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())
-        )
+        file_path = args_dict["graph"]
+        if file_path.endswith(".json"):
+            graph, data = read_node_link_json(file_path)
+        else:
+            graph, data = read_graphml(file_path)
+    import unilabos.resources.graphio as graph_res
+
+    graph_res.physical_setup_graph = graph
+    resource_edge_info = modify_to_backend_format(data["links"])
+    materials = lab_registry.obtain_registry_resource_info()
+    materials.extend(lab_registry.obtain_registry_device_info())
+    materials = {k["id"]: k for k in materials}
+    nodes = {k["id"]: k for k in data["nodes"]}
+    edge_info = len(resource_edge_info)
+    for ind, i in enumerate(resource_edge_info[::-1]):
+        source_node = nodes[i["source"]]
+        target_node = nodes[i["target"]]
+        source_handle = i["sourceHandle"]
+        target_handle = i["targetHandle"]
+        source_handler_keys = [h["handler_key"] for h in materials[source_node["class"]]["handles"] if h["io_type"] == 'source']
+        target_handler_keys = [h["handler_key"] for h in materials[target_node["class"]]["handles"] if h["io_type"] == 'target']
+        if not source_handle 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 not target_handle 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
+
+    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
 
     print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
     for i in args_dict["resources_config"]:
@@ -133,22 +325,61 @@ def main():
 
     args_dict["bridges"] = []
 
+    # 获取通信客户端（根据配置选择MQTT或WebSocket）
+    comm_client = get_communication_client()
+
     if "mqtt" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(mqtt_client)
+        args_dict["bridges"].append(comm_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
     if "mqtt" in args_dict["app_bridges"]:
 
         def _exit(signum, frame):
-            mqtt_client.stop()
+            comm_client.stop()
             sys.exit(0)
 
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
-        mqtt_client.start()
+        comm_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"
+        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
 
-    start_backend(**args_dict)
-    start_server()
+            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.start()
+            asyncio.set_event_loop(asyncio.new_event_loop())
+            resource_visualization.start()
+            while True:
+                time.sleep(1)
+        else:
+            start_backend(**args_dict)
+            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"],
+        )
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -50,9 +50,15 @@ class Resp(BaseModel):
 
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
-    job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
-    node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
+    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")
+    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):

unilabos/app/mq.py

@@ -1,27 +1,37 @@
 import json
 import time
+import traceback
+from typing import Optional
 import uuid
 
 import paho.mqtt.client as mqtt
-import ssl, base64, hmac
+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 devices, job_add
-from unilabos.app.model import JobAddReq, JobAddResp
+from unilabos.app.controler import job_add
+from unilabos.app.model import JobAddReq
+from unilabos.app.communication import BaseCommunicationClient
 from unilabos.utils import logger
 from unilabos.utils.type_check import TypeEncoder
 
+from paho.mqtt.enums import CallbackAPIVersion
 
-class MQTTClient:
+
+class MQTTClient(BaseCommunicationClient):
     mqtt_disable = True
 
     def __init__(self):
+        super().__init__()
         self.mqtt_disable = not MQConfig.lab_id
+        self.is_disabled = self.mqtt_disable  # 更新父类属性
         self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
-        self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
+        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):
@@ -31,34 +41,49 @@ class MQTTClient:
         self.client.on_disconnect = self._on_disconnect
 
     def _on_log(self, client, userdata, level, buf):
-        logger.info(f"[MQTT] log: {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)
-        isok, data = devices()
-        if not isok:
-            logger.error("[MQTT] on_connect ErrorHostNotInit")
-            return
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
 
-    def _on_message(self, client, userdata, msg):
-        logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+    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)
-            logger.debug(f"Topic: {msg.topic}")
-            logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
             if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                logger.debug("job_add", type(payload_json), payload_json)
+                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 JobAddResp(data=data)
+                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:
@@ -87,7 +112,7 @@ class MQTTClient:
             for temp_file in temp_files:
                 try:
                     os.unlink(temp_file)
-                except:
+                except Exception as e:
                     pass
 
     def start(self):
@@ -141,34 +166,57 @@ class MQTTClient:
         # status = device_status.get(device_id, {})
         if self.mqtt_disable:
             return
-        status = {"data": device_status.get(device_id, {}), "device_id": device_id}
-        address = f"labs/{MQConfig.lab_id}/devices"
+        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.critical(f"Device status published: address: {address}, {status}")
+        # logger.info(f"Device {device_id} status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None):
         if self.mqtt_disable:
             return
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
+        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):
+
+    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)
+        registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
         self.client.publish(address, registry_data, qos=2)
-        logger.debug(f"Registry data published: address: {address}, {registry_data}")
+        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/"
-        action_type_name = action_info["title"]
-        action_info["title"] = action_id
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
-        self.client.publish(address, action_data, qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_data}")
+        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}")
+
+    @property
+    def is_connected(self) -> bool:
+        """检查MQTT是否已连接"""
+        if self.is_disabled:
+            return False
+        return hasattr(self.client, "is_connected") and self.client.is_connected()
 
 
 mqtt_client = MQTTClient()

unilabos/app/register.py

@@ -0,0 +1,126 @@
+import argparse
+import json
+import time
+
+from unilabos.config.config import BasicConfig
+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(comm_client, lab_registry):
+    """
+    注册设备和资源到通信服务器（MQTT/WebSocket）
+    """
+
+    # 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...")
+    if BasicConfig.auth_secret():
+        # 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']}")
+        resources_to_register = {}
+        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']}")
+        print(
+            "[UniLab Register] 设备注册",
+            http_client.resource_registry({"resources": list(devices_to_register.values())}).text,
+        )
+        print(
+            "[UniLab Register] 资源注册",
+            http_client.resource_registry({"resources": list(resources_to_register.values())}).text,
+        )
+    else:
+        # 注册设备信息
+        for device_info in lab_registry.obtain_registry_device_info():
+            comm_client.publish_registry(device_info["id"], device_info, False)
+            logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
+
+        # # 注册资源信息
+        # for resource_info in lab_registry.obtain_registry_resource_info():
+        #     comm_client.publish_registry(resource_info["id"], resource_info, False)
+        #     logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+
+        resources_to_register = {}
+        for resource_info in lab_registry.obtain_registry_resource_info():
+            resources_to_register[resource_info["id"]] = resource_info
+            logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
+
+        if resources_to_register:
+            start_time = time.time()
+            response = http_client.resource_registry(resources_to_register)
+            cost_time = time.time() - start_time
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+            else:
+                logger.error(
+                    f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms"
+                )
+    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(
+        "--ak",
+        type=str,
+        default="",
+        help="实验室请求的ak",
+    )
+    parser.add_argument(
+        "--sk",
+        type=str,
+        default="",
+        help="实验室请求的sk",
+    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
+    args = parser.parse_args()
+    load_config_from_file(args.config)
+    BasicConfig.ak = args.ak
+    BasicConfig.sk = args.sk
+    # 构建注册表
+    build_registry(args.registry, args.complete_registry, True)
+    from unilabos.app.communication import get_communication_client
+
+    # 获取通信客户端并启动连接
+    comm_client = get_communication_client()
+    comm_client.start()
+
+    from unilabos.registry.registry import lab_registry
+
+    # 注册设备和资源
+    register_devices_and_resources(comm_client, lab_registry)
+
+
+if __name__ == "__main__":
+    main()

unilabos/app/web/__init__.py

@@ -4,10 +4,10 @@ Web UI 模块
 提供了UniLab系统的Web界面功能
 """
 
-from unilabos.web.pages import setup_web_pages
-from unilabos.web.server import setup_server, start_server
-from unilabos.web.client import http_client
-from unilabos.web.api import setup_api_routes
+from unilabos.app.web.pages import setup_web_pages
+from unilabos.app.web.server import setup_server, start_server
+from unilabos.app.web.client import http_client
+from unilabos.app.web.api import setup_api_routes
 
 __all__ = [
     "setup_web_pages",  # 设置Web页面

unilabos/app/web/client.py

@@ -0,0 +1,224 @@
+"""
+HTTP客户端模块
+
+提供与远程服务器通信的客户端功能，只有host需要用
+"""
+import json
+import os
+from typing import List, Dict, Any, Optional
+
+import requests
+from unilabos.utils.log import info
+from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
+from unilabos.utils import logger
+
+
+class HTTPClient:
+    """HTTP客户端，用于与远程服务器通信"""
+    backend_go = False  # 是否使用Go后端
+
+    def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None) -> None:
+        """
+        初始化HTTP客户端
+
+        Args:
+            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.remote_addr = remote_addr or HTTPConfig.remote_addr
+        if auth is not None:
+            self.auth = auth
+        else:
+            auth_secret = BasicConfig.auth_secret()
+            if auth_secret:
+                self.auth = auth_secret
+                self.backend_go = True
+                info(f"正在使用ak sk作为授权信息 {auth_secret}")
+            else:
+                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]], 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
+        """
+        database_param = 1 if database_process_later else 0
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}"
+            if not self.backend_go else f"{self.remote_addr}/lab/material/edge",
+            json={
+                "edges": resources,
+            } if self.backend_go else resources,
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            timeout=100,
+        )
+        if self.backend_go and 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_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
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}" if not self.backend_go else f"{self.remote_addr}/lab/material",
+            json=resources if not self.backend_go else {"nodes": resources},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            timeout=100,
+        )
+        if self.backend_go and 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
+
+    def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
+        """
+        获取资源
+
+        Args:
+            id: 资源ID
+            with_children: 是否包含子资源
+
+        Returns:
+            Dict: 返回的资源数据
+        """
+        response = requests.get(
+            f"{self.remote_addr}/lab/resource/?edge_format=1" if not self.backend_go else f"{self.remote_addr}/lab/material",
+            params={"id": id, "with_children": with_children},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            timeout=20,
+        )
+        return response.json()
+
+    def resource_del(self, id: str) -> requests.Response:
+        """
+        删除资源
+
+        Args:
+            id: 要删除的资源ID
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.delete(
+            f"{self.remote_addr}/lab/resource/batch_delete/",
+            params={"id": id},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            timeout=20,
+        )
+        return response
+
+    def resource_update(self, resources: List[Dict[str, Any]]) -> requests.Response:
+        """
+        更新资源
+
+        Args:
+            resources: 要更新的资源列表
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.patch(
+            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
+            json=resources,
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            timeout=100,
+        )
+        return response
+
+    def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
+        """
+        上传文件到服务器
+
+        使用multipart/form-data格式上传文件，类似curl -F "files=@filepath"
+
+        Args:
+            file_path: 要上传的文件路径
+            scene: 上传场景，可选值为"user"或"models"，默认为"models"
+
+        Returns:
+            Response: API响应对象
+        """
+        with open(file_path, "rb") as file:
+            files = {"files": file}
+            logger.info(f"上传文件: {file_path} 到 {scene}")
+            response = requests.post(
+                f"{self.remote_addr}/api/account/file_upload/{scene}",
+                files=files,
+                headers={"Authorization": f"{'lab' if not self.backend_go else '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/registry/" if not self.backend_go else f"{self.remote_addr}/lab/resource",
+            json=registry_data,
+            headers={"Authorization": f"{'lab' if not self.backend_go else '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}/lab/resource/graph_info/",
+            headers={"Authorization": f"{'lab' if not self.backend_go else '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

@@ -7,6 +7,7 @@ Web页面模块
 import json
 import os
 import sys
+import traceback
 from pathlib import Path
 from typing import Dict
 
@@ -16,13 +17,12 @@ from jinja2 import Environment, FileSystemLoader
 
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
-from unilabos.app.mq import mqtt_client
 from unilabos.ros.msgs.message_converter import msg_converter_manager
-from unilabos.utils.log import error
+from unilabos.utils.log import error, debug
 from unilabos.utils.type_check import TypeEncoder
-from unilabos.web.utils.device_utils import get_registry_info
-from unilabos.web.utils.host_utils import get_host_node_info
-from unilabos.web.utils.ros_utils import get_ros_node_info, update_ros_node_info
+from unilabos.app.web.utils.device_utils import get_registry_info
+from unilabos.app.web.utils.host_utils import get_host_node_info
+from unilabos.app.web.utils.ros_utils import get_ros_node_info, update_ros_node_info
 
 # 设置Jinja2模板环境
 template_dir = Path(__file__).parent / "templates"
@@ -78,33 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
             HTMLResponse: 渲染后的HTML页面
         """
         try:
-            # 准备设备数据
+            # 准备初始数据结构（这些数据将通过WebSocket实时更新）
             devices = []
             resources = []
             modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
 
-            # 获取在线设备信息
+            # 获取在线设备信息（用于初始渲染）
             ros_node_info = get_ros_node_info()
-            # 获取主机节点信息
+            # 获取主机节点信息（用于初始渲染）
             host_node_info = get_host_node_info()
-            # 获取Registry路径信息
+            # 获取Registry路径信息（静态信息，不需要实时更新）
             registry_info = get_registry_info()
 
-            # 获取已加载的设备
+            # 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
             if lab_registry:
-                # 设备类型
-                for device_id, device_info in lab_registry.device_type_registry.items():
-                    msg = {
-                            "id": device_id,
-                            "name": device_info.get("name", "未命名"),
-                            "file_path": device_info.get("file_path", ""),
-                            "class_json": json.dumps(
-                                device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                            ),
-                        }
-                    mqtt_client.publish_registry(device_id, device_info)
-                    devices.append(msg)
-
+                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(
@@ -115,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
                         }
                     )
 
-            # 获取导入的模块
+            # 获取导入的模块（初始数据）
             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]
@@ -136,6 +126,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             return html
         except Exception as e:
+            debug(traceback.format_exc())
             error(f"生成状态页面时出错: {str(e)}")
             raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
 
@@ -182,3 +173,20 @@ 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/server.py

@@ -13,8 +13,8 @@ from starlette.responses import Response
 
 from unilabos.utils.fastapi.log_adapter import setup_fastapi_logging
 from unilabos.utils.log import info, error
-from unilabos.web.api import setup_api_routes
-from unilabos.web.pages import setup_web_pages
+from unilabos.app.web.api import setup_api_routes
+from unilabos.app.web.pages import setup_web_pages
 
 # 创建FastAPI应用
 app = FastAPI(

unilabos/app/web/templates/base.html

@@ -162,7 +162,6 @@
 <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

@@ -0,0 +1,25 @@
+{% 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>
+{% endblock %}

unilabos/app/web/utils/action_utils.py

@@ -8,7 +8,7 @@ import traceback
 from typing import Dict, Any, Type, TypedDict, Optional
 
 from rclpy.action import ActionClient, ActionServer
-from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
 
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -65,6 +65,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
     Returns:
         str: 默认Goal参数的YAML格式字符串
     """
+    if isinstance(goal_type, str):
+        return "{}"
     if not goal_type:
         return "{}"
 
@@ -74,7 +76,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
         for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
             slot_name, slot_type = slot_info
             type_info = goal_type.SLOT_TYPES[ind]
-            default_value = "unknown"
             if isinstance(type_info, UnboundedSequence):
                 inner_type = type_info.value_type
                 if isinstance(inner_type, NamespacedType):
@@ -83,8 +84,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
                     default_value = [get_ros_msg_instance_as_dict(type_class())]
                 elif isinstance(inner_type, BasicType):
                     default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                elif isinstance(inner_type, UnboundedString):
+                    default_value = [""]
                 else:
-                    default_value = "unknown"
+                    default_value = []
             elif isinstance(type_info, NamespacedType):
                 cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
                 type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +96,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
                 default_value = get_ros_msg_instance_as_dict(type_class())
             elif isinstance(type_info, BasicType):
                 default_value = get_default_value_for_ros_type(type_info.typename)
+            elif isinstance(type_info, UnboundedString):
+                default_value = ""
             else:
                 type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
                 if type_class is not None: