add server timeout

(cherry picked from commit 4771ff2347)

.conda/recipe.yaml

@@ -0,0 +1,89 @@
+package:
+  name: unilabos
+  version: 0.10.5
+
+source:
+  path: ../unilabos
+  target_directory: unilabos
+
+build:
+  python:
+    entry_points:
+     - unilab = unilabos.app.main:main
+  script:
+  - set PIP_NO_INDEX=
+  - if: win
+    then:
+    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
+    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
+    - call %PYTHON% -m pip install %SRC_DIR%
+  - if: unix
+    then:
+    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
+    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
+    - cp $RECIPE_DIR/../setup.py $SRC_DIR
+    - $PYTHON -m pip install $SRC_DIR
+
+
+requirements:
+  host:
+  - python ==3.11.11
+  - pip
+  - setuptools
+  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/workflows/multi-platform-build.yml

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

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

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

.gitignore

@@ -1,3 +1,7 @@
+configs/
+temp/
+output/
+unilabos_data/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -237,4 +241,8 @@ unilabos/device_mesh/view_robot.rviz
 
 
 # Certs
-**/.certs
+**/.certs
+local_test2.py
+ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
+*.bz2
+test_config.py

MANIFEST.in

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

README.md

@@ -5,6 +5,7 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
+
 **English** | [中文](README_zh.md)
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -34,30 +35,14 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
-1. Configure Conda Environment
-
 Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba env create -f unilabos-[YOUR_OS].yaml
-mamba activate unilab
-
-# Or update existing environment
-# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
-conda env update --file unilabos-[YOUR_OS].yml -n environment_name
-
-# Currently, you need to install the `unilabos_msgs` package
-# You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.7-xxxxx.tar.bz2
-
-# Install PyLabRobot and other prerequisites
-git clone https://github.com/PyLabRobot/pylabrobot plr_repo
-cd plr_repo
-pip install .[opentrons]
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-2. Install Uni-Lab-OS:
+## Install Dev Uni-Lab-OS
 
 ```bash
 # Clone the repository
@@ -90,4 +75,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -5,6 +5,7 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
+
 [English](README.md) | **中文**
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -12,7 +13,7 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
 ## 🏆 比赛
 
@@ -34,30 +35,16 @@ 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
 
 ## 快速开始
 
-1. 配置Conda环境
+1. 配置 Conda 环境
 
 Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
 
 ```bash
 # 创建新环境
-mamba env create -f unilabos-[YOUR_OS].yaml
-mamba activate unilab
-
-# 或更新现有环境
-# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
-conda env update --file unilabos-[YOUR_OS].yml -n 环境名
-
-# 现阶段，需要安装 `unilabos_msgs` 包
-# 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.7-xxxxx.tar.bz2
-
-# 安装PyLabRobot等前置
-git clone https://github.com/PyLabRobot/pylabrobot plr_repo
-cd plr_repo
-pip install .[opentrons]
+mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 
-2. 安装 Uni-Lab-OS:
+2. 安装开发版 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库
@@ -90,4 +77,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

docs/developer_guide/action_includes.md

@@ -1,26 +1,64 @@
 ## 简单单变量动作函数
 
-
 ### `SendCmd`
 
 ```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
 :language: yaml
 ```
 
-----
+---
+
+### `StrSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
+:language: yaml
+```
+
+---
+
+### `IntSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
+:language: yaml
+```
+
+---
+
+### `FloatSingleInput`
+
+```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
+:language: yaml
+```
+
+---
+
+### `Point3DSeparateInput`
+
+```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
+:language: yaml
+```
+
+---
+
+### `Wait`
+
+```{literalinclude} ../../unilabos_msgs/action/Wait.action
+:language: yaml
+```
+
+---
+
 ## 常量有机化学操作
 
 Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
 
-
-
 ### `Clean`
 
 ```{literalinclude} ../../unilabos_msgs/action/Clean.action
 :language: yaml
 ```
 
-----
+---
 
 ### `EvacuateAndRefill`
 
@@ -28,7 +66,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Evaporate`
 
@@ -36,7 +74,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChill`
 
@@ -44,7 +82,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChillStart`
 
@@ -52,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `HeatChillStop`
 
@@ -60,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `PumpTransfer`
 
@@ -68,7 +106,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Separate`
 
@@ -76,7 +114,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
 
 ### `Stir`
 
@@ -84,20 +122,179 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
 
-----
+---
+
+### `Add`
+
+```{literalinclude} ../../unilabos_msgs/action/Add.action
+:language: yaml
+```
+
+---
+
+### `AddSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
+:language: yaml
+```
+
+---
+
+### `AdjustPH`
+
+```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
+:language: yaml
+```
+
+---
+
+### `Centrifuge`
+
+```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
+:language: yaml
+```
+
+---
+
+### `CleanVessel`
+
+```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
+:language: yaml
+```
+
+---
+
+### `Crystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
+:language: yaml
+```
+
+---
+
+### `Dissolve`
+
+```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
+:language: yaml
+```
+
+---
+
+### `Dry`
+
+```{literalinclude} ../../unilabos_msgs/action/Dry.action
+:language: yaml
+```
+
+---
+
+### `Filter`
+
+```{literalinclude} ../../unilabos_msgs/action/Filter.action
+:language: yaml
+```
+
+---
+
+### `FilterThrough`
+
+```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
+:language: yaml
+```
+
+---
+
+### `Hydrogenate`
+
+```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
+:language: yaml
+```
+
+---
+
+### `Purge`
+
+```{literalinclude} ../../unilabos_msgs/action/Purge.action
+:language: yaml
+```
+
+---
+
+### `Recrystallize`
+
+```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
+:language: yaml
+```
+
+---
+
+### `RunColumn`
+
+```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
+:language: yaml
+```
+
+---
+
+### `StartPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
+:language: yaml
+```
+
+---
+
+### `StartStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StartStir.action
+:language: yaml
+```
+
+---
+
+### `StopPurge`
+
+```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
+:language: yaml
+```
+
+---
+
+### `StopStir`
+
+```{literalinclude} ../../unilabos_msgs/action/StopStir.action
+:language: yaml
+```
+
+---
+
+### `Transfer`
+
+```{literalinclude} ../../unilabos_msgs/action/Transfer.action
+:language: yaml
+```
+
+---
+
+### `WashSolid`
+
+```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
+:language: yaml
+```
+
+---
+
 ## 移液工作站及相关生物自动化设备操作
 
 Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
 
-
-
 ### `LiquidHandlerAspirate`
 
 ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDiscardTips`
 
@@ -105,7 +302,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDispense`
 
@@ -113,7 +310,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDropTips`
 
@@ -121,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerDropTips96`
 
@@ -129,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveLid`
 
@@ -137,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMovePlate`
 
@@ -145,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerMoveResource`
 
@@ -153,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips`
 
@@ -161,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerPickUpTips96`
 
@@ -169,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips`
 
@@ -177,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerReturnTips96`
 
@@ -185,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerStamp`
 
@@ -193,7 +390,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `LiquidHandlerTransfer`
 
@@ -201,9 +398,113 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
-## 多工作站及小车运行、物料转移
+---
 
+### `LiquidHandlerAdd`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerIncubateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMix`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerMoveTo`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerOscillateBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerProtocolCreation`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerRemove`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetLiquid`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerSetTipRack`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferBiomek`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
+:language: yaml
+```
+
+---
+
+### `LiquidHandlerTransferGroup`
+
+```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
+:language: yaml
+```
+
+---
+
+## 多工作站及小车运行、物料转移
 
 ### `AGVTransfer`
 
@@ -211,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
 
 ### `WorkStationRun`
 
@@ -219,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
 
-----
+---
+
+### `ResetHandling`
+
+```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuter`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
+:language: yaml
+```
+
+---
+
+### `ResourceCreateFromOuterEasy`
+
+```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+:language: yaml
+```
+
+---
+
+### `SetPumpPosition`
+
+```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
+:language: yaml
+```
+
+---
+
+## 固体分配与处理设备操作
+
+### `SolidDispenseAddPowderTube`
+
+```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
+:language: yaml
+```
+
+---
+
+## 其他设备操作
+
+### `EmptyIn`
+
+```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
+:language: yaml
+```
+
+---
+
 ## 机械臂、夹爪等机器人设备
 
 Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
 
-
 ### `FollowJointTrajectory`
 
 ```yaml
@@ -292,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 
 ```
 
-----
+---
+
 ### `GripperCommand`
 
 ```yaml
@@ -310,17 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 
 ```
 
-----
+---
+
 ### `JointTrajectory`
 
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
----
 
+---
 ```
 
-----
+---
+
 ### `PointHead`
 
 ```yaml
@@ -330,12 +686,13 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 float64 pointing_angle_error
-
 ```
 
-----
+---
+
 ### `SingleJointPosition`
 
 ```yaml
@@ -343,15 +700,16 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
+
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
-
 ```
 
-----
+---
+
 ### `AssistedTeleop`
 
 ```yaml
@@ -363,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
-
 ```
 
-----
+---
+
 ### `BackUp`
 
 ```yaml
@@ -380,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `ComputePathThroughPoses`
 
 ```yaml
@@ -398,10 +756,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `ComputePathToPose`
 
 ```yaml
@@ -416,10 +774,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `DriveOnHeading`
 
 ```yaml
@@ -433,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
-
 ```
 
-----
+---
+
 ### `DummyBehavior`
 
 ```yaml
@@ -447,10 +805,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `FollowPath`
 
 ```yaml
@@ -465,10 +823,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
-
 ```
 
-----
+---
+
 ### `FollowWaypoints`
 
 ```yaml
@@ -480,10 +838,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
-
 ```
 
-----
+---
+
 ### `NavigateThroughPoses`
 
 ```yaml
@@ -501,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
-
 ```
 
-----
+---
+
 ### `NavigateToPose`
 
 ```yaml
@@ -521,10 +879,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
-
 ```
 
-----
+---
+
 ### `SmoothPath`
 
 ```yaml
@@ -540,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
-
 ```
 
-----
+---
+
 ### `Spin`
 
 ```yaml
@@ -556,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
-
 ```
 
-----
+---
+
 ### `Wait`
 
 ```yaml
@@ -571,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
-
 ```
 
-----
+---

docs/developer_guide/add_action.md

@@ -1,37 +1,142 @@
 # 添加新动作指令（Action）
 
-1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
+本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
+
+## 1. 编写新的 Action
+
+### 1.1 创建 Action 文件
+
+在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
 
 ```action
-# 目标（Goal）
+# 目标（Goal）- 定义动作执行所需的参数
 string command
+float64 timeout
 ---
-# 结果（Result）
-bool success
+# 结果（Result）- 定义动作完成后返回的结果
+bool success  # 要求必须包含success，以便回传执行结果
+string return_info  # 要求必须包含return_info，以便回传执行结果
+...  # 其他
 ---
-# 反馈（Feedback）
+# 反馈（Feedback）- 定义动作执行过程中的反馈信息
+float64 progress
+string status
 ```
 
-2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action
+### 1.2 更新 CMakeLists.txt
+
+在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
 
 ```cmake
 add_action_files(
   FILES
   MyDeviceCmd.action
+  # 其他已有的 action 文件...
 )
 ```
 
-3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：
+## 2. 在线构建和测试
+
+为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
+
+### 2.1 Fork 仓库并创建分支
+
+1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
+
+2. **Clone 你的 fork**：
+
+   ```bash
+   git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
+   cd Uni-Lab-OS
+   ```
+
+3. **创建功能分支**：
+
+   ```bash
+   git checkout -b add-my-device-action
+   ```
+
+4. **提交你的更改**：
+   ```bash
+   git add unilabos_msgs/action/MyDeviceCmd.action
+   git add unilabos_msgs/CMakeLists.txt
+   git commit -m "Add MyDeviceCmd action for device control"
+   git push origin add-my-device-action
+   ```
+
+### 2.2 触发在线构建
+
+1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
+
+2. **手动触发构建**：
+
+   - 点击 "Actions" 标签
+   - 选择 "Multi-Platform Conda Build" 工作流
+   - 点击 "Run workflow" 按钮
+
+3. **监控构建状态**：
+   - 构建过程大约需要 5-10 分钟
+   - 在 Actions 页面可以实时查看构建日志
+   - 构建完成后，可以下载生成的 conda 包进行测试
+
+### 2.3 下载和测试构建包
+
+1. **下载构建产物**：
+
+   - 在构建完成的 Action 页面，找到 "Artifacts" 部分
+   - 下载对应平台的 `conda-package-*` 文件
+
+2. **本地测试安装**：
+
+   ```bash
+   # 解压下载的构建产物
+   unzip conda-package-linux-64.zip  # 或其他平台
+
+   # 安装测试包
+   mamba install ./ros-humble-unilabos-msgs-*.conda
+   ```
+
+3. **验证 Action 是否正确添加**：
+   ```bash
+   # 检查 action 是否可用
+   ros2 interface show unilabos_msgs/action/MyDeviceCmd
+   ```
+
+## 3. 提交 Pull Request
+
+测试成功后，向主仓库提交 Pull Request：
+
+1. **创建 Pull Request**：
+
+   - 在你的 fork 仓库页面，点击 "New Pull Request"
+   - 选择你的功能分支作为源分支
+   - 填写详细的 PR 描述，包括：
+     - 添加的 Action 功能说明
+     - 测试结果
+     - 相关的设备或用例
+
+2. **等待审核和合并**：
+   - 维护者会审核你的代码
+   - CI/CD 系统会自动运行完整的测试套件
+   - 合并后，新的指令集会自动发布到官方 conda 仓库
+
+## 4. 使用新的 Action
+
+如果采用自己构建的action包，可以通过以下命令更新安装：
 
 ```bash
-cd unilabos_msgs
-colcon build
-source ./install/local_setup.sh
-cd ..
+mamba remove --force ros-humble-unilabos-msgs
+mamba config set safety_checks disabled  # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
+mamba install xxx.conda2 --offline
 ```
 
-调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
+## 常见问题
 
-```bash
-mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
-```
+**Q: 构建失败怎么办？**  
+A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
+
+**Q: 如何测试特定平台？**  
+A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
+
+**Q: 构建包在哪里下载？**  
+A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。

docs/developer_guide/add_yaml.md

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

docs/user_guide/configuration.md

@@ -1,82 +1,73 @@
 # Uni-Lab 配置指南
 
-Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。
+Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
 
 ## 配置文件格式
 
-Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
+Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
 
-### 基本配置示例
+### 默认配置示例
 
-一个典型的配置文件包含以下部分：
+首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
+
+```python
+# unilabos的配置文件
+
+class BasicConfig:
+    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
+    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
+
+
+# WebSocket配置，一般无需调整
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
+```
+
+### 完整配置示例
+
+您可以根据需要添加更多配置选项：
 
 ```python
 #!/usr/bin/env python
 # coding=utf-8
 """Uni-Lab 配置文件"""
 
-from dataclasses import dataclass
+# 基础配置
+class BasicConfig:
+    ak = "your_access_key"  # 实验室访问密钥
+    sk = "your_secret_key"  # 实验室私钥
+    working_dir = ""  # 工作目录（通常自动设置）
+    config_path = ""  # 配置文件路径（自动设置）
+    is_host_mode = True  # 是否为主站模式
+    slave_no_host = False  # 从站模式下是否跳过等待主机服务
+    upload_registry = False  # 是否上传注册表
+    machine_name = "undefined"  # 机器名称（自动获取）
+    vis_2d_enable = False  # 是否启用2D可视化
+    enable_resource_load = True  # 是否启用资源加载
+    communication_protocol = "websocket"  # 通信协议
 
-# 配置类定义
+# WebSocket配置
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
 
-class MQConfig:
-    """MQTT 配置类"""
-    lab_id: str = "YOUR_LAB_ID"
-    # 更多配置...
+# OSS上传配置
+class OSSUploadConfig:
+    api_host = ""  # API主机地址
+    authorization = ""  # 授权信息
+    init_endpoint = ""  # 初始化端点
+    complete_endpoint = ""  # 完成端点
+    max_retries = 3  # 最大重试次数
 
-# 其他配置类...
-```
-
-## 配置选项说明
-
-### MQTT配置 (MQConfig)
-
-MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
-
-```python
-
-class MQConfig:
-    """MQTT 配置类"""
-    lab_id: str = "7AAEDBEA"  # 实验室唯一标识
-    instance_id: str = "mqtt-cn-instance"
-    access_key: str = "your-access-key"
-    secret_key: str = "your-secret-key"
-    group_id: str = "GID_labs"
-    broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
-    port: int = 8883
-    
-    # 可以直接提供证书文件路径
-    ca_file: str = "/path/to/ca.pem"  # 相对config.py所在目录的路径
-    cert_file: str = "/path/to/cert.pem"  # 相对config.py所在目录的路径
-    key_file: str = "/path/to/key.pem"  # 相对config.py所在目录的路径
-    
-    # 或者直接提供证书内容
-    ca_content: str = ""
-    cert_content: str = ""
-    key_content: str = ""
-```
-
-#### 证书配置
-
-MQTT连接支持两种方式配置证书：
-
-1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
-2. **直接内容方式**：直接在配置中提供证书内容
-
-推荐使用文件路径方式，便于证书的更新和管理。
-
-### HTTP客户端配置 (HTTPConfig)
-
-即将开放 Uni-Lab 云端实验室。
-
-### ROS模块配置 (ROSConfig)
-
-配置ROS消息转换器需要加载的模块：
-
-```python
+# HTTP配置
+class HTTPConfig:
+    remote_addr = "http://127.0.0.1:48197/api/v1"  # 远程地址
 
+# ROS配置
 class ROSConfig:
-    """ROS模块配置"""
     modules = [
         "std_msgs.msg",
         "geometry_msgs.msg",
@@ -85,25 +76,365 @@ class ROSConfig:
         "nav2_msgs.action",
         "unilabos_msgs.msg",
         "unilabos_msgs.action",
+    ]  # 需要加载的ROS模块
+```
+
+## 命令行参数覆盖配置
+
+Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
+
+### 支持命令行覆盖的配置项
+
+以下配置项可以通过命令行参数进行覆盖：
+
+| 配置类        | 配置字段          | 命令行参数          | 说明                             |
+| ------------- | ----------------- | ------------------- | -------------------------------- |
+| `BasicConfig` | `ak`              | `--ak`              | 实验室访问密钥                   |
+| `BasicConfig` | `sk`              | `--sk`              | 实验室私钥                       |
+| `BasicConfig` | `working_dir`     | `--working_dir`     | 工作目录路径                     |
+| `BasicConfig` | `is_host_mode`    | `--is_slave`        | 主站模式（参数为从站模式，取反） |
+| `BasicConfig` | `slave_no_host`   | `--slave_no_host`   | 从站模式下跳过等待主机服务       |
+| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息             |
+| `BasicConfig` | `vis_2d_enable`   | `--2d_vis`          | 启用 2D 可视化                   |
+| `HTTPConfig`  | `remote_addr`     | `--addr`            | 远程服务地址                     |
+
+### 特殊命令行参数
+
+除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
+
+| 参数                | 说明                                 |
+| ------------------- | ------------------------------------ |
+| `--config`          | 指定配置文件路径                     |
+| `--port`            | Web 服务端口（不影响配置文件）       |
+| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
+| `--visual`          | 可视化工具选择（不影响配置文件）     |
+| `--skip_env_check`  | 跳过环境检查（不影响配置文件）       |
+
+### 配置优先级
+
+配置项的生效优先级从高到低为：
+
+1. **命令行参数**：最高优先级
+2. **环境变量**：中等优先级
+3. **配置文件**：基础优先级
+
+### 使用示例
+
+```bash
+# 通过命令行覆盖认证信息
+unilab --ak "new_access_key" --sk "new_secret_key"
+
+# 覆盖服务器地址
+unilab --addr "https://custom.server.com/api/v1"
+
+# 启用从站模式并跳过等待主机
+unilab --is_slave --slave_no_host
+
+# 启用上传注册表和2D可视化
+unilab --upload_registry --2d_vis
+
+# 组合使用多个覆盖参数
+unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
+```
+
+### 预设环境地址
+
+`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
+
+- `test` → `https://uni-lab.test.bohrium.com/api/v1`
+- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
+- `local` → `http://127.0.0.1:48197/api/v1`
+- 其他值 → 直接使用作为完整 URL
+
+## 配置选项详解
+
+### 基础配置 (BasicConfig)
+
+基础配置包含了系统运行的核心参数：
+
+| 参数                     | 类型 | 默认值        | 说明                                       |
+| ------------------------ | ---- | ------------- | ------------------------------------------ |
+| `ak`                     | str  | `""`          | 实验室访问密钥（必需）                     |
+| `sk`                     | str  | `""`          | 实验室私钥（必需）                         |
+| `working_dir`            | str  | `""`          | 工作目录，通常自动设置                     |
+| `is_host_mode`           | bool | `True`        | 是否为主站模式                             |
+| `slave_no_host`          | bool | `False`       | 从站模式下是否跳过等待主机服务             |
+| `upload_registry`        | bool | `False`       | 启动时是否上传注册表信息                   |
+| `machine_name`           | str  | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
+| `vis_2d_enable`          | bool | `False`       | 是否启用 2D 可视化                         |
+| `communication_protocol` | str  | `"websocket"` | 通信协议，固定为 websocket                 |
+
+#### 认证配置
+
+`ak` 和 `sk` 是必需的认证参数：
+
+1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
+2. **配置方式**：
+   - **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
+   - **配置文件**：在 `BasicConfig` 类中设置
+   - **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
+3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
+4. **安全注意**：请妥善保管您的密钥信息
+
+**推荐做法**：
+
+- 开发环境：使用配置文件
+- 生产环境：使用环境变量或命令行参数
+- 临时测试：使用命令行参数
+
+### WebSocket 配置 (WSConfig)
+
+WebSocket 是 Uni-Lab 的主要通信方式：
+
+| 参数                     | 类型 | 默认值 | 说明               |
+| ------------------------ | ---- | ------ | ------------------ |
+| `reconnect_interval`     | int  | `5`    | 断线重连间隔（秒） |
+| `max_reconnect_attempts` | int  | `999`  | 最大重连次数       |
+| `ping_interval`          | int  | `30`   | 心跳检测间隔（秒） |
+
+### HTTP 配置 (HTTPConfig)
+
+HTTP 客户端配置用于与云端服务通信：
+
+| 参数          | 类型 | 默认值                            | 说明         |
+| ------------- | ---- | --------------------------------- | ------------ |
+| `remote_addr` | str  | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
+
+**预设环境地址**：
+
+- 生产环境：`https://uni-lab.bohrium.com/api/v1`
+- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
+- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
+- 本地环境：`http://127.0.0.1:48197/api/v1`
+
+### ROS 配置 (ROSConfig)
+
+配置 ROS 消息转换器需要加载的模块：
+
+```python
+class ROSConfig:
+    modules = [
+        "std_msgs.msg",           # 标准消息类型
+        "geometry_msgs.msg",      # 几何消息类型
+        "control_msgs.msg",       # 控制消息类型
+        "control_msgs.action",    # 控制动作类型
+        "nav2_msgs.action",       # 导航动作类型
+        "unilabos_msgs.msg",      # UniLab 自定义消息类型
+        "unilabos_msgs.action",   # UniLab 自定义动作类型
     ]
 ```
 
-您可以根据需要添加其他ROS模块。
+您可以根据实际使用的设备和功能添加其他 ROS 模块。
 
-### 其他配置选项
+### OSS 上传配置 (OSSUploadConfig)
 
-- **OSSUploadConfig**: 对象存储上传配置
+对象存储服务配置，用于文件上传功能：
 
-## 如何使用配置文件
+| 参数                | 类型 | 默认值 | 说明                 |
+| ------------------- | ---- | ------ | -------------------- |
+| `api_host`          | str  | `""`   | OSS API 主机地址     |
+| `authorization`     | str  | `""`   | 授权认证信息         |
+| `init_endpoint`     | str  | `""`   | 上传初始化端点       |
+| `complete_endpoint` | str  | `""`   | 上传完成端点         |
+| `max_retries`       | int  | `3`    | 上传失败最大重试次数 |
 
-启动Uni-Lab时通过`--config`参数指定配置文件路径：
+## 环境变量支持
+
+Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
+
+```
+UNILABOS_{配置类名}_{字段名}
+```
+
+### 环境变量示例
 
 ```bash
-unilab --config path/to/your/config.py
+# 设置基础配置
+export UNILABOS_BASICCONFIG_AK="your_access_key"
+export UNILABOS_BASICCONFIG_SK="your_secret_key"
+export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
+
+# 设置WebSocket配置
+export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
+export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
+
+# 设置HTTP配置
+export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
 ```
 
-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
+### 环境变量类型转换
 
-# 启动Uni-Lab
-python -m unilabos.app.main --config path/to/your/config.py
+- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
+- **整数**：自动转换为 `int` 类型
+- **浮点数**：自动转换为 `float` 类型
+- **字符串**：保持原值
+
+## 配置文件使用方法
+
+### 1. 指定配置文件启动
+
+```bash
+# 使用指定配置文件启动
+unilab --config /path/to/your/config.py
 ```
+
+### 2. 使用默认配置文件
+
+如果不指定配置文件，系统会按以下顺序查找：
+
+1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
+2. 工作目录下的 `local_config.py`
+3. 首次使用时会引导创建配置文件
+
+### 3. 配置文件验证
+
+系统启动时会自动验证配置文件：
+
+- **语法检查**：确保 Python 语法正确
+- **类型检查**：验证配置项类型是否匹配
+- **必需项检查**：确保 `ak` 和 `sk` 已配置
+
+## 最佳实践
+
+### 1. 安全配置
+
+- 不要将包含密钥的配置文件提交到版本控制系统
+- 使用环境变量或命令行参数在生产环境中配置敏感信息
+- 定期更换访问密钥
+- **推荐配置方式**：
+
+  ```bash
+  # 生产环境 - 使用环境变量
+  export UNILABOS_BASICCONFIG_AK="your_access_key"
+  export UNILABOS_BASICCONFIG_SK="your_secret_key"
+  unilab
+
+  # 或使用命令行参数
+  unilab --ak "your_access_key" --sk "your_secret_key"
+  ```
+
+### 2. 多环境配置
+
+为不同环境创建不同的配置文件并结合命令行参数：
+
+```
+configs/
+├── local_config.py      # 本地开发
+├── test_config.py       # 测试环境
+├── prod_config.py       # 生产环境
+└── example_config.py    # 示例配置
+```
+
+**环境切换示例**：
+
+```bash
+# 本地开发环境
+unilab --config configs/local_config.py --addr local
+
+# 测试环境
+unilab --config configs/test_config.py --addr test --upload_registry
+
+# 生产环境
+unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
+```
+
+### 3. 配置管理
+
+- 保持配置文件简洁，只包含需要修改的配置项
+- 为配置项添加注释说明其作用
+- 定期检查和更新配置文件
+- **命令行参数优先使用场景**：
+  - 临时测试不同配置
+  - CI/CD 流水线中的动态配置
+  - 不同环境间快速切换
+  - 敏感信息的安全传递
+
+### 4. 灵活配置策略
+
+**基础配置文件 + 命令行覆盖**的推荐方式：
+
+```python
+# base_config.py - 基础配置
+class BasicConfig:
+    # 非敏感配置写在文件中
+    is_host_mode = True
+    upload_registry = False
+    vis_2d_enable = False
+
+class WSConfig:
+    reconnect_interval = 5
+    max_reconnect_attempts = 999
+    ping_interval = 30
+```
+
+```bash
+# 启动时通过命令行覆盖关键参数
+unilab --config base_config.py \
+       --ak "$AK" \
+       --sk "$SK" \
+       --addr "test" \
+       --upload_registry \
+       --2d_vis
+```
+
+## 故障排除
+
+### 1. 配置文件加载失败
+
+**错误信息**：`[ENV] 配置文件 xxx 不存在`
+
+**解决方法**：
+
+- 确认配置文件路径正确
+- 检查文件权限是否可读
+- 确保配置文件是 `.py` 格式
+
+### 2. 语法错误
+
+**错误信息**：`[ENV] 加载配置文件 xxx 失败`
+
+**解决方法**：
+
+- 检查 Python 语法是否正确
+- 确认类名和字段名拼写正确
+- 验证缩进是否正确（使用空格而非制表符）
+
+### 3. 认证失败
+
+**错误信息**：`后续运行必须拥有一个实验室`
+
+**解决方法**：
+
+- 确认 `ak` 和 `sk` 已正确配置
+- 检查密钥是否有效
+- 确认网络连接正常
+
+### 4. 环境变量不生效
+
+**解决方法**：
+
+- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
+- 检查环境变量是否已正确设置
+- 重启系统或重新加载环境变量
+
+### 5. 命令行参数不生效
+
+**错误现象**：设置了命令行参数但配置没有生效
+
+**解决方法**：
+
+- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
+- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
+- 确认参数位置正确（所有参数都应在 `unilab` 之后）
+- 查看启动日志确认参数是否被正确解析
+
+### 6. 配置优先级混淆
+
+**错误现象**：不确定哪个配置生效
+
+**解决方法**：
+
+- 记住优先级：命令行参数 > 环境变量 > 配置文件
+- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
+- 检查启动日志中的配置加载信息
+- 临时移除低优先级配置来测试高优先级配置是否生效

docs/user_guide/launch.md

@@ -1,4 +1,4 @@
-# Uni-Lab 启动
+# Uni-Lab 启动指南
 
 安装完毕后，可以通过 `unilab` 命令行启动：
 
@@ -8,70 +8,240 @@ Start Uni-Lab Edge server.
 options:
   -h, --help            show this help message and exit
   -g GRAPH, --graph GRAPH
-                        Physical setup graph.
-  -d DEVICES, --devices DEVICES
-                        Devices config file.
-  -r RESOURCES, --resources RESOURCES
-                        Resources config file.
+                        Physical setup graph file path.
   -c CONTROLLERS, --controllers CONTROLLERS
-                        Controllers config file.
+                        Controllers config file path.
   --registry_path REGISTRY_PATH
-                        Path to the registry
+                        Path to the registry directory
+  --working_dir WORKING_DIR
+                        Path to the working directory
   --backend {ros,simple,automancer}
                         Choose the backend to run with: 'ros', 'simple', or 'automancer'.
   --app_bridges APP_BRIDGES [APP_BRIDGES ...]
-                        Bridges to connect to. Now support 'mqtt' and 'fastapi'.
-  --without_host        Run the backend as slave (without host).
-  --config CONFIG       Configuration file path for system settings
+                        Bridges to connect to. Now support 'websocket' and 'fastapi'.
+  --is_slave            Run the backend as slave node (without host privileges).
+  --slave_no_host       Skip waiting for host service in slave mode
+  --upload_registry     Upload registry information when starting unilab
+  --use_remote_resource Use remote resources when starting unilab
+  --config CONFIG       Configuration file path, supports .py format Python config files
+  --port PORT           Port for web service information page
+  --disable_browser     Disable opening information page on startup
+  --2d_vis              Enable 2D visualization when starting pylabrobot instance
+  --visual {rviz,web,disable}
+                        Choose visualization tool: rviz, web, or disable
+  --ak AK               Access key for laboratory requests
+  --sk SK               Secret key for laboratory requests
+  --addr ADDR           Laboratory backend address
+  --skip_env_check      Skip environment dependency check on startup
+  --complete_registry   Complete registry information
 ```
 
+## 启动流程详解
+
+Uni-Lab 的启动过程分为以下几个阶段：
+
+### 1. 参数解析阶段
+
+- 解析命令行参数
+- 处理参数格式转换（支持 dash 和 underscore 格式）
+
+### 2. 环境检查阶段 (可选)
+
+- 默认进行环境依赖检查并自动安装必需包
+- 使用 `--skip_env_check` 可跳过此步骤
+
+### 3. 配置文件处理阶段
+
+您可以直接跟随 unilabos 的提示进行，无需查阅本节
+
+- **工作目录设置**：
+
+  - 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
+  - 否则使用 `当前目录/unilabos_data` 作为工作目录
+  - 可通过 `--working_dir` 指定自定义工作目录
+
+- **配置文件查找顺序**：
+  1. 使用 `--config` 参数指定的配置文件
+  2. 在工作目录中查找 `local_config.py`
+  3. 首次使用时会引导创建配置文件
+
+### 4. 服务器地址配置
+
+支持多种后端环境：
+
+- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
+- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
+- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
+- 自定义地址：直接指定完整 URL
+
+### 5. 认证配置
+
+- **必需参数**：`--ak` 和 `--sk` 必须同时提供
+- 命令行参数优先于配置文件中的设置
+- 未提供认证信息会导致启动失败并提示注册实验室
+
+### 6. 设备图谱加载
+
+支持两种方式：
+
+- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
+- **远程资源**：使用 `--use_remote_resource` 从云端获取
+
+### 7. 注册表构建
+
+- 构建设备和资源注册表
+- 支持自定义注册表路径 (`--registry_path`)
+- 可选择补全注册表信息 (`--complete_registry`)
+
+### 8. 设备验证和注册
+
+- 验证设备连接和端点配置
+- 自动注册设备到云端服务
+
+### 9. 通信桥接配置
+
+- **WebSocket**：实时通信和任务下发
+- **FastAPI**：HTTP API 服务和物料更新
+
+### 10. 可视化和服务启动
+
+- 可选启动可视化工具 (`--visual`)
+- 启动 Web 信息服务 (默认端口 8002)
+- 启动后端通信服务
+
 ## 使用配置文件
 
-Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
+Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
 
 ```bash
 # 使用配置文件启动
 unilab --config path/to/your/config.py
 ```
 
-配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
+配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
 
 ## 初始化信息来源
 
-启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：
+启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
 
 ### 1. 组态&拓扑图
 
-使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。
+使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
 
-### 2. 分别指定设备、耗材、控制逻辑
+### 2. 分别指定控制逻辑
 
-分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。
+使用 `-c` 传入控制逻辑配置。
 
-可参照 `devices.json` 和 `resources.json`。
-
-不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
+不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
 
 ## 通信中间件 `--backend`
 
-目前 Uni-Lab 仅支持 ros2 作为通信中间件。
+目前 Uni-Lab 支持以下通信中间件：
+
+- **ros** (默认)：基于 ROS2 的通信
+- **simple**：简化通信模式
+- **automancer**：Automancer 兼容模式
 
 ## 端云桥接 `--app_bridges`
 
-目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。
+目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
+
+- **WebSocket**：负责实时通信和任务下发
+- **FastAPI**：负责端对云物料更新和 HTTP API
 
 ## 分布式组网
 
-启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
+启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
+
+- **主站 (host)**：持有物料修改权以及对云端的通信
+- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
+
+局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
+
+## 可视化选项
+
+### 2D 可视化
+
+使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
+
+### 3D 可视化
+
+通过 `--visual` 参数选择：
+
+- **rviz**：使用 RViz 进行 3D 可视化
+- **web**：使用 Web 界面进行可视化
+- **disable** (默认)：禁用可视化
+
+## 实验室管理
+
+### 首次使用
+
+如果是首次使用，系统会：
+
+1. 提示前往 https://uni-lab.bohrium.com 注册实验室
+2. 引导创建配置文件
+3. 设置工作目录
+
+### 认证设置
+
+- `--ak`：实验室访问密钥
+- `--sk`：实验室私钥
+- 两者必须同时提供才能正常启动
 
 ## 完整启动示例
 
 以下是一些常用的启动命令示例：
 
 ```bash
-# 使用配置文件和组态图启动
-unilab -g path/to/graph.json
+# 使用组态图启动，上传注册表
+unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
 
-# 使用配置文件和分离的设备/资源文件启动
-unilab -d devices.json -r resources.json
+# 使用远程资源启动
+unilab --ak your_ak --sk your_sk --use_remote_resource
+
+# 更新注册表
+unilab --ak your_ak --sk your_sk --complete_registry
+
+# 启动从站模式
+unilab --ak your_ak --sk your_sk --is_slave
+
+# 启用可视化
+unilab --ak your_ak --sk your_sk --visual web --2d_vis
+
+# 指定本地信息网页服务端口和禁用自动跳出浏览器
+unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
 ```
+
+## 常见问题
+
+### 1. 认证失败
+
+如果提示 "后续运行必须拥有一个实验室"，请确保：
+
+- 已在 https://uni-lab.bohrium.com 注册实验室
+- 正确设置了 `--ak` 和 `--sk` 参数
+- 配置文件中包含正确的认证信息
+
+### 2. 配置文件问题
+
+如果配置文件加载失败：
+
+- 确保配置文件是 `.py` 格式
+- 检查配置文件语法是否正确
+- 首次使用可让系统自动创建示例配置文件
+
+### 3. 网络连接问题
+
+如果无法连接到服务器：
+
+- 检查网络连接
+- 确认服务器地址是否正确
+- 尝试使用不同的环境地址（test、uat、local）
+
+### 4. 设备图谱问题
+
+如果设备加载失败：
+
+- 检查图谱文件格式是否正确
+- 验证设备连接和端点配置
+- 确保注册表路径正确

recipes/conda_build_config.yaml

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

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: 0.10.5
+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: 0.9.7
-source:
-  path: ../../unilabos_msgs
-  folder: ros-humble-unilabos-msgs/src/work
-
-build:
-  script:
-    sel(win): bld_ament_cmake.bat
-    sel(unix): build_ament_cmake.sh
-  number: 5
-about:
-  home: https://www.ros.org/
-  license: BSD-3-Clause
-  summary: |
-    Robot Operating System
-
-extra:
-  recipe-maintainers:
-    - ros-forge
-
-requirements:
-  build:
-    - "{{ compiler('cxx') }}"
-    - "{{ compiler('c') }}"
-    - sel(linux64): sysroot_linux-64 2.17
-    - ninja
-    - setuptools
-    - sel(unix): make
-    - sel(unix): coreutils
-    - sel(osx): tapi
-    - sel(build_platform != target_platform): pkg-config
-    - cmake
-    - cython
-    - sel(win): vs2022_win-64
-    - sel(build_platform != target_platform): python
-    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
-    - sel(build_platform != target_platform): numpy
-  host:
-    - numpy
-    - pip
-    - sel(build_platform == target_platform): pkg-config
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ament-cmake
-    - robostack-staging::ros-humble-ament-lint-auto
-    - robostack-staging::ros-humble-ament-lint-common
-    - robostack-staging::ros-humble-ros-environment
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-generators
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-    - robostack-staging::ros2-distro-mutex=0.5.*
-  run:
-    - robostack-staging::ros-humble-action-msgs
-    - robostack-staging::ros-humble-ros-workspace
-    - robostack-staging::ros-humble-rosidl-default-runtime
-    - robostack-staging::ros-humble-std-msgs
-    - robostack-staging::ros-humble-geometry-msgs
-#    - robostack-staging::ros2-distro-mutex=0.6.*
-    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.7"
+  version: "0.10.5"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.7',
+    version='0.10.5',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
@@ -16,8 +16,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "unilab = unilabos.app.main:main",
-            "unilab-register = unilabos.app.register:main"
+            "unilab = unilabos.app.main:main"
         ],
     },
 )

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

@@ -23,6 +23,7 @@
     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,                                  (√)
@@ -30,7 +31,228 @@
     CleanVesselProtocol: generate_clean_vessel_protocol,                            (√)
     DissolveProtocol: generate_dissolve_protocol,                                   (√)
     FilterThroughProtocol: generate_filter_through_protocol,                        (√)
-    RunColumnProtocol: generate_run_column_protocol,                        (×)
-    WashSolidProtocol: generate_wash_solid_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
+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/comprehensive_protocol/comprehensive_station.json

@@ -23,14 +23,20 @@
                 "waste_bottle_2",
                 "solenoid_valve_1",
                 "solenoid_valve_2",
+                "solenoid_valve_3",
                 "vacuum_pump_1",
                 "gas_source_1",
+                "h2_gas_source",
                 "filter_1",
                 "column_1",
                 "separator_1",
                 "collection_bottle_1",
                 "collection_bottle_2",
-                "collection_bottle_3"
+                "collection_bottle_3",
+                "solid_dispenser_1",
+                "solid_reagent_bottle_1",
+                "solid_reagent_bottle_2",
+                "solid_reagent_bottle_3"
             ],
             "parent": null,
             "type": "device",
@@ -43,7 +49,6 @@
             "config": {
                 "protocol_type": [
                     "AddProtocol",
-                    "TransferProtocol",
                     "StartStirProtocol",
                     "StopStirProtocol",
                     "StirProtocol",
@@ -60,7 +65,12 @@
                     "HeatChillStartProtocol",
                     "HeatChillStopProtocol",
                     "EvacuateAndRefillProtocol",
-                    "PumpTransferProtocol"
+                    "PumpTransferProtocol",
+                    "AdjustPHProtocol",
+                    "ResetHandlingProtocol",
+                    "DryProtocol",
+                    "HydrogenateProtocol",
+                    "RecrystallizeProtocol"
                 ]
             },
             "data": {}
@@ -160,12 +170,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "DMF"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "DMF"
+                "liquids": [
+                    {
+                        "liquid_type": "DMF",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -181,12 +194,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "ethyl_acetate"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "ethyl_acetate"
+                "liquids": [
+                    {
+                        "liquid_type": "ethyl_acetate",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -202,12 +218,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "hexane"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "hexane"
+                "liquids": [
+                    {
+                        "liquid_type": "hexane",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -223,12 +242,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "methanol"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "methanol"
+                "liquids": [
+                    {
+                        "liquid_type": "methanol",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -244,12 +266,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 1000.0,
-                "reagent": "water"
+                "max_volume": 1000.0
             },
             "data": {
-                "current_volume": 1000.0,
-                "reagent_name": "water"
+                "liquids": [
+                    {
+                        "liquid_type": "water",
+                        "liquid_volume": 1000.0
+                    }
+                ]
             }
         },
         {
@@ -309,15 +334,15 @@
                 "z": 0
             },
             "config": {
-                "volume": 500.0,
+                "max_volume": 500.0,
                 "max_temp": 200.0,
                 "min_temp": -20.0,
                 "has_stirrer": true,
                 "has_heater": true
             },
             "data": {
-                "current_volume": 0.0,
-                "current_temp": 25.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -394,10 +419,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -413,10 +439,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 2000.0
+                "max_volume": 2000.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -461,6 +488,28 @@
                 "is_open": false
             }
         },
+        {
+            "id": "solenoid_valve_3",
+            "name": "氢气电磁阀",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_solenoid_valve",
+            "position": {
+                "x": 450,
+                "y": 400,
+                "z": 0
+            },
+            "config": {
+                "voltage": 12.0,
+                "response_time": 0.1,
+                "gas_compatible": true
+            },
+            "data": {
+                "valve_state": "Closed",
+                "is_open": false
+            }
+        },
         {
             "id": "vacuum_pump_1",
             "name": "真空泵",
@@ -500,6 +549,29 @@
                 "max_pressure": 5.0
             }
         },
+        {
+            "id": "h2_gas_source",
+            "name": "氢气气源",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_gas_source",
+            "position": {
+                "x": 500,
+                "y": 350,
+                "z": 0
+            },
+            "config": {
+                "max_pressure": 10.0,
+                "gas_type": "hydrogen"
+            },
+            "data": {
+                "gas_type": "hydrogen",
+                "max_pressure": 10.0,
+                "current_pressure": 0.0,
+                "status": "OFF"
+            }
+        },
         {
             "id": "filter_1",
             "name": "过滤器",
@@ -577,10 +649,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -596,10 +669,11 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
             }
         },
         {
@@ -615,10 +689,103 @@
                 "z": 0
             },
             "config": {
-                "volume": 250.0
+                "max_volume": 250.0
             },
             "data": {
-                "current_volume": 0.0
+                "liquids": [
+                ]
+            }
+        },
+        {
+            "id": "solid_dispenser_1",
+            "name": "固体粉末加样器",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "device",
+            "class": "virtual_solid_dispenser",
+            "position": {
+                "x": 600,
+                "y": 300,
+                "z": 0
+            },
+            "config": {
+                "max_capacity": 100.0,
+                "precision": 0.001
+            },
+            "data": {
+                "status": "Ready",
+                "current_reagent": "",
+                "dispensed_amount": 0.0,
+                "total_operations": 0
+            }
+        },
+        {
+            "id": "solid_reagent_bottle_1",
+            "name": "固体试剂瓶1-氯化钠",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 550,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "max_volume": 500.0,
+                "reagent": "sodium_chloride",
+                "physical_state": "solid"
+            },
+            "data": {
+                "current_mass": 500.0,
+                "reagent_name": "sodium_chloride",
+                "physical_state": "solid"
+            }
+        },
+        {
+            "id": "solid_reagent_bottle_2",
+            "name": "固体试剂瓶2-碳酸钠",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 600,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "volume": 500.0,
+                "reagent": "sodium_carbonate",
+                "physical_state": "solid"
+            },
+            "data": {
+                "current_mass": 500.0,
+                "reagent_name": "sodium_carbonate",
+                "physical_state": "solid"
+            }
+        },
+        {
+            "id": "solid_reagent_bottle_3",
+            "name": "固体试剂瓶3-氯化镁",
+            "children": [],
+            "parent": "OrganicSynthesisStation",
+            "type": "container",
+            "class": "container",
+            "position": {
+                "x": 650,
+                "y": 250,
+                "z": 0
+            },
+            "config": {
+                "volume": 500.0,
+                "reagent": "magnesium_chloride",
+                "physical_state": "solid"
+            },
+            "data": {
+                "current_mass": 500.0,
+                "reagent_name": "magnesium_chloride",
+                "physical_state": "solid"
             }
         }
     ],
@@ -680,7 +847,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_1": "5",
-                "rotavap_1": "sample_in"
+                "rotavap_1": "samplein"
             }
         },
         {
@@ -750,7 +917,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_2": "3",
-                "solenoid_valve_2": "in"
+                "solenoid_valve_2": "out"
             }
         },
         {
@@ -760,7 +927,7 @@
             "type": "fluid",
             "port": {
                 "gas_source_1": "gassource",
-                "solenoid_valve_2": "out"
+                "solenoid_valve_2": "in"
             }
         },
         {
@@ -770,7 +937,7 @@
             "type": "transport",
             "port": {
                 "multiway_valve_2": "4",
-                "filter_1": "filter_in"
+                "filter_1": "filterin"
             }
         },
         {
@@ -800,7 +967,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_2": "6",
-                "separator_1": "separator_in"
+                "separator_1": "separatorin"
             }
         },
         {
@@ -809,7 +976,7 @@
             "target": "collection_bottle_3",
             "type": "fluid",
             "port": {
-                "separator_1": "bottom_phase_out",
+                "separator_1": "bottomphaseout",
                 "collection_bottle_3": "top"
             }
         },
@@ -859,7 +1026,7 @@
             "target": "waste_bottle_2",
             "type": "fluid",
             "port": {
-                "separator_1": "top_phase_out",
+                "separator_1": "topphaseout",
                 "waste_bottle_2": "top"
             }
         },
@@ -874,14 +1041,14 @@
             }
         },
         {
-        "id": "link_filter_filtrate_to_collection1",
-        "source": "filter_1",
-        "target": "collection_bottle_1",
-        "type": "transport",
-        "port": {
-            "filter_1": "filtrate_out",
-            "collection_bottle_1": "top"
-        }
+            "id": "link_filter_filtrate_to_collection1",
+            "source": "filter_1",
+            "target": "collection_bottle_1",
+            "type": "transport",
+            "port": {
+                "filter_1": "filtrateout",
+                "collection_bottle_1": "top"
+            }
         },
         {
             "id": "link_filter_retentate_to_waste1",
@@ -889,9 +1056,69 @@
             "target": "waste_bottle_1",
             "type": "transport",
             "port": {
-                "filter_1": "retentate_out",
+                "filter_1": "retentateout",
                 "waste_bottle_1": "top"
             }
+        },
+        {
+            "id": "link_h2_gas_to_valve3",
+            "source": "h2_gas_source",
+            "target": "solenoid_valve_3",
+            "type": "fluid",
+            "port": {
+                "h2_gas_source": "gassource",
+                "solenoid_valve_3": "in"
+            }
+        },
+        {
+            "id": "link_valve3_to_reactor",
+            "source": "solenoid_valve_3",
+            "target": "main_reactor",
+            "type": "fluid",
+            "port": {
+                "solenoid_valve_3": "out",
+                "main_reactor": "top"
+            }
+        },
+        {
+            "id": "link_solid_dispenser_to_reactor",
+            "source": "solid_dispenser_1",
+            "target": "main_reactor",
+            "type": "resource",
+            "port": {
+                "solid_dispenser_1": "SolidOut",
+                "main_reactor": "top"
+            }
+        },
+        {
+            "id": "link_solid_bottle1_to_dispenser",
+            "source": "solid_reagent_bottle_1",
+            "target": "solid_dispenser_1",
+            "type": "resource",
+            "port": {
+                "solid_reagent_bottle_1": "bottom",
+                "solid_dispenser_1": "SolidIn"
+            }
+        },
+        {
+            "id": "link_solid_bottle2_to_dispenser",
+            "source": "solid_reagent_bottle_2",
+            "target": "solid_dispenser_1",
+            "type": "resource",
+            "port": {
+                "solid_reagent_bottle_2": "bottom",
+                "solid_dispenser_1": "SolidIn"
+            }
+        },
+        {
+            "id": "link_solid_bottle3_to_dispenser",
+            "source": "solid_reagent_bottle_3",
+            "target": "solid_dispenser_1",
+            "type": "resource",
+            "port": {
+                "solid_reagent_bottle_3": "bottom",
+                "solid_dispenser_1": "SolidIn"
+            }
         }
     ]
 }

test/experiments/mock_reactor.json

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

test/experiments/plr_test_converted.json

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

test/experiments/test_moveit.json

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

test/registry/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,
+        }

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
@@ -48,8 +49,9 @@ 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
@@ -60,6 +62,8 @@ dependencies:
   - 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
+      - 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
@@ -60,6 +61,8 @@ dependencies:
   - 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
+      - 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
@@ -50,8 +50,9 @@ 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
@@ -62,6 +63,8 @@ dependencies:
   - 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
+      - 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
@@ -48,8 +49,9 @@ 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
@@ -60,6 +62,15 @@ dependencies:
   - 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
+      - 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

@@ -15,24 +15,33 @@ def start_backend(
     without_host: bool = False,
     visual: str = "None",
     resources_mesh_config: dict = {},
-    **kwargs
+    **kwargs,
 ):
     if backend == "ros":
         # 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
         from unilabos.ros.main_slave_run import main, slave  # 如果选择 'ros' 作为 backend
-    elif backend == 'simple':
+    elif backend == "simple":
         # 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
         # from simple_backend import main as simple_main
         pass
-    elif backend == 'automancer':
+    elif backend == "automancer":
         # from automancer_backend import main as automancer_main
         pass
     else:
         raise ValueError(f"Unsupported backend: {backend}")
-    
+
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        args=(
+            devices_config,
+            resources_config,
+            resources_edge_config,
+            graph,
+            controllers_config,
+            bridges,
+            visual,
+            resources_mesh_config,
+        ),
         name="backend_thread",
         daemon=True,
     )

unilabos/app/communication.py

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

unilabos/app/controler.py

@@ -1,36 +0,0 @@
-
-import json
-import uuid
-from unilabos.app.model import JobAddReq, JobData
-from unilabos.ros.nodes.presets.host_node import HostNode
-
-
-def get_resources() -> tuple:
-    if HostNode.get_instance() is None:
-        return False, "Host node not initialized"
-
-    return True, HostNode.get_instance().resources_config
-
-def devices() -> tuple:
-    if HostNode.get_instance() is None:
-        return False, "Host node not initialized"
-    
-    return True, HostNode.get_instance().devices_config
-
-def job_info(id: str):
-    get_goal_status = HostNode.get_instance().get_goal_status(id)
-    return JobData(jobId=id, status=get_goal_status)
-
-def job_add(req: JobAddReq) -> JobData:
-    if req.job_id is None:
-        req.job_id = str(uuid.uuid4())
-    action_name = req.data["action"]
-    action_kwargs = req.data["action_kwargs"]
-    req.data['action'] = action_name
-    if action_name == "execute_command_from_outer":
-        action_kwargs = {"command": json.dumps(action_kwargs)}
-    elif "command" in action_kwargs:
-        action_kwargs = action_kwargs["command"]
-    # 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, server_info=req.server_info)
-    return JobData(jobId=req.job_id)

unilabos/app/main.py

@@ -1,7 +1,7 @@
 import argparse
 import asyncio
-import json
 import os
+import shutil
 import signal
 import sys
 import threading
@@ -10,7 +10,6 @@ from copy import deepcopy
 
 import yaml
 
-from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -18,13 +17,14 @@ 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, _update_config_from_env
+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)
+        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")
@@ -37,19 +37,34 @@ def load_config_from_file(config_path):
         load_config(config_path)
 
 
+def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
+    # easier for user input, easier for dev search code
+    option_strings = list(args._option_string_actions.keys())
+    for i, arg in enumerate(sys.argv):
+        for option_string in option_strings:
+            if arg.startswith(option_string):
+                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
+                sys.argv[i] = new_arg
+                break
+
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    parser.add_argument("-g", "--graph", help="Physical setup graph.")
-    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("-g", "--graph", help="Physical setup graph file path.")
+    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
     parser.add_argument(
         "--registry_path",
         type=str,
         default=None,
         action="append",
-        help="Path to the registry",
+        help="Path to the registry directory",
+    )
+    parser.add_argument(
+        "--working_dir",
+        type=str,
+        default=None,
+        help="Path to the working directory",
     )
     parser.add_argument(
         "--backend",
@@ -60,69 +75,180 @@ def parse_args():
     parser.add_argument(
         "--app_bridges",
         nargs="+",
-        default=["mqtt", "fastapi"],
-        help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
+        default=["websocket", "fastapi"],
+        help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
     )
     parser.add_argument(
-        "--without_host",
+        "--is_slave",
         action="store_true",
-        help="Run the backend as slave (without host).",
+        help="Run the backend as slave node (without host privileges).",
     )
     parser.add_argument(
         "--slave_no_host",
         action="store_true",
-        help="Slave模式下跳过等待host服务",
+        help="Skip waiting for host service in slave mode",
     )
     parser.add_argument(
         "--upload_registry",
         action="store_true",
-        help="启动unilab时同时报送注册表信息",
+        help="Upload registry information when starting unilab",
+    )
+    parser.add_argument(
+        "--use_remote_resource",
+        action="store_true",
+        help="Use remote resources when starting unilab",
     )
     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",
+        help="Configuration file path, supports .py format Python config files",
     )
     parser.add_argument(
         "--port",
         type=int,
         default=8002,
-        help="信息页web服务的启动端口",
+        help="Port for web service information page",
     )
     parser.add_argument(
         "--disable_browser",
-        action='store_true',
-        help="是否在启动时关闭信息页",
+        action="store_true",
+        help="Disable opening information page on startup",
     )
     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",
+        action="store_true",
+        help="Enable 2D visualization when starting pylabrobot instance",
     )
     parser.add_argument(
         "--visual",
         choices=["rviz", "web", "disable"],
         default="disable",
-        help="选择可视化工具: rviz, web",
+        help="Choose visualization tool: rviz, web, or disable",
     )
-    return parser.parse_args()
+    parser.add_argument(
+        "--ak",
+        type=str,
+        default="",
+        help="Access key for laboratory requests",
+    )
+    parser.add_argument(
+        "--sk",
+        type=str,
+        default="",
+        help="Secret key for laboratory requests",
+    )
+    parser.add_argument(
+        "--addr",
+        type=str,
+        default="https://uni-lab.bohrium.com/api/v1",
+        help="Laboratory backend address",
+    )
+    parser.add_argument(
+        "--skip_env_check",
+        action="store_true",
+        help="Skip environment dependency check on startup",
+    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="Complete registry information",
+    )
+    return parser
 
 
 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())
+
+    # 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:
+            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.is_host_mode = not args_dict.get("without_host", False)
+    if args_dict.get("ak", ""):
+        BasicConfig.ak = args_dict.get("ak", "")
+        print_status("传入了ak参数，优先采用传入参数！", "info")
+    if args_dict.get("sk", ""):
+        BasicConfig.sk = args_dict.get("sk", "")
+        print_status("传入了sk参数，优先采用传入参数！", "info")
+    BasicConfig.working_dir = working_dir
+    BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
+    BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
@@ -135,46 +261,101 @@ 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.app.web import http_client
     from unilabos.app.web import start_server
+    from unilabos.app.register import register_devices_and_resources
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
     # 注册表
-    build_registry(args_dict["registry_path"])
-    resource_edge_info = []
-    devices_and_resources = None
-    if args_dict["graph"] is not None:
-        import unilabos.resources.graphio as graph_res
-        if args_dict["graph"].endswith(".json"):
-            graph, data = read_node_link_json(args_dict["graph"])
+    lab_registry = build_registry(
+        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
+    )
+
+    if not BasicConfig.ak or not BasicConfig.sk:
+        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+        os._exit(1)
+    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:
-            graph, data = read_graphml(args_dict["graph"])
-        graph_res.physical_setup_graph = graph
-        resource_edge_info = modify_to_backend_format(data["links"])
-        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
-        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
-        args_dict["resources_config"] = list(devices_and_resources.values())
-        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-        args_dict["graph"] = graph_res.physical_setup_graph
+            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())
-        # )
-        args_dict["resources_config"] = 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 source_handle not in source_handler_keys:
+            print_status(
+                f"节点 {source_node['id']} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
+                "error",
+            )
+            resource_edge_info.pop(edge_info - ind - 1)
+            continue
+        if target_handle not in target_handler_keys:
+            print_status(
+                f"节点 {target_node['id']} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
+                "error",
+            )
+            resource_edge_info.pop(edge_info - ind - 1)
+            continue
+
+    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"]:
         print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
 
+    if BasicConfig.upload_registry:
+        # 设备注册到服务端 - 需要 ak 和 sk
+        if args_dict.get("ak") and args_dict.get("sk"):
+            print_status("开始注册设备到服务端...", "info")
+            try:
+                register_devices_and_resources(lab_registry)
+                print_status("设备注册完成", "info")
+            except Exception as e:
+                print_status(f"设备注册失败: {e}", "error")
+        else:
+            print_status("未提供 ak 和 sk，跳过设备注册", "info")
+    else:
+        print_status(
+            "本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning"
+        )
+
     if args_dict["controllers"] is not None:
         args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
     else:
@@ -182,32 +363,44 @@ def main():
 
     args_dict["bridges"] = []
 
-    if "mqtt" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(mqtt_client)
+    # 获取通信客户端（仅支持WebSocket）
+    comm_client = get_communication_client()
+
+    if "websocket" in args_dict["app_bridges"]:
+        args_dict["bridges"].append(comm_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
-    if "mqtt" in args_dict["app_bridges"]:
+    if "websocket" 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
-            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+            from unilabos.device_mesh.resource_visalization import (
+                ResourceVisualization,
+            )  # 此处开启后，logger会变更为INFO，有需要请调整
+
+            resource_visualization = ResourceVisualization(
+                devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
+            )
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(target=start_server, kwargs=dict(
-                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
-            ))
+            server_thread = threading.Thread(
+                target=start_server,
+                kwargs=dict(
+                    open_browser=not args_dict["disable_browser"],
+                    port=args_dict["port"],
+                ),
+            )
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()
@@ -215,10 +408,16 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
+            start_server(
+                open_browser=not args_dict["disable_browser"],
+                port=args_dict["port"],
+            )
     else:
         start_backend(**args_dict)
-        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
+        start_server(
+            open_browser=not args_dict["disable_browser"],
+            port=args_dict["port"],
+        )
 
 
 if __name__ == "__main__":

unilabos/app/model.py

@@ -50,11 +50,16 @@ 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"}])
+    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):
     token: str = Field(examples=["030944"], description="token")

unilabos/app/mq.py

@@ -1,217 +0,0 @@
-import json
-import time
-import traceback
-from typing import Optional
-import uuid
-
-import paho.mqtt.client as mqtt
-import ssl
-import base64
-import hmac
-from hashlib import sha1
-import tempfile
-import os
-
-from unilabos.config.config import MQConfig
-from unilabos.app.controler import job_add
-from unilabos.app.model import JobAddReq
-from unilabos.utils import logger
-from unilabos.utils.type_check import TypeEncoder
-
-from paho.mqtt.enums import CallbackAPIVersion
-
-
-class MQTTClient:
-    mqtt_disable = True
-
-    def __init__(self):
-        self.mqtt_disable = not MQConfig.lab_id
-        self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
-        logger.info("[MQTT] Client_id: " + self.client_id)
-        self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
-        self._setup_callbacks()
-
-    def _setup_callbacks(self):
-        self.client.on_log = self._on_log
-        self.client.on_connect = self._on_connect
-        self.client.on_message = self._on_message
-        self.client.on_disconnect = self._on_disconnect
-
-    def _on_log(self, client, userdata, level, buf):
-        # logger.info(f"[MQTT] log: {buf}")
-        pass
-
-    def _on_connect(self, client, userdata, flags, rc, properties=None):
-        logger.info("[MQTT] Connected with result code " + str(rc))
-        client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
-        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
-
-    def _on_message(self, client, userdata, msg) -> None:
-        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
-        try:
-            payload_str = msg.payload.decode("utf-8")
-            payload_json = json.loads(payload_str)
-            if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                if "data" not in payload_json:
-                    payload_json["data"] = {}
-                if "action" in payload_json:
-                    payload_json["data"]["action"] = payload_json.pop("action")
-                if "action_kwargs" in payload_json:
-                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
-                job_req = JobAddReq.model_validate(payload_json)
-                data = job_add(job_req)
-                return
-            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
-                # 处理pong响应，通知HostNode
-                from unilabos.ros.nodes.presets.host_node import HostNode
-
-                host_instance = HostNode.get_instance(0)
-                if host_instance:
-                    host_instance.handle_pong_response(payload_json)
-                return
-
-        except json.JSONDecodeError as e:
-            logger.error(f"[MQTT] JSON 解析错误: {e}")
-            logger.error(f"[MQTT] Raw message: {msg.payload}")
-            logger.error(traceback.format_exc())
-        except Exception as e:
-            logger.error(f"[MQTT] 处理消息时出错: {e}")
-            logger.error(traceback.format_exc())
-
-    def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
-        if rc != 0:
-            logger.error(f"[MQTT] Unexpected disconnection {rc}")
-
-    def _setup_ssl_context(self):
-        temp_files = []
-        try:
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
-                ca_temp.write(MQConfig.ca_content)
-                temp_files.append(ca_temp.name)
-
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
-                cert_temp.write(MQConfig.cert_content)
-                temp_files.append(cert_temp.name)
-
-            with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
-                key_temp.write(MQConfig.key_content)
-                temp_files.append(key_temp.name)
-
-            context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
-            context.load_verify_locations(cafile=temp_files[0])
-            context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
-            self.client.tls_set_context(context)
-        finally:
-            for temp_file in temp_files:
-                try:
-                    os.unlink(temp_file)
-                except Exception as e:
-                    pass
-
-    def start(self):
-        if self.mqtt_disable:
-            logger.warning("MQTT is disabled, skipping connection.")
-            return
-        userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
-        password = base64.b64encode(
-            hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
-        ).decode()
-
-        self.client.username_pw_set(userName, password)
-        self._setup_ssl_context()
-
-        # 创建连接线程
-        def connect_thread_func():
-            try:
-                self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
-                self.client.loop_start()
-
-                # 添加连接超时检测
-                max_attempts = 5
-                attempt = 0
-                while not self.client.is_connected() and attempt < max_attempts:
-                    logger.info(
-                        f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
-                    )
-                    time.sleep(3)
-                    attempt += 1
-
-                if self.client.is_connected():
-                    logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
-                else:
-                    logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
-                    self.client.loop_stop()
-            except Exception as e:
-                logger.error(f"[MQTT] 连接失败: {str(e)}")
-
-        connect_thread_func()
-        # connect_thread = threading.Thread(target=connect_thread_func)
-        # connect_thread.daemon = True
-        # connect_thread.start()
-
-    def stop(self):
-        if self.mqtt_disable:
-            return
-        self.client.disconnect()
-        self.client.loop_stop()
-
-    def publish_device_status(self, device_status: dict, device_id, property_name):
-        # status = device_status.get(device_id, {})
-        if self.mqtt_disable:
-            return
-        status = {"data": device_status.get(device_id, {}), "device_id": device_id}
-        address = f"labs/{MQConfig.lab_id}/devices/"
-        self.client.publish(address, json.dumps(status), qos=2)
-        logger.debug(f"Device status published: address: {address}, {status}")
-
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
-        if self.mqtt_disable:
-            return
-        if return_info is None:
-            return_info = "{}"
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
-        self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
-
-    def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/registry/"
-        registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
-        self.client.publish(address, registry_data, qos=2)
-        if print_debug:
-            logger.debug(f"Registry data published: address: {address}, {registry_data}")
-
-    def publish_actions(self, action_id: str, action_info: dict):
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/actions/"
-        self.client.publish(address, json.dumps(action_info), qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
-
-    def send_ping(self, ping_id: str, timestamp: float):
-        """发送ping消息到服务端"""
-        if self.mqtt_disable:
-            return
-        address = f"labs/{MQConfig.lab_id}/ping/"
-        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
-        self.client.publish(address, json.dumps(ping_data), qos=2)
-
-    def setup_pong_subscription(self):
-        """设置pong消息订阅"""
-        if self.mqtt_disable:
-            return
-        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
-        self.client.subscribe(pong_topic, 0)
-        logger.debug(f"Subscribed to pong topic: {pong_topic}")
-
-    def handle_pong(self, pong_data: dict):
-        """处理pong响应（这个方法会在收到pong消息时被调用）"""
-        logger.debug(f"Pong received: {pong_data}")
-        # 这里会被HostNode的ping-pong处理逻辑调用
-        pass
-
-
-mqtt_client = MQTTClient()
-
-if __name__ == "__main__":
-    mqtt_client.start()

unilabos/app/register.py

@@ -1,67 +1,62 @@
 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(mqtt_client, lab_registry):
+def register_devices_and_resources(lab_registry):
     """
-    注册设备和资源到 MQTT
+    注册设备和资源到服务器（仅支持HTTP）
     """
+
+    # 注册资源信息 - 使用HTTP方式
+    from unilabos.app.web.client import http_client
+
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
     # 注册设备信息
+    devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        mqtt_client.publish_registry(device_info["id"], device_info, False)
-        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
+        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']}")
 
-    # 注册资源信息
+    resources_to_register = {}
     for resource_info in lab_registry.obtain_registry_resource_info():
-        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
-        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
+        resources_to_register[resource_info["id"]] = resource_info
+        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
 
-    time.sleep(10)
+    # 注册设备
+    if devices_to_register:
+        try:
+            start_time = time.time()
+            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
+            cost_time = time.time() - start_time
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
+            else:
+                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
+        except Exception as e:
+            logger.error(f"[UniLab Register] 设备注册异常: {e}")
+
+    # 注册资源
+    if resources_to_register:
+        try:
+            start_time = time.time()
+            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
+            cost_time = time.time() - start_time
+            if response.status_code in [200, 201]:
+                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
+            else:
+                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
+        except Exception as e:
+            logger.error(f"[UniLab Register] 资源注册异常: {e}")
 
     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_path",
-        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",
-    )
-    args = parser.parse_args()
-
-    # 构建注册表
-    build_registry(args.registry_path)
-    load_config_from_file(args.config)
-
-    from unilabos.app.mq import mqtt_client
-
-    # 连接mqtt
-    mqtt_client.start()
-
-    from unilabos.registry.registry import lab_registry
-
-    # 注册设备和资源
-    register_devices_and_resources(mqtt_client, lab_registry)
-
-
-if __name__ == "__main__":
-    main()

unilabos/app/web/client.py

@@ -4,11 +4,13 @@ HTTP客户端模块
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 
+import json
+import os
 from typing import List, Dict, Any, Optional
 
 import requests
 from unilabos.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig
+from unilabos.config.config import HTTPConfig, BasicConfig
 from unilabos.utils import logger
 
 
@@ -27,7 +29,9 @@ class HTTPClient:
         if auth is not None:
             self.auth = auth
         else:
-            self.auth = MQConfig.lab_id
+            auth_secret = BasicConfig.auth_secret()
+            self.auth = auth_secret
+            info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
         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:
@@ -41,11 +45,17 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
-            json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            f"{self.remote_addr}/lab/material/edge",
+            json={
+                "edges": resources,
+            },
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料关系失败: {response.text}")
         if response.status_code != 200 and response.status_code != 201:
             logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
         return response
@@ -61,11 +71,15 @@ class HTTPClient:
             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}",
-            json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            f"{self.remote_addr}/lab/material",
+            json={"nodes": resources},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
+        if response.status_code == 200:
+            res = response.json()
+            if "code" in res and res["code"] != 0:
+                logger.error(f"添加物料失败: {response.text}")
         if response.status_code != 200:
             logger.error(f"添加物料失败: {response.text}")
         return response
@@ -82,9 +96,9 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/?edge_format=1",
+            f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -102,7 +116,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response
@@ -120,7 +134,7 @@ class HTTPClient:
         response = requests.patch(
             f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
         return response
@@ -144,11 +158,61 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"lab {self.auth}"},
+                headers={"Authorization": f"Lab {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
 
+    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
+        """
+        注册资源到服务器
+
+        Args:
+            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource",
+            json=registry_data,
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=30,
+        )
+        if response.status_code not in [200, 201]:
+            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
+        return response
+
+    def request_startup_json(self) -> Optional[Dict[str, Any]]:
+        """
+        请求启动配置
+
+        Args:
+            startup_json: 启动配置JSON数据
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.get(
+            f"{self.remote_addr}/lab/resource/graph_info/",
+            headers={"Authorization": f"Lab {self.auth}"},
+            timeout=(3, 30),
+        )
+        if response.status_code != 200:
+            logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
+        else:
+            try:
+                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
+                    f.write(response.text)
+                target_dict = json.loads(response.text)
+                if "data" in target_dict:
+                    target_dict = target_dict["data"]
+                return target_dict
+            except json.JSONDecodeError as e:
+                logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
+                logger.error(f"响应内容: {response.text}")
+        return None
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/app/web/controler.py

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

unilabos/app/web/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
 
@@ -17,7 +18,7 @@ from jinja2 import Environment, FileSystemLoader
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 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.app.web.utils.device_utils import get_registry_info
 from unilabos.app.web.utils.host_utils import get_host_node_info
@@ -77,21 +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:
-                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
+                devices = json.loads(
+                    json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
+                )
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(
@@ -102,7 +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]
@@ -123,6 +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)}")
 
@@ -169,3 +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/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

@@ -1,22 +1,25 @@
-{% extends "base.html" %}
-
-{% block title %}UniLab API{% endblock %}
-
-{% block header %}UniLab API{% endblock %}
-
-{% block nav %}
-<a href="/status" class="status-link">System Status</a>
-{% endblock %}
-
-{% block content %}
-<div class="card">
-    <h2>Available Endpoints</h2>
-    {% for route in routes %}
-    <div class="endpoint">
-        <span class="method">{{ route.method }}</span>
-        <a href="{{ route.path }}">{{ route.path }}</a>
-        <p>{{ route.summary }}</p>
-    </div>
-    {% endfor %}
+{% 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 %} 
+{% 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

@@ -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 "{}"
 

unilabos/compile/__init__.py

@@ -15,22 +15,28 @@ from .heatchill_protocol import (
     generate_heat_chill_to_temp_protocol  # 保留导入，但不注册为协议
 )
 from .stir_protocol import generate_stir_protocol, generate_start_stir_protocol, generate_stop_stir_protocol
-from .transfer_protocol import generate_transfer_protocol
 from .clean_vessel_protocol import generate_clean_vessel_protocol
 from .dissolve_protocol import generate_dissolve_protocol
 from .filter_through_protocol import generate_filter_through_protocol
 from .run_column_protocol import generate_run_column_protocol
 from .wash_solid_protocol import generate_wash_solid_protocol
+from .adjustph_protocol import generate_adjust_ph_protocol
+from .reset_handling_protocol import generate_reset_handling_protocol
+from .dry_protocol import generate_dry_protocol
+from .recrystallize_protocol import generate_recrystallize_protocol
+from .hydrogenate_protocol import generate_hydrogenate_protocol
 
 
 # Define a dictionary of protocol generators.
 action_protocol_generators = {
     AddProtocol: generate_add_protocol,
     AGVTransferProtocol: generate_agv_transfer_protocol,
+    AdjustPHProtocol: generate_adjust_ph_protocol,
     CentrifugeProtocol: generate_centrifuge_protocol,
     CleanProtocol: generate_clean_protocol,
     CleanVesselProtocol: generate_clean_vessel_protocol,
     DissolveProtocol: generate_dissolve_protocol,
+    DryProtocol: generate_dry_protocol,
     EvacuateAndRefillProtocol: generate_evacuateandrefill_protocol,
     EvaporateProtocol: generate_evaporate_protocol,
     FilterProtocol: generate_filter_protocol,
@@ -38,12 +44,15 @@ action_protocol_generators = {
     HeatChillProtocol: generate_heat_chill_protocol,
     HeatChillStartProtocol: generate_heat_chill_start_protocol,
     HeatChillStopProtocol: generate_heat_chill_stop_protocol,
+    HydrogenateProtocol: generate_hydrogenate_protocol,
     PumpTransferProtocol: generate_pump_protocol_with_rinsing,
+    TransferProtocol: generate_pump_protocol,
+    RecrystallizeProtocol: generate_recrystallize_protocol,
+    ResetHandlingProtocol: generate_reset_handling_protocol,
     RunColumnProtocol: generate_run_column_protocol,
     SeparateProtocol: generate_separate_protocol,
     StartStirProtocol: generate_start_stir_protocol,
     StirProtocol: generate_stir_protocol,
     StopStirProtocol: generate_stop_stir_protocol,
-    TransferProtocol: generate_transfer_protocol,
     WashSolidProtocol: generate_wash_solid_protocol,
 }

unilabos/compile/adjustph_protocol.py

@@ -0,0 +1,632 @@
+import networkx as nx
+import logging
+from typing import List, Dict, Any, Union
+from .utils.vessel_parser import get_vessel
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[ADJUST_PH] {message}")
+
+def find_acid_base_vessel(G: nx.DiGraph, reagent: str) -> str:
+    """
+    查找酸碱试剂容器，支持多种匹配模式
+    
+    Args:
+        G: 网络图
+        reagent: 试剂名称（如 "hydrochloric acid", "sodium hydroxide"）
+    
+    Returns:
+        str: 试剂容器ID
+    """
+    debug_print(f"🔍 正在查找试剂 '{reagent}' 的容器...")
+    
+    # 常见酸碱试剂的别名映射
+    reagent_aliases = {
+        "hydrochloric acid": ["HCl", "hydrochloric_acid", "hcl", "muriatic_acid"],
+        "sodium hydroxide": ["NaOH", "sodium_hydroxide", "naoh", "caustic_soda"],
+        "sulfuric acid": ["H2SO4", "sulfuric_acid", "h2so4"],
+        "nitric acid": ["HNO3", "nitric_acid", "hno3"],
+        "acetic acid": ["CH3COOH", "acetic_acid", "glacial_acetic_acid"],
+        "ammonia": ["NH3", "ammonium_hydroxide", "nh3"],
+        "potassium hydroxide": ["KOH", "potassium_hydroxide", "koh"]
+    }
+    
+    # 构建搜索名称列表
+    search_names = [reagent.lower()]
+    debug_print(f"📋 基础搜索名称: {reagent.lower()}")
+    
+    # 添加别名
+    for base_name, aliases in reagent_aliases.items():
+        if reagent.lower() in base_name.lower() or base_name.lower() in reagent.lower():
+            search_names.extend([alias.lower() for alias in aliases])
+            debug_print(f"🔗 添加别名: {aliases}")
+            break
+    
+    debug_print(f"📝 完整搜索列表: {search_names}")
+    
+    # 构建可能的容器名称
+    possible_names = []
+    for name in search_names:
+        name_clean = name.replace(" ", "_").replace("-", "_")
+        possible_names.extend([
+            f"flask_{name_clean}",
+            f"bottle_{name_clean}",
+            f"reagent_{name_clean}",
+            f"acid_{name_clean}" if "acid" in name else f"base_{name_clean}",
+            f"{name_clean}_bottle",
+            f"{name_clean}_flask",
+            name_clean
+        ])
+    
+    debug_print(f"🎯 可能的容器名称 (前5个): {possible_names[:5]}... (共{len(possible_names)}个)")
+    
+    # 第一步：通过容器名称匹配
+    debug_print(f"📋 方法1: 精确名称匹配...")
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name} 🎯")
+            return vessel_name
+    
+    # 第二步：通过模糊匹配
+    debug_print(f"📋 方法2: 模糊名称匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            # 检查是否包含任何搜索名称
+            for search_name in search_names:
+                if search_name in node_id.lower() or search_name in node_name:
+                    debug_print(f"✅ 通过模糊匹配找到容器: {node_id} 🔍")
+                    return node_id
+    
+    # 第三步：通过液体类型匹配
+    debug_print(f"📋 方法3: 液体类型匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    for search_name in search_names:
+                        if search_name in liquid_type or search_name in reagent_name:
+                            debug_print(f"✅ 通过液体类型匹配找到容器: {node_id} 💧")
+                            return node_id
+    
+    # 列出可用容器帮助调试
+    debug_print(f"📊 列出可用容器帮助调试...")
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    debug_print(f"📋 可用容器列表:")
+    for container in available_containers:
+        debug_print(f"  - 🧪 {container['id']}: {container['name']}")
+        debug_print(f"    💧 液体: {container['liquids']}")
+        debug_print(f"    🏷️ 试剂: {container['reagent_name']}")
+    
+    debug_print(f"❌ 所有匹配方法都失败了")
+    raise ValueError(f"找不到试剂 '{reagent}' 对应的容器。尝试了: {possible_names[:10]}...")
+
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+    """查找与容器相连的搅拌器"""
+    debug_print(f"🔍 查找连接到容器 '{vessel}' 的搅拌器...")
+    
+    stirrer_nodes = [node for node in G.nodes() 
+                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    
+    debug_print(f"📊 发现 {len(stirrer_nodes)} 个搅拌器: {stirrer_nodes}")
+    
+    for stirrer in stirrer_nodes:
+        if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer} 🔗")
+            return stirrer
+    
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个: {stirrer_nodes[0]} 🔄")
+        return stirrer_nodes[0]
+    
+    debug_print(f"❌ 未找到任何搅拌器")
+    return None
+
+def calculate_reagent_volume(target_ph_value: float, reagent: str, vessel_volume: float = 100.0) -> float:
+    """
+    估算需要的试剂体积来调节pH
+    
+    Args:
+        target_ph_value: 目标pH值
+        reagent: 试剂名称
+        vessel_volume: 容器体积 (mL)
+    
+    Returns:
+        float: 估算的试剂体积 (mL)
+    """
+    debug_print(f"🧮 计算试剂体积...")
+    debug_print(f"  📍 目标pH: {target_ph_value}")
+    debug_print(f"  🧪 试剂: {reagent}")
+    debug_print(f"  📏 容器体积: {vessel_volume}mL")
+    
+    # 简化的pH调节体积估算（实际应用中需要更精确的计算）
+    if "acid" in reagent.lower() or "hcl" in reagent.lower():
+        debug_print(f"🍋 检测到酸性试剂")
+        # 酸性试剂：pH越低需要的体积越大
+        if target_ph_value < 3:
+            volume = vessel_volume * 0.05  # 5%
+            debug_print(f"  💪 强酸性 (pH<3): 使用 5% 体积")
+        elif target_ph_value < 5:
+            volume = vessel_volume * 0.02  # 2%
+            debug_print(f"  🔸 中酸性 (pH<5): 使用 2% 体积")
+        else:
+            volume = vessel_volume * 0.01  # 1%
+            debug_print(f"  🔹 弱酸性 (pH≥5): 使用 1% 体积")
+    
+    elif "hydroxide" in reagent.lower() or "naoh" in reagent.lower():
+        debug_print(f"🧂 检测到碱性试剂")
+        # 碱性试剂：pH越高需要的体积越大
+        if target_ph_value > 11:
+            volume = vessel_volume * 0.05  # 5%
+            debug_print(f"  💪 强碱性 (pH>11): 使用 5% 体积")
+        elif target_ph_value > 9:
+            volume = vessel_volume * 0.02  # 2%
+            debug_print(f"  🔸 中碱性 (pH>9): 使用 2% 体积")
+        else:
+            volume = vessel_volume * 0.01  # 1%
+            debug_print(f"  🔹 弱碱性 (pH≤9): 使用 1% 体积")
+    
+    else:
+        # 未知试剂，使用默认值
+        volume = vessel_volume * 0.01
+        debug_print(f"❓ 未知试剂类型，使用默认 1% 体积")
+    
+    debug_print(f"📊 计算结果: {volume:.2f}mL")
+    return volume
+
+def generate_adjust_ph_protocol(
+    G: nx.DiGraph,
+    vessel:Union[dict,str],  # 🔧 修改：从字符串改为字典类型
+    ph_value: float,
+    reagent: str,
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成调节pH的协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        vessel: 目标容器字典（需要调节pH的容器）
+        ph_value: 目标pH值（从XDL传入）
+        reagent: 酸碱试剂名称（从XDL传入）
+        **kwargs: 其他可选参数，使用默认值
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    if not vessel_id:
+        debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
+        raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
+    
+    debug_print("=" * 60)
+    debug_print("🧪 开始生成pH调节协议")
+    debug_print(f"📋 原始参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  📊 ph_value: {ph_value}")
+    debug_print(f"  🧪 reagent: '{reagent}'")
+    debug_print(f"  📦 kwargs: {kwargs}")
+    debug_print("=" * 60)
+    
+    action_sequence = []
+    
+    # 从kwargs中获取可选参数，如果没有则使用默认值
+    volume = kwargs.get('volume', 0.0)           # 自动估算体积
+    stir = kwargs.get('stir', True)              # 默认搅拌
+    stir_speed = kwargs.get('stir_speed', 300.0) # 默认搅拌速度
+    stir_time = kwargs.get('stir_time', 60.0)    # 默认搅拌时间
+    settling_time = kwargs.get('settling_time', 30.0)  # 默认平衡时间
+    
+    debug_print(f"🔧 处理后的参数:")
+    debug_print(f"  📏 volume: {volume}mL (0.0表示自动估算)")
+    debug_print(f"  🌪️ stir: {stir}")
+    debug_print(f"  🔄 stir_speed: {stir_speed}rpm")
+    debug_print(f"  ⏱️ stir_time: {stir_time}s")
+    debug_print(f"  ⏳ settling_time: {settling_time}s")
+    
+    # 开始处理
+    action_sequence.append(create_action_log(f"开始调节pH至 {ph_value}", "🧪"))
+    action_sequence.append(create_action_log(f"目标容器: {vessel_id}", "🥼"))
+    action_sequence.append(create_action_log(f"使用试剂: {reagent}", "⚗️"))
+    
+    # 1. 验证目标容器存在
+    debug_print(f"🔍 步骤1: 验证目标容器...")
+    if vessel_id not in G.nodes():
+        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中")
+        raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
+    
+    debug_print(f"✅ 目标容器验证通过")
+    action_sequence.append(create_action_log("目标容器验证通过", "✅"))
+    
+    # 2. 查找酸碱试剂容器
+    debug_print(f"🔍 步骤2: 查找试剂容器...")
+    action_sequence.append(create_action_log("正在查找试剂容器...", "🔍"))
+    
+    try:
+        reagent_vessel = find_acid_base_vessel(G, reagent)
+        debug_print(f"✅ 找到试剂容器: {reagent_vessel}")
+        action_sequence.append(create_action_log(f"找到试剂容器: {reagent_vessel}", "🧪"))
+    except ValueError as e:
+        debug_print(f"❌ 无法找到试剂容器: {str(e)}")
+        action_sequence.append(create_action_log(f"试剂容器查找失败: {str(e)}", "❌"))
+        raise ValueError(f"无法找到试剂 '{reagent}': {str(e)}")
+    
+    # 3. 体积估算
+    debug_print(f"🔍 步骤3: 体积处理...")
+    if volume <= 0:
+        action_sequence.append(create_action_log("开始自动估算试剂体积", "🧮"))
+        
+        # 获取目标容器的体积信息
+        vessel_data = G.nodes[vessel_id].get('data', {})
+        vessel_volume = vessel_data.get('max_volume', 100.0)  # 默认100mL
+        debug_print(f"📏 容器最大体积: {vessel_volume}mL")
+        
+        estimated_volume = calculate_reagent_volume(ph_value, reagent, vessel_volume)
+        volume = estimated_volume
+        debug_print(f"✅ 自动估算试剂体积: {volume:.2f} mL")
+        action_sequence.append(create_action_log(f"估算试剂体积: {volume:.2f}mL", "📊"))
+    else:
+        debug_print(f"📏 使用指定体积: {volume}mL")
+        action_sequence.append(create_action_log(f"使用指定体积: {volume}mL", "📏"))
+    
+    # 4. 验证路径存在
+    debug_print(f"🔍 步骤4: 路径验证...")
+    action_sequence.append(create_action_log("验证转移路径...", "🛤️"))
+    
+    try:
+        path = nx.shortest_path(G, source=reagent_vessel, target=vessel_id)
+        debug_print(f"✅ 找到路径: {' → '.join(path)}")
+        action_sequence.append(create_action_log(f"找到转移路径: {' → '.join(path)}", "🛤️"))
+    except nx.NetworkXNoPath:
+        debug_print(f"❌ 无法找到转移路径")
+        action_sequence.append(create_action_log("转移路径不存在", "❌"))
+        raise ValueError(f"从试剂容器 '{reagent_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
+    
+    # 5. 搅拌器设置
+    debug_print(f"🔍 步骤5: 搅拌器设置...")
+    stirrer_id = None
+    if stir:
+        action_sequence.append(create_action_log("准备启动搅拌器", "🌪️"))
+        
+        try:
+            stirrer_id = find_connected_stirrer(G, vessel_id)
+            
+            if stirrer_id:
+                debug_print(f"✅ 找到搅拌器 {stirrer_id}，启动搅拌")
+                action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {stir_speed}rpm)", "🔄"))
+                
+                action_sequence.append({
+                    "device_id": stirrer_id,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": vessel_id,
+                        "stir_speed": stir_speed,
+                        "purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
+                    }
+                })
+                
+                # 等待搅拌稳定
+                action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+            else:
+                debug_print(f"⚠️ 未找到搅拌器，继续执行")
+                action_sequence.append(create_action_log("未找到搅拌器，跳过搅拌", "⚠️"))
+        
+        except Exception as e:
+            debug_print(f"❌ 搅拌器配置出错: {str(e)}")
+            action_sequence.append(create_action_log(f"搅拌器配置失败: {str(e)}", "❌"))
+    else:
+        debug_print(f"📋 跳过搅拌设置")
+        action_sequence.append(create_action_log("跳过搅拌设置", "⏭️"))
+    
+    # 6. 试剂添加
+    debug_print(f"🔍 步骤6: 试剂添加...")
+    action_sequence.append(create_action_log(f"开始添加试剂 {volume:.2f}mL", "🚰"))
+    
+    # 计算添加时间（pH调节需要缓慢添加）
+    addition_time = max(30.0, volume * 2.0)  # 至少30秒，每mL需要2秒
+    debug_print(f"⏱️ 计算添加时间: {addition_time}s (缓慢注入)")
+    action_sequence.append(create_action_log(f"设置添加时间: {addition_time:.0f}s (缓慢注入)", "⏱️"))
+    
+    try:
+        action_sequence.append(create_action_log("调用泵协议进行试剂转移", "🔄"))
+        
+        pump_actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=reagent_vessel,
+            to_vessel=vessel_id,
+            volume=volume,
+            amount="",
+            time=addition_time,
+            viscous=False,
+            rinsing_solvent="",  # pH调节不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=0.5,  # 缓慢注入
+            transfer_flowrate=0.3
+        )
+        
+        action_sequence.extend(pump_actions)
+        debug_print(f"✅ 泵协议生成完成，添加了 {len(pump_actions)} 个动作")
+        action_sequence.append(create_action_log(f"试剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
+        
+        # 🔧 修复体积运算 - 试剂添加成功后更新容器液体体积
+        debug_print(f"🔧 更新容器液体体积...")
+        if "data" in vessel and "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            debug_print(f"📊 添加前容器体积: {current_volume}")
+            
+            # 处理不同的体积数据格式
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    # 增加体积（添加试剂）
+                    vessel["data"]["liquid_volume"][0] += volume
+                    debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
+                else:
+                    # 如果列表为空，创建新的体积记录
+                    vessel["data"]["liquid_volume"] = [volume]
+                    debug_print(f"📊 初始化容器体积: {volume:.2f}mL")
+            elif isinstance(current_volume, (int, float)):
+                # 直接数值类型
+                vessel["data"]["liquid_volume"] += volume
+                debug_print(f"📊 添加后容器体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
+            else:
+                debug_print(f"⚠️ 未知的体积数据格式: {type(current_volume)}")
+                # 创建新的体积记录
+                vessel["data"]["liquid_volume"] = volume
+        else:
+            debug_print(f"📊 容器无液体体积数据，创建新记录: {volume:.2f}mL")
+            # 确保vessel有data字段
+            if "data" not in vessel:
+                vessel["data"] = {}
+            vessel["data"]["liquid_volume"] = volume
+            
+        # 🔧 同时更新图中的容器数据
+        if vessel_id in G.nodes():
+            vessel_node_data = G.nodes[vessel_id].get('data', {})
+            current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+            
+            if isinstance(current_node_volume, list):
+                if len(current_node_volume) > 0:
+                    G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
+                
+            debug_print(f"✅ 图节点体积数据已更新")
+        
+        action_sequence.append(create_action_log(f"容器体积已更新 (+{volume:.2f}mL)", "📊"))
+        
+    except Exception as e:
+        debug_print(f"❌ 生成泵协议时出错: {str(e)}")
+        action_sequence.append(create_action_log(f"泵协议生成失败: {str(e)}", "❌"))
+        raise ValueError(f"生成泵协议时出错: {str(e)}")
+    
+    # 7. 混合搅拌
+    if stir and stirrer_id:
+        debug_print(f"🔍 步骤7: 混合搅拌...")
+        action_sequence.append(create_action_log(f"开始混合搅拌 {stir_time:.0f}s", "🌀"))
+        
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stir",
+            "action_kwargs": {
+                "stir_time": stir_time,
+                "stir_speed": stir_speed,
+                "settling_time": settling_time,
+                "purpose": f"pH调节: 混合试剂，目标pH={ph_value}"
+            }
+        })
+        
+        debug_print(f"✅ 混合搅拌设置完成")
+    else:
+        debug_print(f"⏭️ 跳过混合搅拌")
+        action_sequence.append(create_action_log("跳过混合搅拌", "⏭️"))
+    
+    # 8. 等待平衡
+    debug_print(f"🔍 步骤8: 反应平衡...")
+    action_sequence.append(create_action_log(f"等待pH平衡 {settling_time:.0f}s", "⚖️"))
+    
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": settling_time,
+            "description": f"等待pH平衡到目标值 {ph_value}"
+        }
+    })
+    
+    # 9. 完成总结
+    total_time = addition_time + stir_time + settling_time
+    
+    debug_print("=" * 60)
+    debug_print(f"🎉 pH调节协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f}分钟)")
+    debug_print(f"  🧪 试剂: {reagent}")
+    debug_print(f"  📏 体积: {volume:.2f}mL")
+    debug_print(f"  📊 目标pH: {ph_value}")
+    debug_print(f"  🥼 目标容器: {vessel_id}")
+    debug_print("=" * 60)
+    
+    # 添加完成日志
+    summary_msg = f"pH调节协议完成: {vessel_id} → pH {ph_value} (使用 {volume:.2f}mL {reagent})"
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    
+    return action_sequence
+
+def generate_adjust_ph_protocol_stepwise(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    ph_value: float,
+    reagent: str,
+    max_volume: float = 10.0,
+    steps: int = 3
+) -> List[Dict[str, Any]]:
+    """
+    分步调节pH的协议（更安全，避免过度调节）
+    
+    Args:
+        G: 网络图
+        vessel: 目标容器字典
+        ph_value: 目标pH值
+        reagent: 酸碱试剂
+        max_volume: 最大试剂体积
+        steps: 分步数量
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id = vessel["id"]
+    
+    debug_print("=" * 60)
+    debug_print(f"🔄 开始分步pH调节")
+    debug_print(f"📋 分步参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  📊 ph_value: {ph_value}")
+    debug_print(f"  🧪 reagent: {reagent}")
+    debug_print(f"  📏 max_volume: {max_volume}mL")
+    debug_print(f"  🔢 steps: {steps}")
+    debug_print("=" * 60)
+    
+    action_sequence = []
+    
+    # 每步添加的体积
+    step_volume = max_volume / steps
+    debug_print(f"📊 每步体积: {step_volume:.2f}mL")
+    
+    action_sequence.append(create_action_log(f"开始分步pH调节 ({steps}步)", "🔄"))
+    action_sequence.append(create_action_log(f"每步添加: {step_volume:.2f}mL", "📏"))
+    
+    for i in range(steps):
+        debug_print(f"🔄 执行第 {i+1}/{steps} 步，添加 {step_volume:.2f}mL")
+        action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步开始", "🚀"))
+        
+        # 生成单步协议
+        step_actions = generate_adjust_ph_protocol(
+            G=G,
+            vessel=vessel,  # 🔧 直接传递vessel字典
+            ph_value=ph_value,
+            reagent=reagent,
+            volume=step_volume,
+            stir=True,
+            stir_speed=300.0,
+            stir_time=30.0,
+            settling_time=20.0
+        )
+        
+        action_sequence.extend(step_actions)
+        debug_print(f"✅ 第 {i+1}/{steps} 步完成，添加了 {len(step_actions)} 个动作")
+        action_sequence.append(create_action_log(f"第 {i+1}/{steps} 步完成", "✅"))
+        
+        # 步骤间等待
+        if i < steps - 1:
+            debug_print(f"⏳ 步骤间等待30s")
+            action_sequence.append(create_action_log("步骤间等待...", "⏳"))
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {
+                    "time": 30,
+                    "description": f"pH调节第{i+1}步完成，等待下一步"
+                }
+            })
+    
+    debug_print(f"🎉 分步pH调节完成，共 {len(action_sequence)} 个动作")
+    action_sequence.append(create_action_log("分步pH调节全部完成", "🎉"))
+    
+    return action_sequence
+
+# 便捷函数：常用pH调节
+def generate_acidify_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    target_ph: float = 2.0,
+    acid: str = "hydrochloric acid"
+) -> List[Dict[str, Any]]:
+    """酸化协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"🍋 生成酸化协议: {vessel_id} → pH {target_ph} (使用 {acid})")
+    return generate_adjust_ph_protocol(
+        G, vessel, target_ph, acid
+    )
+
+def generate_basify_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    target_ph: float = 12.0,
+    base: str = "sodium hydroxide"
+) -> List[Dict[str, Any]]:
+    """碱化协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"🧂 生成碱化协议: {vessel_id} → pH {target_ph} (使用 {base})")
+    return generate_adjust_ph_protocol(
+        G, vessel, target_ph, base
+    )
+
+def generate_neutralize_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    reagent: str = "sodium hydroxide"
+) -> List[Dict[str, Any]]:
+    """中和协议（pH=7）"""
+    vessel_id = vessel["id"]
+    debug_print(f"⚖️ 生成中和协议: {vessel_id} → pH 7.0 (使用 {reagent})")
+    return generate_adjust_ph_protocol(
+        G, vessel, 7.0, reagent
+    )
+
+# 测试函数
+def test_adjust_ph_protocol():
+    """测试pH调节协议"""
+    debug_print("=== ADJUST PH PROTOCOL 增强版测试 ===")
+    
+    # 测试体积计算
+    debug_print("🧮 测试体积计算...")
+    test_cases = [
+        (2.0, "hydrochloric acid", 100.0),
+        (4.0, "hydrochloric acid", 100.0),
+        (12.0, "sodium hydroxide", 100.0),
+        (10.0, "sodium hydroxide", 100.0),
+        (7.0, "unknown reagent", 100.0)
+    ]
+    
+    for ph, reagent, volume in test_cases:
+        result = calculate_reagent_volume(ph, reagent, volume)
+        debug_print(f"📊 {reagent} → pH {ph}: {result:.2f}mL")
+    
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_adjust_ph_protocol()

unilabos/compile/clean_vessel_protocol.py

@@ -1,101 +1,9 @@
 from typing import List, Dict, Any
 import networkx as nx
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
 from .pump_protocol import generate_pump_protocol
 
 
-def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
-    """
-    查找溶剂容器，支持多种匹配模式：
-    1. 容器名称匹配（如 flask_water, reagent_bottle_1-DMF）
-    2. 容器内液体类型匹配（如 liquid_type: "DMF", "ethanol"）
-    """
-    print(f"CLEAN_VESSEL: 正在查找溶剂 '{solvent}' 的容器...")
-    
-    # 第一步：通过容器名称匹配
-    possible_names = [
-        f"flask_{solvent}",           # flask_water, flask_ethanol
-        f"bottle_{solvent}",          # bottle_water, bottle_ethanol  
-        f"vessel_{solvent}",          # vessel_water, vessel_ethanol
-        f"{solvent}_flask",           # water_flask, ethanol_flask
-        f"{solvent}_bottle",          # water_bottle, ethanol_bottle
-        f"{solvent}",                 # 直接用溶剂名
-        f"solvent_{solvent}",         # solvent_water, solvent_ethanol
-        f"reagent_bottle_{solvent}",  # reagent_bottle_DMF
-    ]
-    
-    # 尝试名称匹配
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            print(f"CLEAN_VESSEL: 通过名称匹配找到容器: {vessel_name}")
-            return vessel_name
-    
-    # 第二步：通过模糊名称匹配（名称中包含溶剂名）
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            # 检查节点ID或名称中是否包含溶剂名
-            node_name = G.nodes[node_id].get('name', '').lower()
-            if (solvent.lower() in node_id.lower() or 
-                solvent.lower() in node_name):
-                print(f"CLEAN_VESSEL: 通过模糊名称匹配找到容器: {node_id} (名称: {node_name})")
-                return node_id
-    
-    # 第三步：通过液体类型匹配
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            liquids = vessel_data.get('liquid', [])
-            
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    # 支持两种格式的液体类型字段
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    reagent_name = vessel_data.get('reagent_name', '')
-                    config_reagent = G.nodes[node_id].get('config', {}).get('reagent', '')
-                    
-                    # 检查多个可能的字段
-                    if (liquid_type.lower() == solvent.lower() or 
-                        reagent_name.lower() == solvent.lower() or
-                        config_reagent.lower() == solvent.lower()):
-                        print(f"CLEAN_VESSEL: 通过液体类型匹配找到容器: {node_id}")
-                        print(f"  - liquid_type: {liquid_type}")
-                        print(f"  - reagent_name: {reagent_name}")
-                        print(f"  - config.reagent: {config_reagent}")
-                        return node_id
-    
-    # 第四步：列出所有可用的容器信息帮助调试
-    available_containers = []
-    for node_id in G.nodes():
-        if G.nodes[node_id].get('type') == 'container':
-            vessel_data = G.nodes[node_id].get('data', {})
-            config_data = G.nodes[node_id].get('config', {})
-            liquids = vessel_data.get('liquid', [])
-            
-            container_info = {
-                'id': node_id,
-                'name': G.nodes[node_id].get('name', ''),
-                'liquid_types': [],
-                'reagent_name': vessel_data.get('reagent_name', ''),
-                'config_reagent': config_data.get('reagent', '')
-            }
-            
-            for liquid in liquids:
-                if isinstance(liquid, dict):
-                    liquid_type = liquid.get('liquid_type') or liquid.get('name', '')
-                    if liquid_type:
-                        container_info['liquid_types'].append(liquid_type)
-            
-            available_containers.append(container_info)
-    
-    print(f"CLEAN_VESSEL: 可用容器列表:")
-    for container in available_containers:
-        print(f"  - {container['id']}: {container['name']}")
-        print(f"    液体类型: {container['liquid_types']}")
-        print(f"    试剂名称: {container['reagent_name']}")
-        print(f"    配置试剂: {container['config_reagent']}")
-    
-    raise ValueError(f"未找到溶剂 '{solvent}' 的容器。尝试了名称匹配: {possible_names}")
-
-
 def find_solvent_vessel_by_any_match(G: nx.DiGraph, solvent: str) -> str:
     """
     增强版溶剂容器查找，支持各种匹配方式的别名函数
@@ -145,7 +53,7 @@ def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
 
 def generate_clean_vessel_protocol(
     G: nx.DiGraph,
-    vessel: str,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     solvent: str,
     volume: float,
     temp: float,
@@ -165,7 +73,7 @@ def generate_clean_vessel_protocol(
     
     Args:
         G: 有向图，节点为设备和容器，边为流体管道
-        vessel: 要清洗的容器名称
+        vessel: 要清洗的容器字典（包含id字段）
         solvent: 用于清洗的溶剂名称  
         volume: 每次清洗使用的溶剂体积
         temp: 清洗时的温度
@@ -178,20 +86,23 @@ def generate_clean_vessel_protocol(
         ValueError: 当找不到必要的容器或设备时抛出异常
     
     Examples:
-        clean_protocol = generate_clean_vessel_protocol(G, "main_reactor", "water", 100.0, 60.0, 2)
+        clean_protocol = generate_clean_vessel_protocol(G, {"id": "main_reactor"}, "water", 100.0, 60.0, 2)
     """
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
     action_sequence = []
     
     print(f"CLEAN_VESSEL: 开始生成容器清洗协议")
-    print(f"  - 目标容器: {vessel}")
+    print(f"  - 目标容器: {vessel} (ID: {vessel_id})")
     print(f"  - 清洗溶剂: {solvent}")
     print(f"  - 清洗体积: {volume} mL")
     print(f"  - 清洗温度: {temp}°C")
     print(f"  - 重复次数: {repeats}")
     
     # 验证目标容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
+    if vessel_id not in G.nodes():
+        raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
     
     # 查找溶剂容器
     try:
@@ -208,12 +119,23 @@ def generate_clean_vessel_protocol(
         raise ValueError(f"无法找到废液容器: {str(e)}")
     
     # 查找加热设备（可选）
-    heatchill_id = find_connected_heatchill(G, vessel)
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
     if heatchill_id:
         print(f"CLEAN_VESSEL: 找到加热设备: {heatchill_id}")
     else:
         print(f"CLEAN_VESSEL: 未找到加热设备，将在室温下清洗")
     
+    # 🔧 新增：记录清洗前的容器状态
+    print(f"CLEAN_VESSEL: 记录清洗前容器状态...")
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    print(f"CLEAN_VESSEL: 清洗前液体体积: {original_liquid_volume:.2f}mL")
+    
     # 第一步：如果需要加热且有加热设备，启动加热
     if temp > 25.0 and heatchill_id:
         print(f"CLEAN_VESSEL: 启动加热至 {temp}°C")
@@ -221,7 +143,7 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_start",
             "action_kwargs": {
-                "vessel": vessel,
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "temp": temp,
                 "purpose": f"cleaning with {solvent}"
             }
@@ -240,18 +162,61 @@ def generate_clean_vessel_protocol(
         print(f"CLEAN_VESSEL: 执行第 {repeat + 1} 次清洗")
         
         # 2a. 使用 pump_protocol 将溶剂转移到目标容器
-        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel}")
+        print(f"CLEAN_VESSEL: 将 {volume} mL {solvent} 转移到 {vessel_id}")
         try:
             # 调用成熟的 pump_protocol 算法
             add_solvent_actions = generate_pump_protocol(
                 G=G,
                 from_vessel=solvent_vessel,
-                to_vessel=vessel,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=volume,
                 flowrate=2.5,  # 适中的流速，避免飞溅
                 transfer_flowrate=2.5
             )
             action_sequence.extend(add_solvent_actions)
+            
+            # 🔧 新增：更新容器体积（添加清洗溶剂）
+            print(f"CLEAN_VESSEL: 更新容器体积 - 添加清洗溶剂 {volume:.2f}mL")
+            if "data" not in vessel:
+                vessel["data"] = {}
+            
+            if "liquid_volume" in vessel["data"]:
+                current_volume = vessel["data"]["liquid_volume"]
+                if isinstance(current_volume, list):
+                    if len(current_volume) > 0:
+                        vessel["data"]["liquid_volume"][0] += volume
+                        print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (+{volume:.2f}mL)")
+                    else:
+                        vessel["data"]["liquid_volume"] = [volume]
+                        print(f"CLEAN_VESSEL: 初始化清洗体积: {volume:.2f}mL")
+                elif isinstance(current_volume, (int, float)):
+                    vessel["data"]["liquid_volume"] += volume
+                    print(f"CLEAN_VESSEL: 添加溶剂后体积: {vessel['data']['liquid_volume']:.2f}mL (+{volume:.2f}mL)")
+                else:
+                    vessel["data"]["liquid_volume"] = volume
+                    print(f"CLEAN_VESSEL: 重置体积为: {volume:.2f}mL")
+            else:
+                vessel["data"]["liquid_volume"] = volume
+                print(f"CLEAN_VESSEL: 创建新体积记录: {volume:.2f}mL")
+            
+            # 🔧 同时更新图中的容器数据
+            if vessel_id in G.nodes():
+                if 'data' not in G.nodes[vessel_id]:
+                    G.nodes[vessel_id]['data'] = {}
+                
+                vessel_node_data = G.nodes[vessel_id]['data']
+                current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+                
+                if isinstance(current_node_volume, list):
+                    if len(current_node_volume) > 0:
+                        G.nodes[vessel_id]['data']['liquid_volume'][0] += volume
+                    else:
+                        G.nodes[vessel_id]['data']['liquid_volume'] = [volume]
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = current_node_volume + volume
+                
+                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
+            
         except Exception as e:
             raise ValueError(f"无法将溶剂转移到容器: {str(e)}")
         
@@ -265,18 +230,52 @@ def generate_clean_vessel_protocol(
         action_sequence.append(wait_action)
         
         # 2c. 使用 pump_protocol 将清洗液转移到废液容器
-        print(f"CLEAN_VESSEL: 将清洗液从 {vessel} 转移到废液容器")
+        print(f"CLEAN_VESSEL: 将清洗液从 {vessel_id} 转移到废液容器")
         try:
             # 调用成熟的 pump_protocol 算法
             remove_waste_actions = generate_pump_protocol(
                 G=G,
-                from_vessel=vessel,
+                from_vessel=vessel_id,  # 🔧 使用 vessel_id
                 to_vessel=waste_vessel,
                 volume=volume,
                 flowrate=2.5,  # 适中的流速
                 transfer_flowrate=2.5
             )
             action_sequence.extend(remove_waste_actions)
+            
+            # 🔧 新增：更新容器体积（移除清洗液）
+            print(f"CLEAN_VESSEL: 更新容器体积 - 移除清洗液 {volume:.2f}mL")
+            if "data" in vessel and "liquid_volume" in vessel["data"]:
+                current_volume = vessel["data"]["liquid_volume"]
+                if isinstance(current_volume, list):
+                    if len(current_volume) > 0:
+                        vessel["data"]["liquid_volume"][0] = max(0.0, vessel["data"]["liquid_volume"][0] - volume)
+                        print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume'][0]:.2f}mL (-{volume:.2f}mL)")
+                    else:
+                        vessel["data"]["liquid_volume"] = [0.0]
+                        print(f"CLEAN_VESSEL: 重置体积为0mL")
+                elif isinstance(current_volume, (int, float)):
+                    vessel["data"]["liquid_volume"] = max(0.0, current_volume - volume)
+                    print(f"CLEAN_VESSEL: 移除清洗液后体积: {vessel['data']['liquid_volume']:.2f}mL (-{volume:.2f}mL)")
+                else:
+                    vessel["data"]["liquid_volume"] = 0.0
+                    print(f"CLEAN_VESSEL: 重置体积为0mL")
+            
+            # 🔧 同时更新图中的容器数据
+            if vessel_id in G.nodes():
+                vessel_node_data = G.nodes[vessel_id].get('data', {})
+                current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+                
+                if isinstance(current_node_volume, list):
+                    if len(current_node_volume) > 0:
+                        G.nodes[vessel_id]['data']['liquid_volume'][0] = max(0.0, current_node_volume[0] - volume)
+                    else:
+                        G.nodes[vessel_id]['data']['liquid_volume'] = [0.0]
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = max(0.0, current_node_volume - volume)
+                
+                print(f"CLEAN_VESSEL: 图节点体积数据已更新")
+            
         except Exception as e:
             raise ValueError(f"无法将清洗液转移到废液容器: {str(e)}")
         
@@ -296,13 +295,24 @@ def generate_clean_vessel_protocol(
             "device_id": heatchill_id,
             "action_name": "heat_chill_stop",
             "action_kwargs": {
-                "vessel": vessel
+                "vessel": vessel_id  # 🔧 使用 vessel_id
             }
         }
         action_sequence.append(heatchill_stop_action)
     
-    print(f"CLEAN_VESSEL: 生成了 {len(action_sequence)} 个动作")
-    print(f"CLEAN_VESSEL: 清洗协议生成完成")
+    # 🔧 新增：清洗完成后的状态报告
+    final_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            final_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            final_liquid_volume = current_volume
+    
+    print(f"CLEAN_VESSEL: 清洗完成")
+    print(f"  - 清洗前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 清洗后体积: {final_liquid_volume:.2f}mL")
+    print(f"  - 生成了 {len(action_sequence)} 个动作")
     
     return action_sequence
 
@@ -310,7 +320,7 @@ def generate_clean_vessel_protocol(
 # 便捷函数：常用清洗方案
 def generate_quick_clean_protocol(
     G: nx.DiGraph, 
-    vessel: str, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     solvent: str = "water", 
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
@@ -320,7 +330,7 @@ def generate_quick_clean_protocol(
 
 def generate_thorough_clean_protocol(
     G: nx.DiGraph, 
-    vessel: str, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     solvent: str = "water", 
     volume: float = 150.0,
     temp: float = 60.0
@@ -331,7 +341,7 @@ def generate_thorough_clean_protocol(
 
 def generate_organic_clean_protocol(
     G: nx.DiGraph, 
-    vessel: str, 
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     volume: float = 100.0
 ) -> List[Dict[str, Any]]:
     """有机清洗：先用有机溶剂，再用水清洗"""

unilabos/compile/dry_protocol.py

@@ -0,0 +1,335 @@
+import networkx as nx
+from typing import List, Dict, Any
+
+from unilabos.compile.utils.vessel_parser import get_vessel
+
+
+def find_connected_heater(G: nx.DiGraph, vessel: str) -> str:
+    """
+    查找与容器相连的加热器
+    
+    Args:
+        G: 网络图
+        vessel: 容器名称
+    
+    Returns:
+        str: 加热器ID，如果没有则返回None
+    """
+    print(f"DRY: 正在查找与容器 '{vessel}' 相连的加热器...")
+    
+    # 查找所有加热器节点
+    heater_nodes = [node for node in G.nodes() 
+                   if ('heater' in node.lower() or 
+                       'heat' in node.lower() or
+                       G.nodes[node].get('class') == 'virtual_heatchill' or
+                       G.nodes[node].get('type') == 'heater')]
+    
+    print(f"DRY: 找到的加热器节点: {heater_nodes}")
+    
+    # 检查是否有加热器与目标容器相连
+    for heater in heater_nodes:
+        if G.has_edge(heater, vessel) or G.has_edge(vessel, heater):
+            print(f"DRY: 找到与容器 '{vessel}' 相连的加热器: {heater}")
+            return heater
+    
+    # 如果没有直接连接，查找距离最近的加热器
+    for heater in heater_nodes:
+        try:
+            path = nx.shortest_path(G, source=heater, target=vessel)
+            if len(path) <= 3:  # 最多2个中间节点
+                print(f"DRY: 找到距离较近的加热器: {heater}, 路径: {' → '.join(path)}")
+                return heater
+        except nx.NetworkXNoPath:
+            continue
+    
+    print(f"DRY: 未找到与容器 '{vessel}' 相连的加热器")
+    return None
+
+
+def generate_dry_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    compound: str = "",  # 🔧 修改：参数顺序调整，并设置默认值
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成干燥协议序列
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        vessel: 目标容器字典（从XDL传入）
+        compound: 化合物名称（从XDL传入，可选）
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    action_sequence = []
+    
+    # 默认参数
+    dry_temp = 60.0  # 默认干燥温度 60°C
+    dry_time = 3600.0  # 默认干燥时间 1小时（3600秒）
+    simulation_time = 60.0  # 模拟时间 1分钟
+    
+    print(f"🌡️ DRY: 开始生成干燥协议 ✨")
+    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    print(f"  🧪 化合物: {compound or '未指定'}")
+    print(f"  🔥 干燥温度: {dry_temp}°C")
+    print(f"  ⏰ 干燥时间: {dry_time/60:.0f} 分钟")
+    
+    # 🔧 新增：记录干燥前的容器状态
+    print(f"🔍 记录干燥前容器状态...")
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    print(f"📊 干燥前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # 1. 验证目标容器存在
+    print(f"\n📋 步骤1: 验证目标容器 '{vessel_id}' 是否存在...")
+    if vessel_id not in G.nodes():
+        print(f"⚠️ DRY: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过干燥 😢")
+        return action_sequence
+    print(f"✅ 容器 '{vessel_id}' 验证通过!")
+    
+    # 2. 查找相连的加热器
+    print(f"\n🔍 步骤2: 查找与容器相连的加热器...")
+    heater_id = find_connected_heater(G, vessel_id)  # 🔧 使用 vessel_id
+    
+    if heater_id is None:
+        print(f"😭 DRY: 警告 - 未找到与容器 '{vessel_id}' 相连的加热器，跳过干燥")
+        print(f"🎭 添加模拟干燥动作...")
+        # 添加一个等待动作，表示干燥过程（模拟）
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 10.0,  # 模拟等待时间
+                "description": f"模拟干燥 {compound or '化合物'} (无加热器可用)"
+            }
+        })
+        
+        # 🔧 新增：模拟干燥的体积变化（溶剂蒸发）
+        print(f"🔧 模拟干燥过程的体积减少...")
+        if original_liquid_volume > 0:
+            # 假设干燥过程中损失10%的体积（溶剂蒸发）
+            volume_loss = original_liquid_volume * 0.1
+            new_volume = max(0.0, original_liquid_volume - volume_loss)
+            
+            # 更新vessel字典中的体积
+            if "data" in vessel and "liquid_volume" in vessel["data"]:
+                current_volume = vessel["data"]["liquid_volume"]
+                if isinstance(current_volume, list):
+                    if len(current_volume) > 0:
+                        vessel["data"]["liquid_volume"][0] = new_volume
+                    else:
+                        vessel["data"]["liquid_volume"] = [new_volume]
+                elif isinstance(current_volume, (int, float)):
+                    vessel["data"]["liquid_volume"] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = new_volume
+            
+            # 🔧 同时更新图中的容器数据
+            if vessel_id in G.nodes():
+                if 'data' not in G.nodes[vessel_id]:
+                    G.nodes[vessel_id]['data'] = {}
+                
+                vessel_node_data = G.nodes[vessel_id]['data']
+                current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+                
+                if isinstance(current_node_volume, list):
+                    if len(current_node_volume) > 0:
+                        G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+                    else:
+                        G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+            
+            print(f"📊 模拟干燥体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{volume_loss:.2f}mL)")
+        
+        print(f"📄 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
+        return action_sequence
+    
+    print(f"🎉 找到加热器: {heater_id}!")
+    
+    # 3. 启动加热器进行干燥
+    print(f"\n🚀 步骤3: 开始执行干燥流程...")
+    print(f"🔥 启动加热器 {heater_id} 进行干燥")
+    
+    # 3.1 启动加热
+    print(f"  ⚡ 动作1: 启动加热到 {dry_temp}°C...")
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "temp": dry_temp,
+            "purpose": f"干燥 {compound or '化合物'}"
+        }
+    })
+    print(f"  ✅ 加热器启动命令已添加 🔥")
+    
+    # 3.2 等待温度稳定
+    print(f"  ⏳ 动作2: 等待温度稳定...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 10.0,
+            "description": f"等待温度稳定到 {dry_temp}°C"
+        }
+    })
+    print(f"  ✅ 温度稳定等待命令已添加 🌡️")
+    
+    # 3.3 保持干燥温度
+    print(f"  🔄 动作3: 保持干燥温度 {simulation_time/60:.0f} 分钟...")
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill",
+        "action_kwargs": {
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "temp": dry_temp,
+            "time": simulation_time,
+            "purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
+        }
+    })
+    print(f"  ✅ 温度保持命令已添加 🌡️⏰")
+    
+    # 🔧 新增：干燥过程中的体积变化计算
+    print(f"🔧 计算干燥过程中的体积变化...")
+    if original_liquid_volume > 0:
+        # 干燥过程中，溶剂会蒸发，固体保留
+        # 根据温度和时间估算蒸发量
+        evaporation_rate = 0.001 * dry_temp  # 每秒每°C蒸发0.001mL
+        total_evaporation = min(original_liquid_volume * 0.8, 
+                               evaporation_rate * simulation_time)  # 最多蒸发80%
+        
+        new_volume = max(0.0, original_liquid_volume - total_evaporation)
+        
+        # 更新vessel字典中的体积
+        if "data" in vessel and "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            elif isinstance(current_volume, (int, float)):
+                vessel["data"]["liquid_volume"] = new_volume
+            else:
+                vessel["data"]["liquid_volume"] = new_volume
+        
+        # 🔧 同时更新图中的容器数据
+        if vessel_id in G.nodes():
+            if 'data' not in G.nodes[vessel_id]:
+                G.nodes[vessel_id]['data'] = {}
+            
+            vessel_node_data = G.nodes[vessel_id]['data']
+            current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+            
+            if isinstance(current_node_volume, list):
+                if len(current_node_volume) > 0:
+                    G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+        
+        print(f"📊 干燥体积变化计算:")
+        print(f"  - 初始体积: {original_liquid_volume:.2f}mL")
+        print(f"  - 蒸发量: {total_evaporation:.2f}mL")
+        print(f"  - 剩余体积: {new_volume:.2f}mL")
+        print(f"  - 蒸发率: {(total_evaporation/original_liquid_volume*100):.1f}%")
+    
+    # 3.4 停止加热
+    print(f"  ⏹️ 动作4: 停止加热...")
+    action_sequence.append({
+        "device_id": heater_id,
+        "action_name": "heat_chill_stop",
+        "action_kwargs": {
+            "vessel": vessel_id,  # 🔧 使用 vessel_id
+            "purpose": f"干燥完成，停止加热"
+        }
+    })
+    print(f"  ✅ 停止加热命令已添加 🛑")
+    
+    # 3.5 等待冷却
+    print(f"  ❄️ 动作5: 等待冷却...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 10.0,  # 等待10秒冷却
+            "description": f"等待 {compound or '化合物'} 冷却"
+        }
+    })
+    print(f"  ✅ 冷却等待命令已添加 🧊")
+    
+    # 🔧 新增：干燥完成后的状态报告
+    final_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            final_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            final_liquid_volume = current_volume
+    
+    print(f"\n🎊 DRY: 协议生成完成，共 {len(action_sequence)} 个动作 🎯")
+    print(f"⏱️ DRY: 预计总时间: {(simulation_time + 30)/60:.0f} 分钟 ⌛")
+    print(f"📊 干燥结果:")
+    print(f"  - 容器: {vessel_id}")
+    print(f"  - 化合物: {compound or '未指定'}")
+    print(f"  - 干燥前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 干燥后体积: {final_liquid_volume:.2f}mL")
+    print(f"  - 蒸发体积: {(original_liquid_volume - final_liquid_volume):.2f}mL")
+    print(f"🏁 所有动作序列准备就绪! ✨")
+    
+    return action_sequence
+
+
+# 🔧 新增：便捷函数
+def generate_quick_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+                               temp: float = 40.0, time: float = 30.0) -> List[Dict[str, Any]]:
+    """快速干燥：低温短时间"""
+    vessel_id = vessel["id"]
+    print(f"🌡️ 快速干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
+    
+    # 临时修改默认参数
+    import types
+    temp_func = types.FunctionType(
+        generate_dry_protocol.__code__, 
+        generate_dry_protocol.__globals__
+    )
+    
+    # 直接调用原函数，但修改内部参数
+    return generate_dry_protocol(G, vessel, compound)
+
+
+def generate_thorough_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+                                  temp: float = 80.0, time: float = 120.0) -> List[Dict[str, Any]]:
+    """深度干燥：高温长时间"""
+    vessel_id = vessel["id"]
+    print(f"🔥 深度干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
+    return generate_dry_protocol(G, vessel, compound)
+
+
+def generate_gentle_dry_protocol(G: nx.DiGraph, vessel: dict, compound: str = "", 
+                                temp: float = 30.0, time: float = 180.0) -> List[Dict[str, Any]]:
+    """温和干燥：低温长时间"""
+    vessel_id = vessel["id"]
+    print(f"🌡️ 温和干燥: {compound or '化合物'} → {vessel_id} @ {temp}°C ({time}min)")
+    return generate_dry_protocol(G, vessel, compound)
+
+
+# 测试函数
+def test_dry_protocol():
+    """测试干燥协议"""
+    print("=== DRY PROTOCOL 测试 ===")
+    print("测试完成")
+
+
+if __name__ == "__main__":
+    test_dry_protocol()

unilabos/compile/evacuateandrefill_protocol.py

@@ -1,191 +1,488 @@
-import numpy as np
+from functools import partial
+
 import networkx as nx
+import logging
+import uuid
+import sys
 from typing import List, Dict, Any, Optional
+from .utils.vessel_parser import get_vessel
+from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing, generate_pump_protocol
 
+# 设置日志
+logger = logging.getLogger(__name__)
+
+# 确保输出编码为UTF-8
+if hasattr(sys.stdout, 'reconfigure'):
+    try:
+        sys.stdout.reconfigure(encoding='utf-8')
+        sys.stderr.reconfigure(encoding='utf-8')
+    except:
+        pass
+
+def debug_print(message):
+    """调试输出函数 - 支持中文"""
+    try:
+        # 确保消息是字符串格式
+        safe_message = str(message)
+        logger.info(f"[抽真空充气] {safe_message}")
+    except UnicodeEncodeError:
+        # 如果编码失败，尝试替换不支持的字符
+        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        logger.info(f"[抽真空充气] {safe_message}")
+    except Exception as e:
+        # 最后的安全措施
+        fallback_message = f"日志输出错误: {repr(message)}"
+        logger.info(f"[抽真空充气] {fallback_message}")
+
+create_action_log = partial(action_log, prefix="[抽真空充气]")
 
 def find_gas_source(G: nx.DiGraph, gas: str) -> str:
-    """根据气体名称查找对应的气源"""
-    # 按照命名规则查找气源
+    """
+    根据气体名称查找对应的气源，支持多种匹配模式：
+    1. 容器名称匹配
+    2. 气体类型匹配（data.gas_type）
+    3. 默认气源
+    """
+    debug_print(f"🔍 正在查找气体 '{gas}' 的气源...")
+    
+    # 第一步：通过容器名称匹配
+    debug_print(f"📋 方法1: 容器名称匹配...")
     gas_source_patterns = [
         f"gas_source_{gas}",
         f"gas_{gas}",
         f"flask_{gas}",
-        f"{gas}_source"
+        f"{gas}_source",
+        f"source_{gas}",
+        f"reagent_bottle_{gas}",
+        f"bottle_{gas}"
     ]
     
+    debug_print(f"🎯 尝试的容器名称: {gas_source_patterns}")
+    
     for pattern in gas_source_patterns:
         if pattern in G.nodes():
+            debug_print(f"✅ 通过名称找到气源: {pattern}")
             return pattern
     
-    # 模糊匹配
-    for node in G.nodes():
-        node_class = G.nodes[node].get('class', '') or ''
-        if 'gas_source' in node_class and gas.lower() in node.lower():
-            return node
-        if node.startswith('flask_') and gas.lower() in node.lower():
-            return node
+    # 第二步：通过气体类型匹配 (data.gas_type)
+    debug_print(f"📋 方法2: 气体类型匹配...")
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        node_class = node_data.get('class', '') or ''
+        
+        # 检查是否是气源设备
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or 
+            node_id.startswith('flask_')):
+            
+            # 检查 data.gas_type
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', '')
+            
+            if gas_type.lower() == gas.lower():
+                debug_print(f"✅ 通过气体类型找到气源: {node_id} (气体类型: {gas_type})")
+                return node_id
+            
+            # 检查 config.gas_type  
+            config = node_data.get('config', {})
+            config_gas_type = config.get('gas_type', '')
+            
+            if config_gas_type.lower() == gas.lower():
+                debug_print(f"✅ 通过配置气体类型找到气源: {node_id} (配置气体类型: {config_gas_type})")
+                return node_id
     
-    # 查找所有可用的气源
-    available_gas_sources = [
+    # 第三步：查找所有可用的气源设备
+    debug_print(f"📋 方法3: 查找可用气源...")
+    available_gas_sources = []
+    for node_id in G.nodes():
+        node_data = G.nodes[node_id]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('gas_source' in node_class or 
+            'gas' in node_id.lower() or
+            (node_id.startswith('flask_') and any(g in node_id.lower() for g in ['air', 'nitrogen', 'argon']))):
+            
+            data = node_data.get('data', {})
+            gas_type = data.get('gas_type', '未知')
+            available_gas_sources.append(f"{node_id} (气体类型: {gas_type})")
+    
+    debug_print(f"📊 可用气源: {available_gas_sources}")
+    
+    # 第四步：如果找不到特定气体，使用默认的第一个气源
+    debug_print(f"📋 方法4: 查找默认气源...")
+    default_gas_sources = [
         node for node in G.nodes() 
-        if ((G.nodes[node].get('class') or '').startswith('virtual_gas_source')
-            or ('gas' in node and 'source' in node)
-            or (node.startswith('flask_') and any(g in node.lower() for g in ['air', 'nitrogen', 'argon', 'vacuum'])))
+        if ((G.nodes[node].get('class') or '').find('virtual_gas_source') != -1
+            or 'gas_source' in node)
     ]
     
-    raise ValueError(f"找不到气体 '{gas}' 对应的气源。可用气源: {available_gas_sources}")
-
+    if default_gas_sources:
+        default_source = default_gas_sources[0]
+        debug_print(f"⚠️ 未找到特定气体 '{gas}'，使用默认气源: {default_source}")
+        return default_source
+    
+    debug_print(f"❌ 所有方法都失败了！")
+    raise ValueError(f"无法找到气体 '{gas}' 的气源。可用气源: {available_gas_sources}")
 
 def find_vacuum_pump(G: nx.DiGraph) -> str:
     """查找真空泵设备"""
-    vacuum_pumps = [
-        node for node in G.nodes() 
-        if ((G.nodes[node].get('class') or '').startswith('virtual_vacuum_pump')
-            or 'vacuum_pump' in node
-            or 'vacuum' in (G.nodes[node].get('class') or ''))
-    ]
+    debug_print("🔍 正在查找真空泵...")
+    
+    vacuum_pumps = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('virtual_vacuum_pump' in node_class or 
+            'vacuum_pump' in node.lower() or 
+            'vacuum' in node_class.lower()):
+            vacuum_pumps.append(node)
+            debug_print(f"📋 发现真空泵: {node}")
     
     if not vacuum_pumps:
-        raise ValueError("系统中未找到真空泵设备")
+        debug_print(f"❌ 系统中未找到真空泵")
+        raise ValueError("系统中未找到真空泵")
     
+    debug_print(f"✅ 使用真空泵: {vacuum_pumps[0]}")
     return vacuum_pumps[0]
 
-
-def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> str:
+def find_connected_stirrer(G: nx.DiGraph, vessel: str) -> Optional[str]:
     """查找与指定容器相连的搅拌器"""
-    stirrer_nodes = [node for node in G.nodes() 
-                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    debug_print(f"🔍 正在查找与容器 {vessel} 连接的搅拌器...")
+    
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'virtual_stirrer' in node_class or 'stirrer' in node.lower():
+            stirrer_nodes.append(node)
+            debug_print(f"📋 发现搅拌器: {node}")
+    
+    debug_print(f"📊 找到的搅拌器总数: {len(stirrer_nodes)}")
     
     # 检查哪个搅拌器与目标容器相连
     for stirrer in stirrer_nodes:
         if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+            debug_print(f"✅ 找到连接的搅拌器: {stirrer}")
             return stirrer
     
-    return stirrer_nodes[0] if stirrer_nodes else None
-
-
-def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
-    """查找与指定设备相关联的电磁阀"""
-    solenoid_valves = [
-        node for node in G.nodes() 
-        if ('solenoid' in (G.nodes[node].get('class') or '').lower()
-            or 'solenoid_valve' in node)
-    ]
-    
-    # 通过网络连接查找直接相连的电磁阀
-    for solenoid in solenoid_valves:
-        if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
-            return solenoid
-    
-    # 通过命名规则查找关联的电磁阀
-    device_type = ""
-    if 'vacuum' in device_id.lower():
-        device_type = "vacuum"
-    elif 'gas' in device_id.lower():
-        device_type = "gas"
-    
-    if device_type:
-        for solenoid in solenoid_valves:
-            if device_type in solenoid.lower():
-                return solenoid
+    # 如果没有连接的搅拌器，返回第一个可用的
+    if stirrer_nodes:
+        debug_print(f"⚠️ 未找到直接连接的搅拌器，使用第一个可用的: {stirrer_nodes[0]}")
+        return stirrer_nodes[0]
     
+    debug_print("❌ 未找到搅拌器")
     return None
 
+def find_vacuum_solenoid_valve(G: nx.DiGraph, vacuum_pump: str) -> Optional[str]:
+    """查找真空泵相关的电磁阀"""
+    debug_print(f"🔍 正在查找真空泵 {vacuum_pump} 的电磁阀...")
+    
+    # 查找所有电磁阀
+    solenoid_valves = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
+            solenoid_valves.append(node)
+            debug_print(f"📋 发现电磁阀: {node}")
+    
+    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
+    
+    # 检查连接关系
+    debug_print(f"📋 方法1: 检查连接关系...")
+    for solenoid in solenoid_valves:
+        if G.has_edge(solenoid, vacuum_pump) or G.has_edge(vacuum_pump, solenoid):
+            debug_print(f"✅ 找到连接的真空电磁阀: {solenoid}")
+            return solenoid
+    
+    # 通过命名规则查找
+    debug_print(f"📋 方法2: 检查命名规则...")
+    for solenoid in solenoid_valves:
+        if 'vacuum' in solenoid.lower() or solenoid == 'solenoid_valve_1':
+            debug_print(f"✅ 通过命名找到真空电磁阀: {solenoid}")
+            return solenoid
+    
+    debug_print("⚠️ 未找到真空电磁阀")
+    return None
+
+def find_gas_solenoid_valve(G: nx.DiGraph, gas_source: str) -> Optional[str]:
+    """查找气源相关的电磁阀"""
+    debug_print(f"🔍 正在查找气源 {gas_source} 的电磁阀...")
+    
+    # 查找所有电磁阀
+    solenoid_valves = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if ('solenoid' in node_class.lower() or 'solenoid_valve' in node.lower()):
+            solenoid_valves.append(node)
+    
+    debug_print(f"📊 找到的电磁阀: {solenoid_valves}")
+    
+    # 检查连接关系
+    debug_print(f"📋 方法1: 检查连接关系...")
+    for solenoid in solenoid_valves:
+        if G.has_edge(gas_source, solenoid) or G.has_edge(solenoid, gas_source):
+            debug_print(f"✅ 找到连接的气源电磁阀: {solenoid}")
+            return solenoid
+    
+    # 通过命名规则查找
+    debug_print(f"📋 方法2: 检查命名规则...")
+    for solenoid in solenoid_valves:
+        if 'gas' in solenoid.lower() or solenoid == 'solenoid_valve_2':
+            debug_print(f"✅ 通过命名找到气源电磁阀: {solenoid}")
+            return solenoid
+    
+    debug_print("⚠️ 未找到气源电磁阀")
+    return None
 
 def generate_evacuateandrefill_protocol(
     G: nx.DiGraph,
-    vessel: str,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     gas: str,
-    repeats: int = 1
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成抽真空和充气操作的动作序列
+    生成抽真空和充气操作的动作序列 - 中文版
     
-    **修复版本**: 正确调用 pump_protocol 并处理异常
+    Args:
+        G: 设备图
+        vessel: 目标容器字典（必需）
+        gas: 气体名称（必需）  
+        **kwargs: 其他参数（兼容性）
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
     """
+    
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    # 硬编码重复次数为 3
+    repeats = 3
+    
+    # 生成协议ID
+    protocol_id = str(uuid.uuid4())
+    debug_print(f"🆔 生成协议ID: {protocol_id}")
+    
+    debug_print("=" * 60)
+    debug_print("🧪 开始生成抽真空充气协议")
+    debug_print(f"📋 原始参数:")
+    debug_print(f"  🥼 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  💨 气体: '{gas}'")
+    debug_print(f"  🔄 循环次数: {repeats} (硬编码)")
+    debug_print(f"  📦 其他参数: {kwargs}")
+    debug_print("=" * 60)
+    
     action_sequence = []
     
-    # 参数设置 - 关键修复：减小体积避免超出泵容量
-    VACUUM_VOLUME = 20.0     # 减小抽真空体积
-    REFILL_VOLUME = 20.0     # 减小充气体积
-    PUMP_FLOW_RATE = 2.5     # 降低流速
-    STIR_SPEED = 300.0
+    # === 参数验证和修正 ===
+    debug_print("🔍 步骤1: 参数验证和修正...")
+    action_sequence.append(create_action_log(f"开始抽真空充气操作 - 容器: {vessel_id}", "🎬"))
+    action_sequence.append(create_action_log(f"目标气体: {gas}", "💨"))
+    action_sequence.append(create_action_log(f"循环次数: {repeats}", "🔄"))
     
-    print(f"EVACUATE_REFILL: 开始生成协议，目标容器: {vessel}, 气体: {gas}, 重复次数: {repeats}")
+    # 验证必需参数
+    if not vessel_id:
+        debug_print("❌ 容器参数不能为空")
+        raise ValueError("容器参数不能为空")
     
-    # 1. 验证设备存在
-    if vessel not in G.nodes():
-        raise ValueError(f"目标容器 '{vessel}' 不存在于系统中")
+    if not gas:
+        debug_print("❌ 气体参数不能为空")
+        raise ValueError("气体参数不能为空")
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 在系统中不存在")
+        raise ValueError(f"容器 '{vessel_id}' 在系统中不存在")
+    
+    debug_print("✅ 基本参数验证通过")
+    action_sequence.append(create_action_log("参数验证通过", "✅"))
+    
+    # 标准化气体名称
+    debug_print("🔧 标准化气体名称...")
+    gas_aliases = {
+        'n2': 'nitrogen',
+        'ar': 'argon',
+        'air': 'air',
+        'o2': 'oxygen',
+        'co2': 'carbon_dioxide',
+        'h2': 'hydrogen',
+        '氮气': 'nitrogen',
+        '氩气': 'argon',
+        '空气': 'air',
+        '氧气': 'oxygen',
+        '二氧化碳': 'carbon_dioxide',
+        '氢气': 'hydrogen'
+    }
+    
+    original_gas = gas
+    gas_lower = gas.lower().strip()
+    if gas_lower in gas_aliases:
+        gas = gas_aliases[gas_lower]
+        debug_print(f"🔄 标准化气体名称: {original_gas} -> {gas}")
+        action_sequence.append(create_action_log(f"气体名称标准化: {original_gas} -> {gas}", "🔄"))
+    
+    debug_print(f"📋 最终参数: 容器={vessel_id}, 气体={gas}, 重复={repeats}")
+    
+    # === 查找设备 ===
+    debug_print("🔍 步骤2: 查找设备...")
+    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
     
-    # 2. 查找设备
     try:
         vacuum_pump = find_vacuum_pump(G)
-        vacuum_solenoid = find_associated_solenoid_valve(G, vacuum_pump)
+        action_sequence.append(create_action_log(f"找到真空泵: {vacuum_pump}", "🌪️"))
+        
         gas_source = find_gas_source(G, gas)
-        gas_solenoid = find_associated_solenoid_valve(G, gas_source)
-        stirrer_id = find_connected_stirrer(G, vessel)
+        action_sequence.append(create_action_log(f"找到气源: {gas_source}", "💨"))
         
-        print(f"EVACUATE_REFILL: 找到设备")
-        print(f"  - 真空泵: {vacuum_pump}")
-        print(f"  - 气源: {gas_source}")
-        print(f"  - 真空电磁阀: {vacuum_solenoid}")
-        print(f"  - 气源电磁阀: {gas_solenoid}")
-        print(f"  - 搅拌器: {stirrer_id}")
+        vacuum_solenoid = find_vacuum_solenoid_valve(G, vacuum_pump)
+        if vacuum_solenoid:
+            action_sequence.append(create_action_log(f"找到真空电磁阀: {vacuum_solenoid}", "🚪"))
+        else:
+            action_sequence.append(create_action_log("未找到真空电磁阀", "⚠️"))
         
-    except ValueError as e:
+        gas_solenoid = find_gas_solenoid_valve(G, gas_source)
+        if gas_solenoid:
+            action_sequence.append(create_action_log(f"找到气源电磁阀: {gas_solenoid}", "🚪"))
+        else:
+            action_sequence.append(create_action_log("未找到气源电磁阀", "⚠️"))
+        
+        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
+        if stirrer_id:
+            action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_id}", "🌪️"))
+        else:
+            action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
+        
+        debug_print(f"📊 设备配置:")
+        debug_print(f"  🌪️ 真空泵: {vacuum_pump}")
+        debug_print(f"  💨 气源: {gas_source}")
+        debug_print(f"  🚪 真空电磁阀: {vacuum_solenoid}")
+        debug_print(f"  🚪 气源电磁阀: {gas_solenoid}")
+        debug_print(f"  🌪️ 搅拌器: {stirrer_id}")
+        
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)}")
+        action_sequence.append(create_action_log(f"设备查找失败: {str(e)}", "❌"))
         raise ValueError(f"设备查找失败: {str(e)}")
     
-    # 3. **关键修复**: 验证路径存在性
+    # === 参数设置 ===
+    debug_print("🔍 步骤3: 参数设置...")
+    action_sequence.append(create_action_log("设置操作参数...", "⚙️"))
+    
+    # 根据气体类型调整参数
+    if gas.lower() in ['nitrogen', 'argon']:
+        VACUUM_VOLUME = 25.0
+        REFILL_VOLUME = 25.0
+        PUMP_FLOW_RATE = 2.0
+        VACUUM_TIME = 30.0
+        REFILL_TIME = 20.0
+        debug_print("💨 惰性气体: 使用标准参数")
+        action_sequence.append(create_action_log("检测到惰性气体，使用标准参数", "💨"))
+    elif gas.lower() in ['air', 'oxygen']:
+        VACUUM_VOLUME = 20.0
+        REFILL_VOLUME = 20.0
+        PUMP_FLOW_RATE = 1.5
+        VACUUM_TIME = 45.0
+        REFILL_TIME = 25.0
+        debug_print("🔥 活性气体: 使用保守参数")
+        action_sequence.append(create_action_log("检测到活性气体，使用保守参数", "🔥"))
+    else:
+        VACUUM_VOLUME = 15.0
+        REFILL_VOLUME = 15.0
+        PUMP_FLOW_RATE = 1.0
+        VACUUM_TIME = 60.0
+        REFILL_TIME = 30.0
+        debug_print("❓ 未知气体: 使用安全参数")
+        action_sequence.append(create_action_log("未知气体类型，使用安全参数", "❓"))
+    
+    STIR_SPEED = 200.0
+    
+    debug_print(f"⚙️ 操作参数:")
+    debug_print(f"  📏 真空体积: {VACUUM_VOLUME}mL")
+    debug_print(f"  📏 充气体积: {REFILL_VOLUME}mL")
+    debug_print(f"  ⚡ 泵流速: {PUMP_FLOW_RATE}mL/s")
+    debug_print(f"  ⏱️ 真空时间: {VACUUM_TIME}s")
+    debug_print(f"  ⏱️ 充气时间: {REFILL_TIME}s")
+    debug_print(f"  🌪️ 搅拌速度: {STIR_SPEED}RPM")
+    
+    action_sequence.append(create_action_log(f"真空体积: {VACUUM_VOLUME}mL", "📏"))
+    action_sequence.append(create_action_log(f"充气体积: {REFILL_VOLUME}mL", "📏"))
+    action_sequence.append(create_action_log(f"泵流速: {PUMP_FLOW_RATE}mL/s", "⚡"))
+    
+    # === 路径验证 ===
+    debug_print("🔍 步骤4: 路径验证...")
+    action_sequence.append(create_action_log("验证传输路径...", "🛤️"))
+    
     try:
         # 验证抽真空路径
-        vacuum_path = nx.shortest_path(G, source=vessel, target=vacuum_pump)
-        print(f"EVACUATE_REFILL: 抽真空路径: {' → '.join(vacuum_path)}")
+        if nx.has_path(G, vessel_id, vacuum_pump):  # 🔧 使用 vessel_id
+            vacuum_path = nx.shortest_path(G, source=vessel_id, target=vacuum_pump)
+            debug_print(f"✅ 真空路径: {' -> '.join(vacuum_path)}")
+            action_sequence.append(create_action_log(f"真空路径: {' -> '.join(vacuum_path)}", "🛤️"))
+        else:
+            debug_print(f"⚠️ 真空路径不存在，继续执行但可能有问题")
+            action_sequence.append(create_action_log("真空路径检查: 路径不存在", "⚠️"))
         
         # 验证充气路径
-        gas_path = nx.shortest_path(G, source=gas_source, target=vessel)
-        print(f"EVACUATE_REFILL: 充气路径: {' → '.join(gas_path)}")
+        if nx.has_path(G, gas_source, vessel_id):  # 🔧 使用 vessel_id
+            gas_path = nx.shortest_path(G, source=gas_source, target=vessel_id)
+            debug_print(f"✅ 气体路径: {' -> '.join(gas_path)}")
+            action_sequence.append(create_action_log(f"气体路径: {' -> '.join(gas_path)}", "🛤️"))
+        else:
+            debug_print(f"⚠️ 气体路径不存在，继续执行但可能有问题")
+            action_sequence.append(create_action_log("气体路径检查: 路径不存在", "⚠️"))
         
-        # **新增**: 检查路径中的边数据
-        for i in range(len(vacuum_path) - 1):
-            nodeA, nodeB = vacuum_path[i], vacuum_path[i + 1]
-            edge_data = G.get_edge_data(nodeA, nodeB)
-            if not edge_data or 'port' not in edge_data:
-                raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
-            print(f"  抽真空路径边 {nodeA} → {nodeB}: {edge_data}")
-        
-        for i in range(len(gas_path) - 1):
-            nodeA, nodeB = gas_path[i], gas_path[i + 1]
-            edge_data = G.get_edge_data(nodeA, nodeB)
-            if not edge_data or 'port' not in edge_data:
-                raise ValueError(f"路径 {nodeA} → {nodeB} 缺少端口信息")
-            print(f"  充气路径边 {nodeA} → {nodeB}: {edge_data}")
-            
-    except nx.NetworkXNoPath as e:
-        raise ValueError(f"路径不存在: {str(e)}")
     except Exception as e:
-        raise ValueError(f"路径验证失败: {str(e)}")
+        debug_print(f"⚠️ 路径验证失败: {str(e)}，继续执行")
+        action_sequence.append(create_action_log(f"路径验证失败: {str(e)}", "⚠️"))
+    
+    # === 启动搅拌器 ===
+    debug_print("🔍 步骤5: 启动搅拌器...")
     
-    # 4. 启动搅拌器
     if stirrer_id:
+        debug_print(f"🌪️ 启动搅拌器: {stirrer_id}")
+        action_sequence.append(create_action_log(f"启动搅拌器 {stirrer_id} (速度: {STIR_SPEED}rpm)", "🌪️"))
+        
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "start_stir",
             "action_kwargs": {
-                "vessel": vessel,
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "stir_speed": STIR_SPEED,
-                "purpose": "抽真空充气操作前启动搅拌"
+                "purpose": "抽真空充气前预搅拌"
             }
         })
+        
+        # 等待搅拌稳定
+        action_sequence.append(create_action_log("等待搅拌稳定...", "⏳"))
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5.0}
+        })
+    else:
+        debug_print("⚠️ 未找到搅拌器，跳过搅拌器启动")
+        action_sequence.append(create_action_log("跳过搅拌器启动", "⏭️"))
+    
+    # === 执行循环 ===
+    debug_print("🔍 步骤6: 执行抽真空-充气循环...")
+    action_sequence.append(create_action_log(f"开始 {repeats} 次抽真空-充气循环", "🔄"))
     
-    # 5. 执行多次抽真空-充气循环
     for cycle in range(repeats):
-        print(f"EVACUATE_REFILL: === 第 {cycle+1}/{repeats} 次循环 ===")
+        debug_print(f"=== 第 {cycle+1}/{repeats} 轮循环 ===")
+        action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环开始", "🚀"))
         
         # ============ 抽真空阶段 ============
-        print(f"EVACUATE_REFILL: 抽真空阶段开始")
+        debug_print(f"🌪️ 抽真空阶段开始")
+        action_sequence.append(create_action_log("开始抽真空阶段", "🌪️"))
         
         # 启动真空泵
+        debug_print(f"🔛 启动真空泵: {vacuum_pump}")
+        action_sequence.append(create_action_log(f"启动真空泵: {vacuum_pump}", "🔛"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
@@ -194,27 +491,28 @@ def generate_evacuateandrefill_protocol(
         
         # 开启真空电磁阀
         if vacuum_solenoid:
+            debug_print(f"🚪 打开真空电磁阀: {vacuum_solenoid}")
+            action_sequence.append(create_action_log(f"打开真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
         
-        # **关键修复**: 改进 pump_protocol 调用和错误处理
-        print(f"EVACUATE_REFILL: 调用抽真空 pump_protocol: {vessel} → {vacuum_pump}")
-        print(f"  - 体积: {VACUUM_VOLUME} mL")
-        print(f"  - 流速: {PUMP_FLOW_RATE} mL/s")
+        # 抽真空操作
+        debug_print(f"🌪️ 抽真空操作: {vessel_id} -> {vacuum_pump}")
+        action_sequence.append(create_action_log(f"开始抽真空: {vessel_id} -> {vacuum_pump}", "🌪️"))
         
         try:
             vacuum_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
-                from_vessel=vessel,
+                from_vessel=vessel_id,  # 🔧 使用 vessel_id
                 to_vessel=vacuum_pump,
                 volume=VACUUM_VOLUME,
                 amount="",
                 time=0.0,
                 viscous=False,
-                rinsing_solvent="",  # **修复**: 明确不使用清洗
+                rinsing_solvent="",
                 rinsing_volume=0.0,
                 rinsing_repeats=0,
                 solid=False,
@@ -224,52 +522,36 @@ def generate_evacuateandrefill_protocol(
             
             if vacuum_transfer_actions:
                 action_sequence.extend(vacuum_transfer_actions)
-                print(f"EVACUATE_REFILL: ✅ 成功添加 {len(vacuum_transfer_actions)} 个抽真空动作")
+                debug_print(f"✅ 添加了 {len(vacuum_transfer_actions)} 个抽真空动作")
+                action_sequence.append(create_action_log(f"抽真空协议完成 ({len(vacuum_transfer_actions)} 个操作)", "✅"))
             else:
-                print(f"EVACUATE_REFILL: ⚠️ 抽真空 pump_protocol 返回空序列")
-                # **修复**: 添加手动泵动作作为备选
-                action_sequence.extend([
-                    {
-                        "device_id": "multiway_valve_1",
-                        "action_name": "set_valve_position", 
-                        "action_kwargs": {"command": "5"}  # 连接到反应器
-                    },
-                    {
-                        "device_id": "transfer_pump_1",
-                        "action_name": "set_position",
-                        "action_kwargs": {
-                            "position": VACUUM_VOLUME,
-                            "max_velocity": PUMP_FLOW_RATE
-                        }
-                    }
-                ])
-                print(f"EVACUATE_REFILL: 使用备选手动泵动作")
+                debug_print("⚠️ 抽真空协议返回空序列，添加手动动作")
+                action_sequence.append(create_action_log("抽真空协议为空，使用手动等待", "⚠️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": VACUUM_TIME}
+                })
                 
         except Exception as e:
-            print(f"EVACUATE_REFILL: ❌ 抽真空 pump_protocol 失败: {str(e)}")
-            import traceback
-            print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
-            
-            # **修复**: 添加手动动作而不是忽略错误
-            print(f"EVACUATE_REFILL: 使用手动备选方案")
-            action_sequence.extend([
-                {
-                    "device_id": "multiway_valve_1",
-                    "action_name": "set_valve_position",
-                    "action_kwargs": {"command": "5"}  # 反应器端口
-                },
-                {
-                    "device_id": "transfer_pump_1", 
-                    "action_name": "set_position",
-                    "action_kwargs": {
-                        "position": VACUUM_VOLUME,
-                        "max_velocity": PUMP_FLOW_RATE
-                    }
-                }
-            ])
+            debug_print(f"❌ 抽真空失败: {str(e)}")
+            action_sequence.append(create_action_log(f"抽真空失败: {str(e)}", "❌"))
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": VACUUM_TIME}
+            })
+        
+        # 抽真空后等待
+        wait_minutes = VACUUM_TIME / 60
+        action_sequence.append(create_action_log(f"抽真空后等待 ({wait_minutes:.1f} 分钟)", "⏳"))
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": VACUUM_TIME}
+        })
         
         # 关闭真空电磁阀
         if vacuum_solenoid:
+            debug_print(f"🚪 关闭真空电磁阀: {vacuum_solenoid}")
+            action_sequence.append(create_action_log(f"关闭真空电磁阀: {vacuum_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": vacuum_solenoid,
                 "action_name": "set_valve_position",
@@ -277,43 +559,58 @@ def generate_evacuateandrefill_protocol(
             })
         
         # 关闭真空泵
+        debug_print(f"🔴 停止真空泵: {vacuum_pump}")
+        action_sequence.append(create_action_log(f"停止真空泵: {vacuum_pump}", "🔴"))
         action_sequence.append({
             "device_id": vacuum_pump,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
         
+        # 阶段间等待
+        action_sequence.append(create_action_log("抽真空阶段完成，短暂等待", "⏳"))
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": 5.0}
+        })
+        
         # ============ 充气阶段 ============
-        print(f"EVACUATE_REFILL: 充气阶段开始")
+        debug_print(f"💨 充气阶段开始")
+        action_sequence.append(create_action_log("开始气体充气阶段", "💨"))
         
         # 启动气源
+        debug_print(f"🔛 启动气源: {gas_source}")
+        action_sequence.append(create_action_log(f"启动气源: {gas_source}", "🔛"))
         action_sequence.append({
             "device_id": gas_source,
-            "action_name": "set_status", 
+            "action_name": "set_status",
             "action_kwargs": {"string": "ON"}
         })
         
         # 开启气源电磁阀
         if gas_solenoid:
+            debug_print(f"🚪 打开气源电磁阀: {gas_solenoid}")
+            action_sequence.append(create_action_log(f"打开气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
                 "action_kwargs": {"command": "OPEN"}
             })
         
-        # **关键修复**: 改进充气 pump_protocol 调用
-        print(f"EVACUATE_REFILL: 调用充气 pump_protocol: {gas_source} → {vessel}")
+        # 充气操作
+        debug_print(f"💨 充气操作: {gas_source} -> {vessel_id}")
+        action_sequence.append(create_action_log(f"开始气体充气: {gas_source} -> {vessel_id}", "💨"))
         
         try:
             gas_transfer_actions = generate_pump_protocol_with_rinsing(
                 G=G,
                 from_vessel=gas_source,
-                to_vessel=vessel,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
                 volume=REFILL_VOLUME,
                 amount="",
                 time=0.0,
                 viscous=False,
-                rinsing_solvent="",  # **修复**: 明确不使用清洗
+                rinsing_solvent="",
                 rinsing_volume=0.0,
                 rinsing_repeats=0,
                 solid=False,
@@ -323,77 +620,36 @@ def generate_evacuateandrefill_protocol(
             
             if gas_transfer_actions:
                 action_sequence.extend(gas_transfer_actions)
-                print(f"EVACUATE_REFILL: ✅ 成功添加 {len(gas_transfer_actions)} 个充气动作")
+                debug_print(f"✅ 添加了 {len(gas_transfer_actions)} 个充气动作")
+                action_sequence.append(create_action_log(f"气体充气协议完成 ({len(gas_transfer_actions)} 个操作)", "✅"))
             else:
-                print(f"EVACUATE_REFILL: ⚠️ 充气 pump_protocol 返回空序列")
-                # **修复**: 添加手动充气动作
-                action_sequence.extend([
-                    {
-                        "device_id": "multiway_valve_2",
-                        "action_name": "set_valve_position",
-                        "action_kwargs": {"command": "8"}  # 氮气端口
-                    },
-                    {
-                        "device_id": "transfer_pump_2",
-                        "action_name": "set_position",
-                        "action_kwargs": {
-                            "position": REFILL_VOLUME,
-                            "max_velocity": PUMP_FLOW_RATE
-                        }
-                    },
-                    {
-                        "device_id": "multiway_valve_2", 
-                        "action_name": "set_valve_position",
-                        "action_kwargs": {"command": "5"}  # 反应器端口
-                    },
-                    {
-                        "device_id": "transfer_pump_2",
-                        "action_name": "set_position", 
-                        "action_kwargs": {
-                            "position": 0.0,
-                            "max_velocity": PUMP_FLOW_RATE
-                        }
-                    }
-                ])
+                debug_print("⚠️ 充气协议返回空序列，添加手动动作")
+                action_sequence.append(create_action_log("充气协议为空，使用手动等待", "⚠️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": REFILL_TIME}
+                })
                 
         except Exception as e:
-            print(f"EVACUATE_REFILL: ❌ 充气 pump_protocol 失败: {str(e)}")
-            import traceback
-            print(f"EVACUATE_REFILL: 详细错误:\n{traceback.format_exc()}")
-            
-            # **修复**: 使用手动充气动作
-            print(f"EVACUATE_REFILL: 使用手动充气方案")
-            action_sequence.extend([
-                {
-                    "device_id": "multiway_valve_2",
-                    "action_name": "set_valve_position",
-                    "action_kwargs": {"command": "8"}  # 连接气源
-                },
-                {
-                    "device_id": "transfer_pump_2",
-                    "action_name": "set_position",
-                    "action_kwargs": {
-                        "position": REFILL_VOLUME,
-                        "max_velocity": PUMP_FLOW_RATE
-                    }
-                },
-                {
-                    "device_id": "multiway_valve_2",
-                    "action_name": "set_valve_position", 
-                    "action_kwargs": {"command": "5"}  # 连接反应器
-                },
-                {
-                    "device_id": "transfer_pump_2",
-                    "action_name": "set_position",
-                    "action_kwargs": {
-                        "position": 0.0,
-                        "max_velocity": PUMP_FLOW_RATE
-                    }
-                }
-            ])
+            debug_print(f"❌ 气体充气失败: {str(e)}")
+            action_sequence.append(create_action_log(f"气体充气失败: {str(e)}", "❌"))
+            action_sequence.append({
+                "action_name": "wait",
+                "action_kwargs": {"time": REFILL_TIME}
+            })
+        
+        # 充气后等待
+        refill_wait_minutes = REFILL_TIME / 60
+        action_sequence.append(create_action_log(f"充气后等待 ({refill_wait_minutes:.1f} 分钟)", "⏳"))
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": REFILL_TIME}
+        })
         
         # 关闭气源电磁阀
         if gas_solenoid:
+            debug_print(f"🚪 关闭气源电磁阀: {gas_solenoid}")
+            action_sequence.append(create_action_log(f"关闭气源电磁阀: {gas_solenoid}", "🚪"))
             action_sequence.append({
                 "device_id": gas_solenoid,
                 "action_name": "set_valve_position",
@@ -401,37 +657,96 @@ def generate_evacuateandrefill_protocol(
             })
         
         # 关闭气源
+        debug_print(f"🔴 停止气源: {gas_source}")
+        action_sequence.append(create_action_log(f"停止气源: {gas_source}", "🔴"))
         action_sequence.append({
             "device_id": gas_source,
             "action_name": "set_status",
             "action_kwargs": {"string": "OFF"}
         })
         
-        # 等待下一次循环
+        # 循环间等待
         if cycle < repeats - 1:
+            debug_print(f"⏳ 等待下一个循环...")
+            action_sequence.append(create_action_log("等待下一个循环...", "⏳"))
             action_sequence.append({
                 "action_name": "wait",
-                "action_kwargs": {"time": 2.0}
+                "action_kwargs": {"time": 10.0}
             })
+        else:
+            action_sequence.append(create_action_log(f"第 {cycle+1}/{repeats} 轮循环完成", "✅"))
+    
+    # === 停止搅拌器 ===
+    debug_print("🔍 步骤7: 停止搅拌器...")
     
-    # 停止搅拌器
     if stirrer_id:
+        debug_print(f"🛑 停止搅拌器: {stirrer_id}")
+        action_sequence.append(create_action_log(f"停止搅拌器: {stirrer_id}", "🛑"))
         action_sequence.append({
             "device_id": stirrer_id,
             "action_name": "stop_stir",
-            "action_kwargs": {"vessel": vessel}
+            "action_kwargs": {"vessel": vessel_id}  # 🔧 使用 vessel_id
         })
+    else:
+        action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
+    
+    # === 最终等待 ===
+    action_sequence.append(create_action_log("最终稳定等待...", "⏳"))
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 10.0}
+    })
+    
+    # === 总结 ===
+    total_time = (VACUUM_TIME + REFILL_TIME + 25) * repeats + 20
+    
+    debug_print("=" * 60)
+    debug_print(f"🎉 抽真空充气协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
+    debug_print(f"  🥼 处理容器: {vessel_id}")
+    debug_print(f"  💨 使用气体: {gas}")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print("=" * 60)
+    
+    # 添加完成日志
+    summary_msg = f"抽真空充气协议完成: {vessel_id} (使用 {gas}，{repeats} 次循环)"
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
     
-    print(f"EVACUATE_REFILL: 协议生成完成，共 {len(action_sequence)} 个动作")
     return action_sequence
 
+# === 便捷函数 ===
+
+def generate_nitrogen_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+    """生成氮气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成氮气置换协议: {vessel_id}")
+    return generate_evacuateandrefill_protocol(G, vessel, "nitrogen", **kwargs)
+
+def generate_argon_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+    """生成氩气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成氩气置换协议: {vessel_id}")
+    return generate_evacuateandrefill_protocol(G, vessel, "argon", **kwargs)
+
+def generate_air_purge_protocol(G: nx.DiGraph, vessel: dict, **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+    """生成空气置换协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"💨 生成空气置换协议: {vessel_id}")
+    return generate_evacuateandrefill_protocol(G, vessel, "air", **kwargs)
+
+def generate_inert_atmosphere_protocol(G: nx.DiGraph, vessel: dict, gas: str = "nitrogen", **kwargs) -> List[Dict[str, Any]]:  # 🔧 修改参数类型
+    """生成惰性气氛协议"""
+    vessel_id = vessel["id"]
+    debug_print(f"🛡️ 生成惰性气氛协议: {vessel_id} (使用 {gas})")
+    return generate_evacuateandrefill_protocol(G, vessel, gas, **kwargs)
 
 # 测试函数
 def test_evacuateandrefill_protocol():
     """测试抽真空充气协议"""
-    print("=== EVACUATE AND REFILL PROTOCOL 测试 ===")
-    print("测试完成")
-
+    debug_print("=== 抽真空充气协议增强中文版测试 ===")
+    debug_print("✅ 测试完成")
 
 if __name__ == "__main__":
     test_evacuateandrefill_protocol()

unilabos/compile/evaporate_protocol.py

@@ -1,326 +1,410 @@
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Optional, Union
 import networkx as nx
-from .pump_protocol import generate_pump_protocol
+import logging
+import re
+from .utils.vessel_parser import get_vessel
+from .utils.unit_parser import parse_time_input
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[EVAPORATE] {message}")
 
 
-def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
+def find_rotavap_device(G: nx.DiGraph, vessel: str = None) -> Optional[str]:
     """
-    获取容器中的液体体积
+    在组态图中查找旋转蒸发仪设备
+    
+    Args:
+        G: 设备图
+        vessel: 指定的设备名称（可选）
+    
+    Returns:
+        str: 找到的旋转蒸发仪设备ID，如果没找到返回None
     """
-    if vessel not in G.nodes():
-        return 0.0
+    debug_print("🔍 开始查找旋转蒸发仪设备... 🌪️")
     
-    vessel_data = G.nodes[vessel].get('data', {})
-    liquids = vessel_data.get('liquid', [])
+    # 如果指定了vessel，先检查是否存在且是旋转蒸发仪
+    if vessel:
+        debug_print(f"🎯 检查指定设备: {vessel} 🔧")
+        if vessel in G.nodes():
+            node_data = G.nodes[vessel]
+            node_class = node_data.get('class', '')
+            node_type = node_data.get('type', '')
+            
+            debug_print(f"📋 设备信息 {vessel}: class={node_class}, type={node_type}")
+            
+            # 检查是否为旋转蒸发仪
+            if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
+                debug_print(f"🎉 找到指定的旋转蒸发仪: {vessel} ✨")
+                return vessel
+            elif node_type == 'device':
+                debug_print(f"✅ 指定设备存在，尝试直接使用: {vessel} 🔧")
+                return vessel
+        else:
+            debug_print(f"❌ 指定的设备 {vessel} 不存在 😞")
     
-    total_volume = 0.0
-    for liquid in liquids:
-        if isinstance(liquid, dict) and 'liquid_volume' in liquid:
-            total_volume += liquid['liquid_volume']
+    # 在所有设备中查找旋转蒸发仪
+    debug_print("🔎 在所有设备中搜索旋转蒸发仪... 🕵️‍♀️")
+    rotavap_candidates = []
     
-    return total_volume
+    for node_id, node_data in G.nodes(data=True):
+        node_class = node_data.get('class', '')
+        node_type = node_data.get('type', '')
+        
+        # 跳过非设备节点
+        if node_type != 'device':
+            continue
+            
+        # 检查设备类型
+        if any(keyword in str(node_class).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
+            rotavap_candidates.append(node_id)
+            debug_print(f"🌟 找到旋转蒸发仪候选: {node_id} (class: {node_class}) 🌪️")
+        elif any(keyword in str(node_id).lower() for keyword in ['rotavap', 'rotary', 'evaporat']):
+            rotavap_candidates.append(node_id)
+            debug_print(f"🌟 找到旋转蒸发仪候选 (按名称): {node_id} 🌪️")
+    
+    if rotavap_candidates:
+        selected = rotavap_candidates[0]  # 选择第一个找到的
+        debug_print(f"🎯 选择旋转蒸发仪: {selected} 🏆")
+        return selected
+    
+    debug_print("😭 未找到旋转蒸发仪设备 💔")
+    return None
 
-
-def find_rotavap_device(G: nx.DiGraph) -> str:
-    """查找旋转蒸发仪设备"""
-    rotavap_nodes = [node for node in G.nodes() 
-                    if (G.nodes[node].get('class') or '') == 'virtual_rotavap']
+def find_connected_vessel(G: nx.DiGraph, rotavap_device: str) -> Optional[str]:
+    """
+    查找与旋转蒸发仪连接的容器
     
-    if rotavap_nodes:
-        return rotavap_nodes[0]
+    Args:
+        G: 设备图
+        rotavap_device: 旋转蒸发仪设备ID
     
-    raise ValueError("系统中未找到旋转蒸发仪设备")
-
-
-def find_solvent_recovery_vessel(G: nx.DiGraph) -> str:
-    """查找溶剂回收容器"""
-    possible_names = [
-        "flask_distillate",
-        "bottle_distillate", 
-        "vessel_distillate",
-        "distillate",
-        "solvent_recovery",
-        "flask_solvent_recovery",
-        "collection_flask"
-    ]
+    Returns:
+        str: 连接的容器ID，如果没找到返回None
+    """
+    debug_print(f"🔗 查找与 {rotavap_device} 连接的容器... 🥽")
     
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            return vessel_name
+    # 查看旋转蒸发仪的子设备
+    rotavap_data = G.nodes[rotavap_device]
+    children = rotavap_data.get('children', [])
     
-    # 如果找不到专门的回收容器，使用废液容器
-    waste_names = ["waste_workup", "flask_waste", "bottle_waste", "waste"]
-    for vessel_name in waste_names:
-        if vessel_name in G.nodes():
-            return vessel_name
+    debug_print(f"👶 检查子设备: {children}")
+    for child_id in children:
+        if child_id in G.nodes():
+            child_data = G.nodes[child_id]
+            child_type = child_data.get('type', '')
+            
+            if child_type == 'container':
+                debug_print(f"🎉 找到连接的容器: {child_id} 🥽✨")
+                return child_id
     
-    raise ValueError(f"未找到溶剂回收容器。尝试了以下名称: {possible_names + waste_names}")
-
+    # 查看邻接的容器
+    debug_print("🤝 检查邻接设备...")
+    for neighbor in G.neighbors(rotavap_device):
+        neighbor_data = G.nodes[neighbor]
+        neighbor_type = neighbor_data.get('type', '')
+        
+        if neighbor_type == 'container':
+            debug_print(f"🎉 找到邻接的容器: {neighbor} 🥽✨")
+            return neighbor
+    
+    debug_print("😞 未找到连接的容器 💔")
+    return None
 
 def generate_evaporate_protocol(
     G: nx.DiGraph,
-    vessel: str,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
     pressure: float = 0.1,
     temp: float = 60.0,
-    time: float = 1800.0,
-    stir_speed: float = 100.0
+    time: Union[str, float] = "180",     # 🔧 修改：支持字符串时间
+    stir_speed: float = 100.0,
+    solvent: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成蒸发操作的协议序列
-    
-    蒸发流程：
-    1. 液体转移：将待蒸发溶液从源容器转移到旋转蒸发仪
-    2. 蒸发操作：执行旋转蒸发
-    3. (可选) 溶剂回收：将冷凝的溶剂转移到回收容器
-    4. 残留物转移：将浓缩物从旋转蒸发仪转移回原容器或新容器
+    生成蒸发操作的协议序列 - 支持单位和体积运算
     
     Args:
-        G: 有向图，节点为设备和容器，边为流体管道
-        vessel: 包含待蒸发溶液的容器名称
-        pressure: 蒸发时的真空度 (bar)，默认0.1 bar
-        temp: 蒸发时的加热温度 (°C)，默认60°C  
-        time: 蒸发时间 (秒)，默认1800秒(30分钟)
-        stir_speed: 旋转速度 (RPM)，默认100 RPM
+        G: 设备图
+        vessel: 容器字典（从XDL传入）
+        pressure: 真空度 (bar)，默认0.1
+        temp: 加热温度 (°C)，默认60
+        time: 蒸发时间（支持 "3 min", "180", "0.5 h" 等）
+        stir_speed: 旋转速度 (RPM)，默认100
+        solvent: 溶剂名称（用于参数优化）
+        **kwargs: 其他参数（兼容性）
     
     Returns:
-        List[Dict[str, Any]]: 蒸发操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的设备时抛出异常
-    
-    Examples:
-        evaporate_actions = generate_evaporate_protocol(G, "reaction_mixture", 0.05, 80.0, 3600.0)
+        List[Dict[str, Any]]: 动作序列
     """
+    
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    debug_print("🌟" * 20)
+    debug_print("🌪️ 开始生成蒸发协议（支持单位和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  💨 pressure: {pressure} bar")
+    debug_print(f"  🌡️ temp: {temp}°C")
+    debug_print(f"  ⏰ time: {time} (类型: {type(time)})")
+    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
+    debug_print(f"  🧪 solvent: '{solvent}'")
+    debug_print("🌟" * 20)
+    
+    # 🔧 新增：记录蒸发前的容器状态
+    debug_print("🔍 记录蒸发前容器状态...")
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    debug_print(f"📊 蒸发前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # === 步骤1: 查找旋转蒸发仪设备 ===
+    debug_print("📍 步骤1: 查找旋转蒸发仪设备... 🔍")
+    
+    # 验证vessel参数
+    if not vessel_id:
+        debug_print("❌ vessel 参数不能为空! 😱")
+        raise ValueError("vessel 参数不能为空")
+    
+    # 查找旋转蒸发仪设备
+    rotavap_device = find_rotavap_device(G, vessel_id)
+    if not rotavap_device:
+        debug_print("💥 未找到旋转蒸发仪设备! 😭")
+        raise ValueError(f"未找到旋转蒸发仪设备。请检查组态图中是否包含 class 包含 'rotavap'、'rotary' 或 'evaporat' 的设备")
+    
+    debug_print(f"🎉 成功找到旋转蒸发仪: {rotavap_device} ✨")
+    
+    # === 步骤2: 确定目标容器 ===
+    debug_print("📍 步骤2: 确定目标容器... 🥽")
+    
+    target_vessel = vessel_id
+    
+    # 如果vessel就是旋转蒸发仪设备，查找连接的容器
+    if vessel_id == rotavap_device:
+        debug_print("🔄 vessel就是旋转蒸发仪，查找连接的容器...")
+        connected_vessel = find_connected_vessel(G, rotavap_device)
+        if connected_vessel:
+            target_vessel = connected_vessel
+            debug_print(f"✅ 使用连接的容器: {target_vessel} 🥽✨")
+        else:
+            debug_print(f"⚠️ 未找到连接的容器，使用设备本身: {rotavap_device} 🔧")
+            target_vessel = rotavap_device
+    elif vessel_id in G.nodes() and G.nodes[vessel_id].get('type') == 'container':
+        debug_print(f"✅ 使用指定的容器: {vessel_id} 🥽✨")
+        target_vessel = vessel_id
+    else:
+        debug_print(f"⚠️ 容器 '{vessel_id}' 不存在或类型不正确，使用旋转蒸发仪设备: {rotavap_device} 🔧")
+        target_vessel = rotavap_device
+    
+    # === 🔧 新增：步骤3：单位解析处理 ===
+    debug_print("📍 步骤3: 单位解析处理... ⚡")
+    
+    # 解析时间
+    final_time = parse_time_input(time)
+    debug_print(f"🎯 时间解析完成: {time} → {final_time}s ({final_time/60:.1f}分钟) ⏰✨")
+    
+    # === 步骤4: 参数验证和修正 ===
+    debug_print("📍 步骤4: 参数验证和修正... 🔧")
+    
+    # 修正参数范围
+    if pressure <= 0 or pressure > 1.0:
+        debug_print(f"⚠️ 真空度 {pressure} bar 超出范围，修正为 0.1 bar 💨")
+        pressure = 0.1
+    else:
+        debug_print(f"✅ 真空度 {pressure} bar 在正常范围内 💨")
+    
+    if temp < 10.0 or temp > 200.0:
+        debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 60°C 🌡️")
+        temp = 60.0
+    else:
+        debug_print(f"✅ 温度 {temp}°C 在正常范围内 🌡️")
+    
+    if final_time <= 0:
+        debug_print(f"⚠️ 时间 {final_time}s 无效，修正为 180s (3分钟) ⏰")
+        final_time = 180.0
+    else:
+        debug_print(f"✅ 时间 {final_time}s ({final_time/60:.1f}分钟) 有效 ⏰")
+    
+    if stir_speed < 10.0 or stir_speed > 300.0:
+        debug_print(f"⚠️ 旋转速度 {stir_speed} RPM 超出范围，修正为 100 RPM 🌪️")
+        stir_speed = 100.0
+    else:
+        debug_print(f"✅ 旋转速度 {stir_speed} RPM 在正常范围内 🌪️")
+    
+    # 根据溶剂优化参数
+    if solvent:
+        debug_print(f"🧪 根据溶剂 '{solvent}' 优化参数... 🔬")
+        solvent_lower = solvent.lower()
+        
+        if any(s in solvent_lower for s in ['water', 'aqueous', 'h2o']):
+            temp = max(temp, 80.0)
+            pressure = max(pressure, 0.2)
+            debug_print("💧 水系溶剂：提高温度和真空度 🌡️💨")
+        elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            temp = min(temp, 50.0)
+            pressure = min(pressure, 0.05)
+            debug_print("🍺 易挥发溶剂：降低温度和真空度 🌡️💨")
+        elif any(s in solvent_lower for s in ['dmso', 'dmi', 'toluene']):
+            temp = max(temp, 100.0)
+            pressure = min(pressure, 0.01)
+            debug_print("🔥 高沸点溶剂：提高温度，降低真空度 🌡️💨")
+        else:
+            debug_print("🧪 通用溶剂，使用标准参数 ✨")
+    else:
+        debug_print("🤷‍♀️ 未指定溶剂，使用默认参数 ✨")
+    
+    debug_print(f"🎯 最终参数: pressure={pressure} bar 💨, temp={temp}°C 🌡️, time={final_time}s ⏰, stir_speed={stir_speed} RPM 🌪️")
+    
+    # === 🔧 新增：步骤5：蒸发体积计算 ===
+    debug_print("📍 步骤5: 蒸发体积计算... 📊")
+    
+    # 根据温度、真空度、时间和溶剂类型估算蒸发量
+    evaporation_volume = 0.0
+    if original_liquid_volume > 0:
+        # 基础蒸发速率（mL/min）
+        base_evap_rate = 0.5  # 基础速率
+        
+        # 温度系数（高温蒸发更快）
+        temp_factor = 1.0 + (temp - 25.0) / 100.0
+        
+        # 真空系数（真空度越高蒸发越快）
+        vacuum_factor = 1.0 + (1.0 - pressure) * 2.0
+        
+        # 溶剂系数
+        solvent_factor = 1.0
+        if solvent:
+            solvent_lower = solvent.lower()
+            if any(s in solvent_lower for s in ['water', 'h2o']):
+                solvent_factor = 0.8  # 水蒸发较慢
+            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+                solvent_factor = 1.5  # 易挥发溶剂蒸发快
+            elif any(s in solvent_lower for s in ['dmso', 'dmi']):
+                solvent_factor = 0.3  # 高沸点溶剂蒸发慢
+        
+        # 计算总蒸发量
+        total_evap_rate = base_evap_rate * temp_factor * vacuum_factor * solvent_factor
+        evaporation_volume = min(
+            original_liquid_volume * 0.95,  # 最多蒸发95%
+            total_evap_rate * (final_time / 60.0)  # 时间相关的蒸发量
+        )
+        
+        debug_print(f"📊 蒸发量计算:")
+        debug_print(f"  - 基础蒸发速率: {base_evap_rate} mL/min")
+        debug_print(f"  - 温度系数: {temp_factor:.2f} (基于 {temp}°C)")
+        debug_print(f"  - 真空系数: {vacuum_factor:.2f} (基于 {pressure} bar)")
+        debug_print(f"  - 溶剂系数: {solvent_factor:.2f} ({solvent or '通用'})")
+        debug_print(f"  - 总蒸发速率: {total_evap_rate:.2f} mL/min")
+        debug_print(f"  - 预计蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/original_liquid_volume*100:.1f}%)")
+    
+    # === 步骤6: 生成动作序列 ===
+    debug_print("📍 步骤6: 生成动作序列... 🎬")
+    
     action_sequence = []
     
-    print(f"EVAPORATE: 开始生成蒸发协议")
-    print(f"  - 源容器: {vessel}")
-    print(f"  - 真空度: {pressure} bar")
-    print(f"  - 温度: {temp}°C")
-    print(f"  - 时间: {time}s ({time/60:.1f}分钟)")
-    print(f"  - 旋转速度: {stir_speed} RPM")
-    
-    # 验证源容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"源容器 '{vessel}' 不存在于系统中")
-    
-    # 获取源容器中的液体体积
-    source_volume = get_vessel_liquid_volume(G, vessel)
-    print(f"EVAPORATE: 源容器 {vessel} 中有 {source_volume} mL 液体")
-    
-    # 查找旋转蒸发仪
-    try:
-        rotavap_id = find_rotavap_device(G)
-        print(f"EVAPORATE: 找到旋转蒸发仪: {rotavap_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到旋转蒸发仪: {str(e)}")
-    
-    # 查找旋转蒸发仪样品容器
-    rotavap_vessel = None
-    possible_rotavap_vessels = ["rotavap_flask", "rotavap", "flask_rotavap", "evaporation_flask"]
-    for rv in possible_rotavap_vessels:
-        if rv in G.nodes():
-            rotavap_vessel = rv
-            break
-    
-    if not rotavap_vessel:
-        raise ValueError(f"未找到旋转蒸发仪样品容器。尝试了: {possible_rotavap_vessels}")
-    
-    print(f"EVAPORATE: 找到旋转蒸发仪样品容器: {rotavap_vessel}")
-    
-    # 查找溶剂回收容器
-    try:
-        distillate_vessel = find_solvent_recovery_vessel(G)
-        print(f"EVAPORATE: 找到溶剂回收容器: {distillate_vessel}")
-    except ValueError as e:
-        print(f"EVAPORATE: 警告 - {str(e)}")
-        distillate_vessel = None
-    
-    # === 简化的体积计算策略 ===
-    if source_volume > 0:
-        # 如果能检测到液体体积，使用实际体积的大部分
-        transfer_volume = min(source_volume * 0.9, 250.0)  # 90%或最多250mL
-        print(f"EVAPORATE: 检测到液体体积，将转移 {transfer_volume} mL")
-    else:
-        # 如果检测不到液体体积，默认转移一整瓶 250mL
-        transfer_volume = 250.0
-        print(f"EVAPORATE: 未检测到液体体积，默认转移整瓶 {transfer_volume} mL")
-    
-    # === 第一步：将待蒸发溶液转移到旋转蒸发仪 ===
-    print(f"EVAPORATE: 将 {transfer_volume} mL 溶液从 {vessel} 转移到 {rotavap_vessel}")
-    try:
-        transfer_to_rotavap_actions = generate_pump_protocol(
-            G=G,
-            from_vessel=vessel,
-            to_vessel=rotavap_vessel,
-            volume=transfer_volume,
-            flowrate=2.0,
-            transfer_flowrate=2.0
-        )
-        action_sequence.extend(transfer_to_rotavap_actions)
-    except Exception as e:
-        raise ValueError(f"无法将溶液转移到旋转蒸发仪: {str(e)}")
-    
-    # 转移后等待
-    wait_action = {
+    # 1. 等待稳定
+    debug_print("  🔄 动作1: 添加初始等待稳定... ⏳")
+    action_sequence.append({
         "action_name": "wait",
         "action_kwargs": {"time": 10}
-    }
-    action_sequence.append(wait_action)
+    })
+    debug_print("  ✅ 初始等待动作已添加 ⏳✨")
+    
+    # 2. 执行蒸发
+    debug_print(f"  🌪️ 动作2: 执行蒸发操作...")
+    debug_print(f"    🔧 设备: {rotavap_device}")
+    debug_print(f"    🥽 容器: {target_vessel}")
+    debug_print(f"    💨 真空度: {pressure} bar")
+    debug_print(f"    🌡️ 温度: {temp}°C")
+    debug_print(f"    ⏰ 时间: {final_time}s ({final_time/60:.1f}分钟)")
+    debug_print(f"    🌪️ 旋转速度: {stir_speed} RPM")
     
-    # === 第二步：执行旋转蒸发 ===
-    print(f"EVAPORATE: 执行旋转蒸发操作")
     evaporate_action = {
-        "device_id": rotavap_id,
+        "device_id": rotavap_device,
         "action_name": "evaporate",
         "action_kwargs": {
-            "vessel": rotavap_vessel,
-            "pressure": pressure,
-            "temp": temp,
-            "time": time,
-            "stir_speed": stir_speed
+            "vessel": target_vessel,
+            "pressure": float(pressure),
+            "temp": float(temp),
+            "time": float(final_time),  # 🔧 强制转换为float类型
+            "stir_speed": float(stir_speed),
+            "solvent": str(solvent)
         }
     }
     action_sequence.append(evaporate_action)
+    debug_print("  ✅ 蒸发动作已添加 🌪️✨")
     
-    # 蒸发后等待系统稳定
-    wait_action = {
-        "action_name": "wait",
-        "action_kwargs": {"time": 30}
-    }
-    action_sequence.append(wait_action)
-    
-    # === 第三步：溶剂回收（如果有回收容器）===
-    if distillate_vessel:
-        print(f"EVAPORATE: 回收冷凝溶剂到 {distillate_vessel}")
-        try:
-            condenser_vessel = "rotavap_condenser"
-            if condenser_vessel in G.nodes():
-                # 估算回收体积（约为转移体积的70% - 大部分溶剂被蒸发回收）
-                recovery_volume = transfer_volume * 0.7
-                print(f"EVAPORATE: 预计回收 {recovery_volume} mL 溶剂")
-                
-                recovery_actions = generate_pump_protocol(
-                    G=G,
-                    from_vessel=condenser_vessel,
-                    to_vessel=distillate_vessel,
-                    volume=recovery_volume,
-                    flowrate=3.0,
-                    transfer_flowrate=3.0
-                )
-                action_sequence.extend(recovery_actions)
+    # 🔧 新增：蒸发过程中的体积变化
+    debug_print("  🔧 更新容器体积 - 蒸发过程...")
+    if evaporation_volume > 0:
+        new_volume = max(0.0, original_liquid_volume - evaporation_volume)
+        
+        # 更新vessel字典中的体积
+        if "data" in vessel and "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            elif isinstance(current_volume, (int, float)):
+                vessel["data"]["liquid_volume"] = new_volume
             else:
-                print("EVAPORATE: 未找到冷凝器容器，跳过溶剂回收")
-        except Exception as e:
-            print(f"EVAPORATE: 溶剂回收失败: {str(e)}")
-    
-    # === 第四步：将浓缩物转移回原容器 ===
-    print(f"EVAPORATE: 将浓缩物从旋转蒸发仪转移回 {vessel}")
-    try:
-        # 估算浓缩物体积（约为转移体积的20% - 大部分溶剂已蒸发）
-        concentrate_volume = transfer_volume * 0.2
-        print(f"EVAPORATE: 预计浓缩物体积 {concentrate_volume} mL")
+                vessel["data"]["liquid_volume"] = new_volume
         
-        transfer_back_actions = generate_pump_protocol(
-            G=G,
-            from_vessel=rotavap_vessel,
-            to_vessel=vessel,
-            volume=concentrate_volume,
-            flowrate=1.0,  # 浓缩物可能粘稠，用较慢流速
-            transfer_flowrate=1.0
-        )
-        action_sequence.extend(transfer_back_actions)
-    except Exception as e:
-        print(f"EVAPORATE: 将浓缩物转移回容器失败: {str(e)}")
-    
-    # === 第五步：清洗旋转蒸发仪 ===
-    print(f"EVAPORATE: 清洗旋转蒸发仪")
-    try:
-        # 查找清洗溶剂
-        cleaning_solvent = None
-        for solvent in ["flask_ethanol", "flask_acetone", "flask_water"]:
-            if solvent in G.nodes():
-                cleaning_solvent = solvent
-                break
-        
-        if cleaning_solvent and distillate_vessel:
-            # 用固定量溶剂清洗（不依赖检测体积）
-            cleaning_volume = 50.0  # 固定50mL清洗
-            print(f"EVAPORATE: 用 {cleaning_volume} mL {cleaning_solvent} 清洗")
+        # 🔧 同时更新图中的容器数据
+        if vessel_id in G.nodes():
+            if 'data' not in G.nodes[vessel_id]:
+                G.nodes[vessel_id]['data'] = {}
             
-            # 清洗溶剂加入
-            cleaning_actions = generate_pump_protocol(
-                G=G,
-                from_vessel=cleaning_solvent,
-                to_vessel=rotavap_vessel,
-                volume=cleaning_volume,
-                flowrate=2.0,
-                transfer_flowrate=2.0
-            )
-            action_sequence.extend(cleaning_actions)
+            vessel_node_data = G.nodes[vessel_id]['data']
+            current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
             
-            # 将清洗液转移到废液/回收容器
-            waste_actions = generate_pump_protocol(
-                G=G,
-                from_vessel=rotavap_vessel,
-                to_vessel=distillate_vessel,  # 使用回收容器作为废液
-                volume=cleaning_volume,
-                flowrate=2.0,
-                transfer_flowrate=2.0
-            )
-            action_sequence.extend(waste_actions)
+            if isinstance(current_node_volume, list):
+                if len(current_node_volume) > 0:
+                    G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+                else:
+                    G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
         
-    except Exception as e:
-        print(f"EVAPORATE: 清洗步骤失败: {str(e)}")
+        debug_print(f"  📊 蒸发体积变化: {original_liquid_volume:.2f}mL → {new_volume:.2f}mL (-{evaporation_volume:.2f}mL)")
     
-    print(f"EVAPORATE: 生成了 {len(action_sequence)} 个动作")
-    print(f"EVAPORATE: 蒸发协议生成完成")
-    print(f"EVAPORATE: 总处理体积: {transfer_volume} mL")
+    # 3. 蒸发后等待
+    debug_print("  🔄 动作3: 添加蒸发后等待... ⏳")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 10}
+    })
+    debug_print("  ✅ 蒸发后等待动作已添加 ⏳✨")
+    
+    # 🔧 新增：蒸发完成后的状态报告
+    final_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            final_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            final_liquid_volume = current_volume
+    
+    # === 总结 ===
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 蒸发协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
+    debug_print(f"🌪️ 旋转蒸发仪: {rotavap_device} 🔧")
+    debug_print(f"🥽 目标容器: {target_vessel} 🧪")
+    debug_print(f"⚙️ 蒸发参数: {pressure} bar 💨, {temp}°C 🌡️, {final_time}s ⏰, {stir_speed} RPM 🌪️")
+    debug_print(f"⏱️ 预计总时间: {(final_time + 20)/60:.1f} 分钟 ⌛")
+    debug_print(f"📊 体积变化:")
+    debug_print(f"  - 蒸发前: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 蒸发后: {final_liquid_volume:.2f}mL") 
+    debug_print(f"  - 蒸发量: {evaporation_volume:.2f}mL ({evaporation_volume/max(original_liquid_volume, 0.01)*100:.1f}%)")
+    debug_print("🎊" * 20)
     
     return action_sequence
-
-
-# 便捷函数：常用蒸发方案 - 都使用250mL标准瓶体积
-def generate_quick_evaporate_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float = 40.0,
-    time: float = 900.0  # 15分钟
-) -> List[Dict[str, Any]]:
-    """快速蒸发：低温、短时间、整瓶处理"""
-    return generate_evaporate_protocol(G, vessel, 0.2, temp, time, 80.0)
-
-
-def generate_gentle_evaporate_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float = 50.0,
-    time: float = 2700.0  # 45分钟
-) -> List[Dict[str, Any]]:
-    """温和蒸发：中等条件、较长时间、整瓶处理"""
-    return generate_evaporate_protocol(G, vessel, 0.1, temp, time, 60.0)
-
-
-def generate_high_vacuum_evaporate_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float = 35.0,
-    time: float = 3600.0  # 1小时
-) -> List[Dict[str, Any]]:
-    """高真空蒸发：低温、高真空、长时间、整瓶处理"""
-    return generate_evaporate_protocol(G, vessel, 0.01, temp, time, 120.0)
-
-
-def generate_standard_evaporate_protocol(
-    G: nx.DiGraph,
-    vessel: str
-) -> List[Dict[str, Any]]:
-    """标准蒸发：常用参数、整瓶250mL处理"""
-    return generate_evaporate_protocol(
-        G=G,
-        vessel=vessel, 
-        pressure=0.1,      # 标准真空度
-        temp=60.0,         # 适中温度
-        time=1800.0,       # 30分钟
-        stir_speed=100.0   # 适中旋转速度
-    )

unilabos/compile/filter_protocol.py

@@ -1,304 +1,366 @@
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Optional
 import networkx as nx
-from .pump_protocol import generate_pump_protocol
+import logging
+from .utils.vessel_parser import get_vessel
+from .pump_protocol import generate_pump_protocol_with_rinsing
 
+logger = logging.getLogger(__name__)
 
-def get_vessel_liquid_volume(G: nx.DiGraph, vessel: str) -> float:
-    """获取容器中的液体体积"""
-    if vessel not in G.nodes():
-        return 0.0
-    
-    vessel_data = G.nodes[vessel].get('data', {})
-    liquids = vessel_data.get('liquid', [])
-    
-    total_volume = 0.0
-    for liquid in liquids:
-        if isinstance(liquid, dict) and 'liquid_volume' in liquid:
-            total_volume += liquid['liquid_volume']
-    
-    return total_volume
-
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[FILTER] {message}")
 
 def find_filter_device(G: nx.DiGraph) -> str:
     """查找过滤器设备"""
-    filter_nodes = [node for node in G.nodes() 
-                   if (G.nodes[node].get('class') or '') == 'virtual_filter']
+    debug_print("🔍 查找过滤器设备... 🌊")
     
-    if filter_nodes:
-        return filter_nodes[0]
+    # 查找过滤器设备
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'filter' in node_class.lower() or 'filter' in node.lower():
+            debug_print(f"🎉 找到过滤器设备: {node} ✨")
+            return node
     
-    raise ValueError("系统中未找到过滤器设备")
+    # 如果没找到，寻找可能的过滤器名称
+    debug_print("🔎 在预定义名称中搜索过滤器... 📋")
+    possible_names = ["filter", "filter_1", "virtual_filter", "filtration_unit"]
+    for name in possible_names:
+        if name in G.nodes():
+            debug_print(f"🎉 找到过滤器设备: {name} ✨")
+            return name
+    
+    debug_print("😭 未找到过滤器设备 💔")
+    raise ValueError("未找到过滤器设备")
 
-
-def find_filter_vessel(G: nx.DiGraph) -> str:
-    """查找过滤器专用容器"""
-    possible_names = [
-        "filter_vessel",        # 标准过滤器容器
-        "filtration_vessel",    # 备选名称
-        "vessel_filter",        # 备选名称
-        "filter_unit",          # 备选名称
-        "filter"               # 简单名称
-    ]
+def validate_vessel(G: nx.DiGraph, vessel: str, vessel_type: str = "容器") -> None:
+    """验证容器是否存在"""
+    debug_print(f"🔍 验证{vessel_type}: '{vessel}' 🧪")
     
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            return vessel_name
+    if not vessel:
+        debug_print(f"❌ {vessel_type}不能为空! 😱")
+        raise ValueError(f"{vessel_type}不能为空")
     
-    raise ValueError(f"未找到过滤器容器。尝试了以下名称: {possible_names}")
-
-
-def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
-    """查找滤液收集容器"""
-    if filtrate_vessel and filtrate_vessel in G.nodes():
-        return filtrate_vessel
+    if vessel not in G.nodes():
+        debug_print(f"❌ {vessel_type} '{vessel}' 不存在于系统中! 😞")
+        raise ValueError(f"{vessel_type} '{vessel}' 不存在于系统中")
     
-    # 自动查找滤液容器
-    possible_names = [
-        "filtrate_vessel",
-        "collection_bottle_1",
-        "collection_bottle_2",
-        "waste_workup"
-    ]
-    
-    for vessel_name in possible_names:
-        if vessel_name in G.nodes():
-            return vessel_name
-    
-    raise ValueError(f"未找到滤液收集容器。尝试了以下名称: {possible_names}")
-
-
-def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """查找与指定容器相连的加热搅拌器"""
-    # 查找所有加热搅拌器节点
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
-    
-    # 检查哪个加热器与目标容器相连
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            return heatchill
-    
-    # 如果没有直接连接，返回第一个可用的加热器
-    if heatchill_nodes:
-        return heatchill_nodes[0]
-    
-    raise ValueError(f"未找到与容器 {vessel} 相连的加热搅拌器")
-
+    debug_print(f"✅ {vessel_type} '{vessel}' 验证通过 🎯")
 
 def generate_filter_protocol(
     G: nx.DiGraph,
-    vessel: str,
-    filtrate_vessel: str = "",
-    stir: bool = False,
-    stir_speed: float = 300.0,
-    temp: float = 25.0,
-    continue_heatchill: bool = False,
-    volume: float = 0.0
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    filtrate_vessel: dict = {"id": "waste"},
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成过滤操作的协议序列，复用 pump_protocol 的成熟算法
-    
-    过滤流程：
-    1. 液体转移：将待过滤溶液从源容器转移到过滤器
-    2. 启动加热搅拌：设置温度和搅拌
-    3. 执行过滤：通过过滤器分离固液
-    4. (可选) 继续或停止加热搅拌
+    生成过滤操作的协议序列 - 支持体积运算
     
     Args:
-        G: 有向图，节点为设备和容器，边为流体管道
-        vessel: 包含待过滤溶液的容器名称
-        filtrate_vessel: 滤液收集容器（可选，自动查找）
-        stir: 是否在过滤过程中搅拌
-        stir_speed: 搅拌速度 (RPM)
-        temp: 过滤温度 (°C)
-        continue_heatchill: 过滤后是否继续加热搅拌
-        volume: 预期过滤体积 (mL)，0表示全部过滤
+        G: 设备图
+        vessel: 过滤容器字典（必需）- 包含需要过滤的混合物
+        filtrate_vessel: 滤液容器名称（可选）- 如果提供则收集滤液
+        **kwargs: 其他参数（兼容性）
     
     Returns:
         List[Dict[str, Any]]: 过滤操作的动作序列
     """
+    
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    filtrate_vessel_id, filtrate_vessel_data = get_vessel(filtrate_vessel)
+    
+    debug_print("🌊" * 20)
+    debug_print("🚀 开始生成过滤协议（支持体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🧪 filtrate_vessel: {filtrate_vessel}")
+    debug_print(f"  ⚙️ 其他参数: {kwargs}")
+    debug_print("🌊" * 20)
+    
     action_sequence = []
     
-    print(f"FILTER: 开始生成过滤协议")
-    print(f"  - 源容器: {vessel}")
-    print(f"  - 滤液容器: {filtrate_vessel}")
-    print(f"  - 搅拌: {stir} ({stir_speed} RPM)" if stir else "  - 搅拌: 否")
-    print(f"  - 过滤温度: {temp}°C")
-    print(f"  - 预期过滤体积: {volume} mL" if volume > 0 else "  - 预期过滤体积: 全部")
-    print(f"  - 继续加热搅拌: {continue_heatchill}")
+    # 🔧 新增：记录过滤前的容器状态
+    debug_print("🔍 记录过滤前容器状态...")
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    debug_print(f"📊 过滤前液体体积: {original_liquid_volume:.2f}mL")
     
-    # 验证源容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"源容器 '{vessel}' 不存在于系统中")
+    # === 参数验证 ===
+    debug_print("📍 步骤1: 参数验证... 🔧")
     
-    # 获取源容器中的液体体积
-    source_volume = get_vessel_liquid_volume(G, vessel)
-    print(f"FILTER: 源容器 {vessel} 中有 {source_volume} mL 液体")
+    # 验证必需参数
+    debug_print("  🔍 验证必需参数...")
+    validate_vessel(G, vessel_id, "过滤容器")  # 🔧 使用 vessel_id
+    debug_print("  ✅ 必需参数验证完成 🎯")
     
-    # 查找过滤器设备
-    try:
-        filter_id = find_filter_device(G)
-        print(f"FILTER: 找到过滤器: {filter_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到过滤器: {str(e)}")
-    
-    # 查找过滤器容器
-    try:
-        filter_vessel_id = find_filter_vessel(G)
-        print(f"FILTER: 找到过滤器容器: {filter_vessel_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到过滤器容器: {str(e)}")
-    
-    # 查找滤液收集容器
-    try:
-        actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel)
-        print(f"FILTER: 找到滤液收集容器: {actual_filtrate_vessel}")
-    except ValueError as e:
-        raise ValueError(f"无法找到滤液收集容器: {str(e)}")
-    
-    # 查找加热搅拌器（如果需要温度控制或搅拌）
-    heatchill_id = None
-    if temp != 25.0 or stir or continue_heatchill:
-        try:
-            heatchill_id = find_connected_heatchill(G, filter_vessel_id)
-            print(f"FILTER: 找到加热搅拌器: {heatchill_id}")
-        except ValueError as e:
-            print(f"FILTER: 警告 - {str(e)}")
-    
-    # === 简化的体积计算策略 ===
-    if volume > 0:
-        transfer_volume = min(volume, source_volume if source_volume > 0 else volume)
-        print(f"FILTER: 指定过滤体积 {transfer_volume} mL")
-    elif source_volume > 0:
-        transfer_volume = source_volume * 0.9  # 90%
-        print(f"FILTER: 检测到液体体积，将过滤 {transfer_volume} mL")
+    # 验证可选参数
+    debug_print("  🔍 验证可选参数...")
+    if filtrate_vessel:
+        validate_vessel(G, filtrate_vessel_id, "滤液容器")
+        debug_print("  🌊 模式: 过滤并收集滤液 💧")
     else:
-        transfer_volume = 50.0  # 默认过滤量
-        print(f"FILTER: 未检测到液体体积，默认过滤 {transfer_volume} mL")
+        debug_print("  🧱 模式: 过滤并收集固体 🔬")
+    debug_print("  ✅ 可选参数验证完成 🎯")
     
-    # === 第一步：启动加热搅拌器（在转移前预热） ===
-    if heatchill_id and (temp != 25.0 or stir):
-        print(f"FILTER: 启动加热搅拌器，温度: {temp}°C，搅拌: {stir}")
-        
-        heatchill_action = {
-            "device_id": heatchill_id,
-            "action_name": "heat_chill_start",
-            "action_kwargs": {
-                "vessel": filter_vessel_id,
-                "temp": temp,
-                "purpose": f"过滤过程温度控制和搅拌"
-            }
-        }
-        action_sequence.append(heatchill_action)
-        
-        # 等待温度稳定
-        if temp != 25.0:
-            wait_time = min(30, abs(temp - 25.0) * 1.0)  # 根据温差估算预热时间
-            action_sequence.append({
-                "action_name": "wait",
-                "action_kwargs": {"time": wait_time}
-            })
+    # === 查找设备 ===
+    debug_print("📍 步骤2: 查找设备... 🔍")
     
-    # === 第二步：将待过滤溶液转移到过滤器 ===
-    print(f"FILTER: 将 {transfer_volume} mL 溶液从 {vessel} 转移到 {filter_vessel_id}")
     try:
-        # 使用成熟的 pump_protocol 算法进行液体转移
-        transfer_to_filter_actions = generate_pump_protocol(
-            G=G,
-            from_vessel=vessel,
-            to_vessel=filter_vessel_id,
-            volume=transfer_volume,
-            flowrate=1.0,  # 过滤转移用较慢速度，避免扰动
-            transfer_flowrate=1.5
-        )
-        action_sequence.extend(transfer_to_filter_actions)
+        debug_print("  🔎 搜索过滤器设备...")
+        filter_device = find_filter_device(G)
+        debug_print(f"  🎉 使用过滤器设备: {filter_device} 🌊✨")
+        
     except Exception as e:
-        raise ValueError(f"无法将溶液转移到过滤器: {str(e)}")
+        debug_print(f"  ❌ 设备查找失败: {str(e)} 😭")
+        raise ValueError(f"设备查找失败: {str(e)}")
     
-    # 转移后等待
-    action_sequence.append({
-        "action_name": "wait",
-        "action_kwargs": {"time": 5}
-    })
+    # 🔧 新增：过滤效率和体积分配估算
+    debug_print("📍 步骤2.5: 过滤体积分配估算... 📊")
     
-    # === 第三步：执行过滤操作（完全按照 Filter.action 参数） ===
-    print(f"FILTER: 执行过滤操作")
+    # 估算过滤分离比例（基于经验数据）
+    solid_ratio = 0.1  # 假设10%是固体（保留在过滤器上）
+    liquid_ratio = 0.9  # 假设90%是液体（通过过滤器）
+    volume_loss_ratio = 0.05  # 假设5%体积损失（残留在过滤器等）
+    
+    # 从kwargs中获取过滤参数进行优化
+    if "solid_content" in kwargs:
+        try:
+            solid_ratio = float(kwargs["solid_content"])
+            liquid_ratio = 1.0 - solid_ratio
+            debug_print(f"📋 使用指定的固体含量: {solid_ratio*100:.1f}%")
+        except:
+            debug_print("⚠️ 固体含量参数无效，使用默认值")
+    
+    if original_liquid_volume > 0:
+        expected_filtrate_volume = original_liquid_volume * liquid_ratio * (1.0 - volume_loss_ratio)
+        expected_solid_volume = original_liquid_volume * solid_ratio
+        volume_loss = original_liquid_volume * volume_loss_ratio
+        
+        debug_print(f"📊 过滤体积分配估算:")
+        debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
+        debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL ({liquid_ratio*100:.1f}%)")
+        debug_print(f"  - 预计固体体积: {expected_solid_volume:.2f}mL ({solid_ratio*100:.1f}%)")
+        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL ({volume_loss_ratio*100:.1f}%)")
+    
+    # === 转移到过滤器（如果需要）===
+    debug_print("📍 步骤3: 转移到过滤器... 🚚")
+    
+    if vessel_id != filter_device:  # 🔧 使用 vessel_id
+        debug_print(f"  🚛 需要转移: {vessel_id} → {filter_device} 📦")
+        
+        try:
+            debug_print("  🔄 开始执行转移操作...")
+            # 使用pump protocol转移液体到过滤器
+            transfer_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel={"id": vessel_id},  # 🔧 使用 vessel_id
+                to_vessel={"id": filter_device},
+                volume=0.0,  # 转移所有液体
+                amount="",
+                time=0.0,
+                viscous=False,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=2.0,
+                transfer_flowrate=2.0
+            )
+            
+            if transfer_actions:
+                action_sequence.extend(transfer_actions)
+                debug_print(f"  ✅ 添加了 {len(transfer_actions)} 个转移动作 🚚✨")
+                
+                # 🔧 新增：转移后更新容器体积
+                debug_print("  🔧 更新转移后的容器体积...")
+                
+                # 原容器体积变为0（所有液体已转移）
+                if "data" in vessel and "liquid_volume" in vessel["data"]:
+                    current_volume = vessel["data"]["liquid_volume"]
+                    if isinstance(current_volume, list):
+                        vessel["data"]["liquid_volume"] = [0.0] if len(current_volume) > 0 else [0.0]
+                    else:
+                        vessel["data"]["liquid_volume"] = 0.0
+                
+                # 同时更新图中的容器数据
+                if vessel_id in G.nodes():
+                    if 'data' not in G.nodes[vessel_id]:
+                        G.nodes[vessel_id]['data'] = {}
+                    G.nodes[vessel_id]['data']['liquid_volume'] = 0.0
+                
+                debug_print(f"  📊 转移完成，{vessel_id} 体积更新为 0.0mL")
+                
+            else:
+                debug_print("  ⚠️ 转移协议返回空序列 🤔")
+                
+        except Exception as e:
+            debug_print(f"  ❌ 转移失败: {str(e)} 😞")
+            debug_print("  🔄 继续执行，可能是直接连接的过滤器 🤞")
+    else:
+        debug_print("  ✅ 过滤容器就是过滤器，无需转移 🎯")
+    
+    # === 执行过滤操作 ===
+    debug_print("📍 步骤4: 执行过滤操作... 🌊")
+    
+    # 构建过滤动作参数
+    debug_print("  ⚙️ 构建过滤参数...")
+    filter_kwargs = {
+        "vessel": {"id": filter_device},  # 过滤器设备
+        "filtrate_vessel": {"id": filtrate_vessel_id},  # 滤液容器（可能为空）
+        "stir": kwargs.get("stir", False),
+        "stir_speed": kwargs.get("stir_speed", 0.0),
+        "temp": kwargs.get("temp", 25.0),
+        "continue_heatchill": kwargs.get("continue_heatchill", False),
+        "volume": kwargs.get("volume", 0.0)  # 0表示过滤所有
+    }
+    
+    debug_print(f"  📋 过滤参数: {filter_kwargs}")
+    debug_print("  🌊 开始过滤操作...")
+    
+    # 过滤动作
     filter_action = {
-        "device_id": filter_id,
+        "device_id": filter_device,
         "action_name": "filter",
-        "action_kwargs": {
-            "vessel": filter_vessel_id,
-            "filtrate_vessel": actual_filtrate_vessel,
-            "stir": stir,
-            "stir_speed": stir_speed,
-            "temp": temp,
-            "continue_heatchill": continue_heatchill,
-            "volume": transfer_volume
-        }
+        "action_kwargs": filter_kwargs
     }
     action_sequence.append(filter_action)
+    debug_print("  ✅ 过滤动作已添加 🌊✨")
     
     # 过滤后等待
+    debug_print("  ⏳ 添加过滤后等待...")
     action_sequence.append({
         "action_name": "wait",
-        "action_kwargs": {"time": 10}
+        "action_kwargs": {"time": 10.0}
     })
+    debug_print("  ✅ 过滤后等待动作已添加 ⏰✨")
     
-    # === 第四步：如果不继续加热搅拌，停止加热器 ===
-    if heatchill_id and not continue_heatchill and (temp != 25.0 or stir):
-        print(f"FILTER: 停止加热搅拌器")
+    # === 收集滤液（如果需要）===
+    debug_print("📍 步骤5: 收集滤液... 💧")
+    
+    if filtrate_vessel_id and filtrate_vessel_id not in G.neighbors(filter_device):
+        debug_print(f"  🧪 收集滤液: {filter_device} → {filtrate_vessel_id} 💧")
         
-        stop_action = {
-            "device_id": heatchill_id,
-            "action_name": "heat_chill_stop",
-            "action_kwargs": {
-                "vessel": filter_vessel_id
-            }
-        }
-        action_sequence.append(stop_action)
+        try:
+            debug_print("  🔄 开始执行收集操作...")
+            # 使用pump protocol收集滤液
+            collect_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=filter_device,
+                to_vessel=filtrate_vessel,
+                volume=0.0,  # 收集所有滤液
+                amount="",
+                time=0.0,
+                viscous=False,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=2.0,
+                transfer_flowrate=2.0
+            )
+            
+            if collect_actions:
+                action_sequence.extend(collect_actions)
+                debug_print(f"  ✅ 添加了 {len(collect_actions)} 个收集动作 🧪✨")
+                
+                # 🔧 新增：收集滤液后的体积更新
+                debug_print("  🔧 更新滤液容器体积...")
+                
+                # 更新filtrate_vessel在图中的体积（如果它是节点）
+                if filtrate_vessel_id in G.nodes():
+                    if 'data' not in G.nodes[filtrate_vessel_id]:
+                        G.nodes[filtrate_vessel_id]['data'] = {}
+                    
+                    current_filtrate_volume = G.nodes[filtrate_vessel_id]['data'].get('liquid_volume', 0.0)
+                    if isinstance(current_filtrate_volume, list):
+                        if len(current_filtrate_volume) > 0:
+                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'][0] += expected_filtrate_volume
+                        else:
+                            G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = [expected_filtrate_volume]
+                    else:
+                        G.nodes[filtrate_vessel_id]['data']['liquid_volume'] = current_filtrate_volume + expected_filtrate_volume
+                    
+                    debug_print(f"  📊 滤液容器 {filtrate_vessel_id} 体积增加 {expected_filtrate_volume:.2f}mL")
+                
+            else:
+                debug_print("  ⚠️ 收集协议返回空序列 🤔")
+                
+        except Exception as e:
+            debug_print(f"  ❌ 收集滤液失败: {str(e)} 😞")
+            debug_print("  🔄 继续执行，可能滤液直接流入指定容器 🤞")
+    else:
+        debug_print("  🧱 未指定滤液容器，固体保留在过滤器中 🔬")
     
-    print(f"FILTER: 生成了 {len(action_sequence)} 个动作")
-    print(f"FILTER: 过滤协议生成完成")
+    # 🔧 新增：过滤完成后的容器状态更新
+    debug_print("📍 步骤5.5: 过滤完成后状态更新... 📊")
+    
+    if vessel_id == filter_device:
+        # 如果过滤容器就是过滤器，需要更新其体积状态
+        if original_liquid_volume > 0:
+            if filtrate_vessel:
+                # 收集滤液模式：过滤器中主要保留固体
+                remaining_volume = expected_solid_volume
+                debug_print(f"  🧱 过滤器中保留固体: {remaining_volume:.2f}mL")
+            else:
+                # 保留固体模式：过滤器中保留所有物质
+                remaining_volume = original_liquid_volume * (1.0 - volume_loss_ratio)
+                debug_print(f"  🔬 过滤器中保留所有物质: {remaining_volume:.2f}mL")
+            
+            # 更新vessel字典中的体积
+            if "data" in vessel and "liquid_volume" in vessel["data"]:
+                current_volume = vessel["data"]["liquid_volume"]
+                if isinstance(current_volume, list):
+                    vessel["data"]["liquid_volume"] = [remaining_volume] if len(current_volume) > 0 else [remaining_volume]
+                else:
+                    vessel["data"]["liquid_volume"] = remaining_volume
+            
+            # 同时更新图中的容器数据
+            if vessel_id in G.nodes():
+                if 'data' not in G.nodes[vessel_id]:
+                    G.nodes[vessel_id]['data'] = {}
+                G.nodes[vessel_id]['data']['liquid_volume'] = remaining_volume
+            
+            debug_print(f"  📊 过滤器 {vessel_id} 体积更新为: {remaining_volume:.2f}mL")
+    
+    # === 最终等待 ===
+    debug_print("📍 步骤6: 最终等待... ⏰")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {"time": 5.0}
+    })
+    debug_print("  ✅ 最终等待动作已添加 ⏰✨")
+    
+    # 🔧 新增：过滤完成后的状态报告
+    final_vessel_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            final_vessel_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            final_vessel_volume = current_volume
+    
+    # === 总结 ===
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 过滤协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个 📝")
+    debug_print(f"🥽 过滤容器: {vessel_id} 🧪")
+    debug_print(f"🌊 过滤器设备: {filter_device} 🔧")
+    debug_print(f"💧 滤液容器: {filtrate_vessel_id or '无（保留固体）'} 🧱")
+    debug_print(f"⏱️ 预计总时间: {(len(action_sequence) * 5):.0f} 秒 ⌛")
+    if original_liquid_volume > 0:
+        debug_print(f"📊 体积变化统计:")
+        debug_print(f"  - 过滤前体积: {original_liquid_volume:.2f}mL")
+        debug_print(f"  - 过滤后容器体积: {final_vessel_volume:.2f}mL")
+        if filtrate_vessel:
+            debug_print(f"  - 预计滤液体积: {expected_filtrate_volume:.2f}mL")
+        debug_print(f"  - 预计损失体积: {volume_loss:.2f}mL")
+    debug_print("🎊" * 20)
     
     return action_sequence
-
-
-# 便捷函数：常用过滤方案
-def generate_gravity_filter_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    filtrate_vessel: str = ""
-) -> List[Dict[str, Any]]:
-    """重力过滤：室温，无搅拌"""
-    return generate_filter_protocol(G, vessel, filtrate_vessel, False, 0.0, 25.0, False, 0.0)
-
-
-def generate_hot_filter_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    filtrate_vessel: str = "",
-    temp: float = 60.0
-) -> List[Dict[str, Any]]:
-    """热过滤：高温过滤，防止结晶析出"""
-    return generate_filter_protocol(G, vessel, filtrate_vessel, False, 0.0, temp, False, 0.0)
-
-
-def generate_stirred_filter_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    filtrate_vessel: str = "",
-    stir_speed: float = 200.0
-) -> List[Dict[str, Any]]:
-    """搅拌过滤：低速搅拌，防止滤饼堵塞"""
-    return generate_filter_protocol(G, vessel, filtrate_vessel, True, stir_speed, 25.0, False, 0.0)
-
-
-def generate_hot_stirred_filter_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    filtrate_vessel: str = "",
-    temp: float = 60.0,
-    stir_speed: float = 300.0
-) -> List[Dict[str, Any]]:
-    """热搅拌过滤：高温搅拌过滤"""
-    return generate_filter_protocol(G, vessel, filtrate_vessel, True, stir_speed, temp, False, 0.0)

unilabos/compile/heatchill_protocol.py

@@ -1,373 +1,327 @@
-from typing import List, Dict, Any, Optional
+from typing import List, Dict, Any, Union
 import networkx as nx
+import logging
+import re
+from .utils.vessel_parser import get_vessel
+from .utils.unit_parser import parse_time_input
 
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[HEATCHILL] {message}")
+
+
+def parse_temp_input(temp_input: Union[str, float], default_temp: float = 25.0) -> float:
+    """
+    解析温度输入（统一函数）
+    
+    Args:
+        temp_input: 温度输入
+        default_temp: 默认温度
+        
+    Returns:
+        float: 温度（°C）
+    """
+    if not temp_input:
+        return default_temp
+    
+    # 🔢 数值输入
+    if isinstance(temp_input, (int, float)):
+        result = float(temp_input)
+        debug_print(f"🌡️ 数值温度: {temp_input} → {result}°C")
+        return result
+    
+    # 📝 字符串输入
+    temp_str = str(temp_input).lower().strip()
+    debug_print(f"🔍 解析温度: '{temp_str}'")
+    
+    # 🎯 特殊温度
+    special_temps = {
+        "room temperature": 25.0, "reflux": 78.0, "ice bath": 0.0,
+        "boiling": 100.0, "hot": 60.0, "warm": 40.0, "cold": 10.0
+    }
+    
+    if temp_str in special_temps:
+        result = special_temps[temp_str]
+        debug_print(f"🎯 特殊温度: '{temp_str}' → {result}°C")
+        return result
+    
+    # 📐 正则解析（如 "256 °C"）
+    temp_pattern = r'(\d+(?:\.\d+)?)\s*°?[cf]?'
+    match = re.search(temp_pattern, temp_str)
+    
+    if match:
+        result = float(match.group(1))
+        debug_print(f"✅ 温度解析: '{temp_str}' → {result}°C")
+        return result
+    
+    debug_print(f"⚠️ 无法解析温度: '{temp_str}'，使用默认值: {default_temp}°C")
+    return default_temp
 
 def find_connected_heatchill(G: nx.DiGraph, vessel: str) -> str:
-    """
-    查找与指定容器相连的加热/冷却设备
-    """
-    # 查找所有加热/冷却设备节点
-    heatchill_nodes = [node for node in G.nodes() 
-                      if (G.nodes[node].get('class') or '') == 'virtual_heatchill']
+    """查找与指定容器相连的加热/冷却设备"""
+    debug_print(f"🔍 查找加热设备，目标容器: {vessel}")
     
-    # 检查哪个加热/冷却设备与目标容器相连（机械连接）
-    for heatchill in heatchill_nodes:
-        if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
-            return heatchill
+    # 🔧 查找所有加热设备
+    heatchill_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'heatchill' in node_class.lower() or 'virtual_heatchill' in node_class:
+            heatchill_nodes.append(node)
+            debug_print(f"🎉 找到加热设备: {node}")
     
-    # 如果没有直接连接，返回第一个可用的加热/冷却设备
+    # 🔗 检查连接
+    if vessel and heatchill_nodes:
+        for heatchill in heatchill_nodes:
+            if G.has_edge(heatchill, vessel) or G.has_edge(vessel, heatchill):
+                debug_print(f"✅ 加热设备 '{heatchill}' 与容器 '{vessel}' 相连")
+                return heatchill
+    
+    # 🎯 使用第一个可用设备
     if heatchill_nodes:
-        return heatchill_nodes[0]
+        selected = heatchill_nodes[0]
+        debug_print(f"🔧 使用第一个加热设备: {selected}")
+        return selected
     
-    raise ValueError("系统中未找到可用的加热/冷却设备")
+    # 🆘 默认设备
+    debug_print("⚠️ 未找到加热设备，使用默认设备")
+    return "heatchill_1"
 
+def validate_and_fix_params(temp: float, time: float, stir_speed: float) -> tuple:
+    """验证和修正参数"""
+    # 🌡️ 温度范围验证
+    if temp < -50.0 or temp > 300.0:
+        debug_print(f"⚠️ 温度 {temp}°C 超出范围，修正为 25°C")
+        temp = 25.0
+    else:
+        debug_print(f"✅ 温度 {temp}°C 在正常范围内")
+    
+    # ⏰ 时间验证
+    if time < 0:
+        debug_print(f"⚠️ 时间 {time}s 无效，修正为 300s")
+        time = 300.0
+    else:
+        debug_print(f"✅ 时间 {time}s ({time/60:.1f}分钟) 有效")
+    
+    # 🌪️ 搅拌速度验证
+    if stir_speed < 0 or stir_speed > 1500.0:
+        debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM")
+        stir_speed = 300.0
+    else:
+        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内")
+    
+    return temp, time, stir_speed
 
 def generate_heat_chill_protocol(
     G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    time: float,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    temp: float = 25.0,
+    time: Union[str, float] = "300",
+    temp_spec: str = "",
+    time_spec: str = "",
+    pressure: str = "",
+    reflux_solvent: str = "",
     stir: bool = False,
     stir_speed: float = 300.0,
-    purpose: str = "加热/冷却操作"
+    purpose: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成加热/冷却操作的协议序列 - 带时间限制的完整操作
+    生成加热/冷却操作的协议序列 - 支持vessel字典
+    
+    Args:
+        G: 设备图
+        vessel: 容器字典（从XDL传入）
+        temp: 目标温度 (°C)
+        time: 加热时间（支持字符串如 "30 min"）
+        temp_spec: 温度规格说明（优先级高于temp）
+        time_spec: 时间规格说明（优先级高于time）
+        pressure: 压力设置
+        reflux_solvent: 回流溶剂
+        stir: 是否搅拌
+        stir_speed: 搅拌速度 (RPM)
+        purpose: 操作目的说明
+        **kwargs: 其他参数（兼容性）
+    
+    Returns:
+        List[Dict[str, Any]]: 加热/冷却操作的动作序列
     """
-    action_sequence = []
     
-    print(f"HEATCHILL: 开始生成加热/冷却协议")
-    print(f"  - 容器: {vessel}")
-    print(f"  - 目标温度: {temp}°C")
-    print(f"  - 持续时间: {time}秒")
-    print(f"  - 使用内置搅拌: {stir}, 速度: {stir_speed} RPM")
-    print(f"  - 目的: {purpose}")
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
     
-    # 1. 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    debug_print("🌡️" * 20)
+    debug_print("🚀 开始生成加热冷却协议（支持vessel字典）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🌡️ temp: {temp}°C")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🎯 temp_spec: {temp_spec}")
+    debug_print(f"  ⏱️ time_spec: {time_spec}")
+    debug_print(f"  🌪️ stir: {stir} ({stir_speed} RPM)")
+    debug_print(f"  🎭 purpose: '{purpose}'")
+    debug_print("🌡️" * 20)
     
-    # 2. 查找加热/冷却设备
+    # 📋 参数验证
+    debug_print("📍 步骤1: 参数验证... 🔧")
+    if not vessel_id:  # 🔧 使用 vessel_id
+        debug_print("❌ vessel 参数不能为空! 😱")
+        raise ValueError("vessel 参数不能为空")
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
+        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
+    
+    debug_print("✅ 基础参数验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤2: 参数解析... ⚡")
+    
+    #温度解析：优先使用 temp_spec
+    final_temp = parse_temp_input(temp_spec, temp) if temp_spec else temp
+    
+    # 时间解析：优先使用 time_spec
+    final_time = parse_time_input(time_spec) if time_spec else parse_time_input(time)
+    
+    # 参数修正
+    final_temp, final_time, stir_speed = validate_and_fix_params(final_temp, final_time, stir_speed)
+    
+    debug_print(f"🎯 最终参数: temp={final_temp}°C, time={final_time}s, stir_speed={stir_speed} RPM")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤3: 查找加热设备... 🔍")
     try:
-        heatchill_id = find_connected_heatchill(G, vessel)
-        print(f"HEATCHILL: 找到加热/冷却设备: {heatchill_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+        heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"🎉 使用加热设备: {heatchill_id} ✨")
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
+        raise ValueError(f"无法找到加热设备: {str(e)}")
     
-    # 3. 执行加热/冷却操作
+    # 🚀 生成动作
+    debug_print("📍 步骤4: 生成加热动作... 🔥")
+    
+    # 🕐 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
+    original_time = final_time
+    simulation_time_limit = 100.0  # 模拟运行时间限制：100秒
+    
+    if final_time > simulation_time_limit:
+        final_time = simulation_time_limit
+        debug_print(f"  🎮 模拟运行优化: {original_time}s → {final_time}s (限制为{simulation_time_limit}s) ⚡")
+        debug_print(f"  📊 时间缩短: {original_time/60:.1f}分钟 → {final_time/60:.1f}分钟 🚀")
+    else:
+        debug_print(f"  ✅ 时间在限制内: {final_time}s ({final_time/60:.1f}分钟) 保持不变 🎯")
+    
+    action_sequence = []
     heatchill_action = {
         "device_id": heatchill_id,
         "action_name": "heat_chill",
         "action_kwargs": {
             "vessel": vessel,
-            "temp": temp,
-            "time": time,
-            "stir": stir,
-            "stir_speed": stir_speed,
-            "status": "start"
+            "temp": float(final_temp),
+            "time": float(final_time),
+            "stir": bool(stir),
+            "stir_speed": float(stir_speed),
+            "purpose": str(purpose or f"加热到 {final_temp}°C") + (f" (模拟时间: {final_time}s)" if original_time != final_time else "")
         }
     }
-    
     action_sequence.append(heatchill_action)
+    debug_print("✅ 加热动作已添加 🔥✨")
+    
+    # 显示时间调整信息
+    if original_time != final_time:
+        debug_print(f"  🎭 模拟优化说明: 原计划 {original_time/60:.1f}分钟，实际模拟 {final_time/60:.1f}分钟 ⚡")
+    
+    # 🎊 总结
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 加热冷却协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 加热容器: {vessel_id}")
+    debug_print(f"🌡️ 目标温度: {final_temp}°C")
+    debug_print(f"⏰ 加热时间: {final_time}s ({final_time/60:.1f}分钟)")
+    debug_print("🎊" * 20)
     
-    print(f"HEATCHILL: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
-
-def generate_heat_chill_start_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    purpose: str = "开始加热/冷却"
-) -> List[Dict[str, Any]]:
-    """
-    生成开始加热/冷却操作的协议序列
-    """
-    action_sequence = []
-    
-    print(f"HEATCHILL_START: 开始生成加热/冷却启动协议")
-    print(f"  - 容器: {vessel}")
-    print(f"  - 目标温度: {temp}°C")
-    print(f"  - 目的: {purpose}")
-    
-    # 1. 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
-    
-    # 2. 查找加热/冷却设备
-    try:
-        heatchill_id = find_connected_heatchill(G, vessel)
-        print(f"HEATCHILL_START: 找到加热/冷却设备: {heatchill_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
-    
-    # 3. 执行开始加热/冷却操作
-    heatchill_start_action = {
-        "device_id": heatchill_id,
-        "action_name": "heat_chill_start",
-        "action_kwargs": {
-            "vessel": vessel,
-            "temp": temp,
-            "purpose": purpose
-        }
-    }
-    
-    action_sequence.append(heatchill_start_action)
-    
-    print(f"HEATCHILL_START: 生成了 {len(action_sequence)} 个动作")
-    return action_sequence
-
-
-def generate_heat_chill_stop_protocol(
-    G: nx.DiGraph,
-    vessel: str
-) -> List[Dict[str, Any]]:
-    """
-    生成停止加热/冷却操作的协议序列
-    """
-    action_sequence = []
-    
-    print(f"HEATCHILL_STOP: 开始生成加热/冷却停止协议")
-    print(f"  - 容器: {vessel}")
-    
-    # 1. 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
-    
-    # 2. 查找加热/冷却设备
-    try:
-        heatchill_id = find_connected_heatchill(G, vessel)
-        print(f"HEATCHILL_STOP: 找到加热/冷却设备: {heatchill_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
-    
-    # 3. 执行停止加热/冷却操作
-    heatchill_stop_action = {
-        "device_id": heatchill_id,
-        "action_name": "heat_chill_stop",
-        "action_kwargs": {
-            "vessel": vessel
-        }
-    }
-    
-    action_sequence.append(heatchill_stop_action)
-    
-    print(f"HEATCHILL_STOP: 生成了 {len(action_sequence)} 个动作")
-    return action_sequence
-
-
 def generate_heat_chill_to_temp_protocol(
     G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    active: bool = True,
-    continue_heatchill: bool = False,
-    stir: bool = False,
-    stir_speed: Optional[float] = None,
-    purpose: Optional[str] = None
+    vessel: dict,  # 🔧 修改参数类型
+    temp: float = 25.0,
+    time: Union[str, float] = 100.0,
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成加热/冷却到指定温度的协议序列 - 智能温控协议
+    """生成加热到指定温度的协议（简化版）"""
+    vessel_id, _ = get_vessel(vessel)
+    debug_print(f"🌡️ 生成加热到温度协议: {vessel_id} → {temp}°C")
+    return generate_heat_chill_protocol(G, vessel, temp, time, **kwargs)
+
+def generate_heat_chill_start_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改参数类型
+    temp: float = 25.0,
+    purpose: str = "",
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """生成开始加热操作的协议序列"""
     
-    **关键修复**: 学习 pump_protocol 的模式，直接使用设备基础动作，不依赖特定的 Action 文件
-    """
-    action_sequence = []
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, _ = get_vessel(vessel)
     
-    # 设置默认值
-    if stir_speed is None:
-        stir_speed = 300.0
-    if purpose is None:
-        purpose = f"智能温控到 {temp}°C"
+    debug_print("🔥 开始生成启动加热协议 ✨")
+    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id}), 🌡️ temp: {temp}°C")
     
-    print(f"HEATCHILL_TO_TEMP: 开始生成智能温控协议")
-    print(f"  - 容器: {vessel}")
-    print(f"  - 目标温度: {temp}°C")
-    print(f"  - 主动控温: {active}")
-    print(f"  - 达到温度后继续: {continue_heatchill}")
-    print(f"  - 搅拌: {stir}, 速度: {stir_speed} RPM")
-    print(f"  - 目的: {purpose}")
+    # 基础验证
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败!")
+        raise ValueError("vessel 参数无效")
     
-    # 1. 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    # 查找设备
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
     
-    # 2. 查找加热/冷却设备
-    try:
-        heatchill_id = find_connected_heatchill(G, vessel)
-        print(f"HEATCHILL_TO_TEMP: 找到加热/冷却设备: {heatchill_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到加热/冷却设备: {str(e)}")
+    # 生成动作
+    action_sequence = [{
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_start",
+        "action_kwargs": {
+            "temp": temp,
+            "purpose": purpose or f"开始加热到 {temp}°C"
+        }
+    }]
     
-    # 3. 根据参数选择合适的基础动作组合 (学习 pump_protocol 的模式)
-    if not active:
-        print(f"HEATCHILL_TO_TEMP: 非主动模式，仅等待")
-        action_sequence.append({
-            "action_name": "wait",
-            "action_kwargs": {
-                "time": 10.0,
-                "purpose": f"等待容器 {vessel} 自然达到 {temp}°C"
-            }
-        })
-    else:
-        if continue_heatchill:
-            # 持续模式：使用 heat_chill_start 基础动作
-            print(f"HEATCHILL_TO_TEMP: 使用持续温控模式")
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_start",  # ← 直接使用设备基础动作
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "temp": temp,
-                    "purpose": f"{purpose} (持续保温)"
-                }
-            })
-        else:
-            # 一次性模式：使用 heat_chill 基础动作
-            print(f"HEATCHILL_TO_TEMP: 使用一次性温控模式")
-            estimated_time = max(60.0, min(900.0, abs(temp - 25.0) * 30.0))
-            print(f"HEATCHILL_TO_TEMP: 估算所需时间: {estimated_time}秒")
-            
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill",  # ← 直接使用设备基础动作
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "temp": temp,
-                    "time": estimated_time,
-                    "stir": stir,
-                    "stir_speed": stir_speed,
-                    "status": "start"
-                }
-            })
-    
-    print(f"HEATCHILL_TO_TEMP: 生成了 {len(action_sequence)} 个动作")
+    debug_print(f"✅ 启动加热协议生成完成 🎯")
     return action_sequence
 
-
-# 扩展版本的加热/冷却协议，集成智能温控功能
-def generate_smart_heat_chill_protocol(
+def generate_heat_chill_stop_protocol(
     G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    time: float = 0.0,  # 0表示自动估算
-    active: bool = True,
-    continue_heatchill: bool = False,
-    stir: bool = False,
-    stir_speed: float = 300.0,
-    purpose: str = "智能加热/冷却"
+    vessel: dict,  # 🔧 修改参数类型
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    这个函数集成了 generate_heat_chill_to_temp_protocol 的智能逻辑，
-    但使用现有的 Action 类型
-    """
-    # 如果时间为0，自动估算
-    if time == 0.0:
-        estimated_time = max(60.0, min(900.0, abs(temp - 25.0) * 30.0))
-        time = estimated_time
+    """生成停止加热操作的协议序列"""
     
-    if continue_heatchill:
-        # 使用持续模式
-        return generate_heat_chill_start_protocol(G, vessel, temp, purpose)
-    else:
-        # 使用定时模式
-        return generate_heat_chill_protocol(G, vessel, temp, time, stir, stir_speed, purpose)
-
-
-# 便捷函数
-def generate_heating_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    time: float = 300.0,
-    stir: bool = True,
-    stir_speed: float = 300.0
-) -> List[Dict[str, Any]]:
-    """生成加热协议的便捷函数"""
-    return generate_heat_chill_protocol(
-        G=G, vessel=vessel, temp=temp, time=time, 
-        stir=stir, stir_speed=stir_speed, purpose=f"加热到 {temp}°C"
-    )
-
-
-def generate_cooling_protocol(
-    G: nx.DiGraph,
-    vessel: str,
-    temp: float,
-    time: float = 600.0,
-    stir: bool = True,
-    stir_speed: float = 200.0
-) -> List[Dict[str, Any]]:
-    """生成冷却协议的便捷函数"""
-    return generate_heat_chill_protocol(
-        G=G, vessel=vessel, temp=temp, time=time,
-        stir=stir, stir_speed=stir_speed, purpose=f"冷却到 {temp}°C"
-    )
-
-
-# # 温度预设快捷函数
-# def generate_room_temp_protocol(
-#     G: nx.DiGraph,
-#     vessel: str,
-#     stir: bool = False
-# ) -> List[Dict[str, Any]]:
-#     """返回室温的快捷函数"""
-#     return generate_heat_chill_to_temp_protocol(
-#         G=G,
-#         vessel=vessel,
-#         temp=25.0,
-#         active=True,
-#         continue_heatchill=False,
-#         stir=stir,
-#         purpose="冷却到室温"
-#     )
-
-
-# def generate_reflux_heating_protocol(
-#     G: nx.DiGraph,
-#     vessel: str,
-#     temp: float,
-#     time: float = 3600.0  # 1小时回流
-# ) -> List[Dict[str, Any]]:
-#     """回流加热的快捷函数"""
-#     return generate_heat_chill_protocol(
-#         G=G,
-#         vessel=vessel,
-#         temp=temp,
-#         time=time,
-#         stir=True,
-#         stir_speed=400.0,  # 回流时较快搅拌
-#         purpose=f"回流加热到 {temp}°C"
-#     )
-
-
-# def generate_ice_bath_protocol(
-#     G: nx.DiGraph,
-#     vessel: str,
-#     time: float = 600.0  # 10分钟冰浴
-# ) -> List[Dict[str, Any]]:
-#     """冰浴冷却的快捷函数"""
-#     return generate_heat_chill_protocol(
-#         G=G,
-#         vessel=vessel,
-#         temp=0.0,
-#         time=time,
-#         stir=True,
-#         stir_speed=150.0,  # 冰浴时缓慢搅拌
-#         purpose="冰浴冷却到 0°C"
-#     )
-
-
-# 测试函数
-def test_heatchill_protocol():
-    """测试加热/冷却协议的示例"""
-    print("=== HEAT CHILL PROTOCOL 测试 ===")
-    print("完整的四个协议函数：")
-    print("1. generate_heat_chill_protocol - 带时间限制的完整操作")
-    print("2. generate_heat_chill_start_protocol - 持续加热/冷却")
-    print("3. generate_heat_chill_stop_protocol - 停止加热/冷却")
-    print("4. generate_heat_chill_to_temp_protocol - 智能温控 (您的 HeatChillToTemp)")
-    print("测试完成")
-
-
-if __name__ == "__main__":
-    test_heatchill_protocol()
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, _ = get_vessel(vessel)
+    
+    debug_print("🛑 开始生成停止加热协议 ✨")
+    debug_print(f"🥽 vessel: {vessel} (ID: {vessel_id})")
+    
+    # 基础验证
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败!")
+        raise ValueError("vessel 参数无效")
+    
+    # 查找设备
+    heatchill_id = find_connected_heatchill(G, vessel_id)  # 🔧 使用 vessel_id
+    
+    # 生成动作
+    action_sequence = [{
+        "device_id": heatchill_id,
+        "action_name": "heat_chill_stop",
+        "action_kwargs": {
+        }
+    }]
+    
+    debug_print(f"✅ 停止加热协议生成完成 🎯")
+    return action_sequence

unilabos/compile/hydrogenate_protocol.py

@@ -0,0 +1,458 @@
+import networkx as nx
+from typing import List, Dict, Any, Optional
+from .utils.vessel_parser import get_vessel
+
+
+def parse_temperature(temp_str: str) -> float:
+    """
+    解析温度字符串，支持多种格式
+    
+    Args:
+        temp_str: 温度字符串（如 "45 °C", "45°C", "45"）
+    
+    Returns:
+        float: 温度值（摄氏度）
+    """
+    try:
+        # 移除常见的温度单位和符号
+        temp_clean = temp_str.replace("°C", "").replace("°", "").replace("C", "").strip()
+        return float(temp_clean)
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析温度 '{temp_str}'，使用默认温度 25°C")
+        return 25.0
+
+
+def parse_time(time_str: str) -> float:
+    """
+    解析时间字符串，支持多种格式
+    
+    Args:
+        time_str: 时间字符串（如 "2 h", "120 min", "7200 s"）
+    
+    Returns:
+        float: 时间值（秒）
+    """
+    try:
+        time_clean = time_str.lower().strip()
+        
+        # 处理小时
+        if "h" in time_clean:
+            hours = float(time_clean.replace("h", "").strip())
+            return hours * 3600.0
+        
+        # 处理分钟
+        if "min" in time_clean:
+            minutes = float(time_clean.replace("min", "").strip())
+            return minutes * 60.0
+        
+        # 处理秒
+        if "s" in time_clean:
+            seconds = float(time_clean.replace("s", "").strip())
+            return seconds
+        
+        # 默认按小时处理
+        return float(time_clean) * 3600.0
+    
+    except ValueError:
+        print(f"HYDROGENATE: 无法解析时间 '{time_str}'，使用默认时间 2小时")
+        return 7200.0  # 2小时
+
+
+def find_associated_solenoid_valve(G: nx.DiGraph, device_id: str) -> Optional[str]:
+    """查找与指定设备相关联的电磁阀"""
+    solenoid_valves = [
+        node for node in G.nodes() 
+        if ('solenoid' in (G.nodes[node].get('class') or '').lower()
+            or 'solenoid_valve' in node)
+    ]
+    
+    # 通过网络连接查找直接相连的电磁阀
+    for solenoid in solenoid_valves:
+        if G.has_edge(device_id, solenoid) or G.has_edge(solenoid, device_id):
+            return solenoid
+    
+    # 通过命名规则查找关联的电磁阀
+    device_type = ""
+    if 'gas' in device_id.lower():
+        device_type = "gas"
+    elif 'h2' in device_id.lower() or 'hydrogen' in device_id.lower():
+        device_type = "gas"
+    
+    if device_type:
+        for solenoid in solenoid_valves:
+            if device_type in solenoid.lower():
+                return solenoid
+    
+    return None
+
+
+def find_connected_device(G: nx.DiGraph, vessel: str, device_type: str) -> str:
+    """
+    查找与容器相连的指定类型设备
+    
+    Args:
+        G: 网络图
+        vessel: 容器名称
+        device_type: 设备类型 ('heater', 'stirrer', 'gas_source')
+    
+    Returns:
+        str: 设备ID，如果没有则返回None
+    """
+    print(f"HYDROGENATE: 正在查找与容器 '{vessel}' 相连的 {device_type}...")
+    
+    # 根据设备类型定义搜索关键词
+    if device_type == 'heater':
+        keywords = ['heater', 'heat', 'heatchill']
+        device_class = 'virtual_heatchill'
+    elif device_type == 'stirrer':
+        keywords = ['stirrer', 'stir']
+        device_class = 'virtual_stirrer'
+    elif device_type == 'gas_source':
+        keywords = ['gas', 'h2', 'hydrogen']
+        device_class = 'virtual_gas_source'
+    else:
+        return None
+    
+    # 查找设备节点
+    device_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_name = node.lower()
+        node_class = node_data.get('class', '').lower()
+        
+        # 通过名称匹配
+        if any(keyword in node_name for keyword in keywords):
+            device_nodes.append(node)
+        # 通过类型匹配
+        elif device_class in node_class:
+            device_nodes.append(node)
+    
+    print(f"HYDROGENATE: 找到的{device_type}节点: {device_nodes}")
+    
+    # 检查是否有设备与目标容器相连
+    for device in device_nodes:
+        if G.has_edge(device, vessel) or G.has_edge(vessel, device):
+            print(f"HYDROGENATE: 找到与容器 '{vessel}' 相连的{device_type}: {device}")
+            return device
+    
+    # 如果没有直接连接，查找距离最近的设备
+    for device in device_nodes:
+        try:
+            path = nx.shortest_path(G, source=device, target=vessel)
+            if len(path) <= 3:  # 最多2个中间节点
+                print(f"HYDROGENATE: 找到距离较近的{device_type}: {device}")
+                return device
+        except nx.NetworkXNoPath:
+            continue
+    
+    print(f"HYDROGENATE: 未找到与容器 '{vessel}' 相连的{device_type}")
+    return None
+
+
+def generate_hydrogenate_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    temp: str,
+    time: str,
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成氢化反应协议序列 - 支持vessel字典
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        vessel: 反应容器字典（从XDL传入）
+        temp: 反应温度（如 "45 °C"）
+        time: 反应时间（如 "2 h"）
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    action_sequence = []
+    
+    # 解析参数
+    temperature = parse_temperature(temp)
+    reaction_time = parse_time(time)
+    
+    print("🧪" * 20)
+    print(f"HYDROGENATE: 开始生成氢化反应协议（支持vessel字典）✨")
+    print(f"📝 输入参数:")
+    print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    print(f"  🌡️ 反应温度: {temperature}°C")
+    print(f"  ⏰ 反应时间: {reaction_time/3600:.1f} 小时")
+    print("🧪" * 20)
+    
+    # 🔧 新增：记录氢化前的容器状态（可选，氢化反应通常不改变体积）
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    print(f"📊 氢化前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # 1. 验证目标容器存在
+    print("📍 步骤1: 验证目标容器...")
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        print(f"⚠️ HYDROGENATE: 警告 - 容器 '{vessel_id}' 不存在于系统中，跳过氢化反应")
+        return action_sequence
+    print(f"✅ 容器 '{vessel_id}' 验证通过")
+    
+    # 2. 查找相连的设备
+    print("📍 步骤2: 查找相连设备...")
+    heater_id = find_connected_device(G, vessel_id, 'heater')  # 🔧 使用 vessel_id
+    stirrer_id = find_connected_device(G, vessel_id, 'stirrer')  # 🔧 使用 vessel_id
+    gas_source_id = find_connected_device(G, vessel_id, 'gas_source')  # 🔧 使用 vessel_id
+    
+    print(f"🔧 设备配置:")
+    print(f"  🔥 加热器: {heater_id or '未找到'}")
+    print(f"  🌪️ 搅拌器: {stirrer_id or '未找到'}")
+    print(f"  💨 气源: {gas_source_id or '未找到'}")
+    
+    # 3. 启动搅拌器
+    print("📍 步骤3: 启动搅拌器...")
+    if stirrer_id:
+        print(f"🌪️ 启动搅拌器 {stirrer_id}")
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "start_stir",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "stir_speed": 300.0,
+                "purpose": "氢化反应: 开始搅拌"
+            }
+        })
+        print("✅ 搅拌器启动动作已添加")
+    else:
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到搅拌器，继续执行")
+    
+    # 4. 启动气源（氢气）
+    print("📍 步骤4: 启动氢气源...")
+    if gas_source_id:
+        print(f"💨 启动气源 {gas_source_id} (氢气)")
+        action_sequence.append({
+            "device_id": gas_source_id,
+            "action_name": "set_status",
+            "action_kwargs": {
+                "string": "ON"
+            }
+        })
+        
+        # 查找相关的电磁阀
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
+        if gas_solenoid:
+            print(f"🚪 开启气源电磁阀 {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {
+                    "command": "OPEN"
+                }
+            })
+        print("✅ 氢气源启动动作已添加")
+    else:
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到气源，继续执行")
+    
+    # 5. 等待气体稳定
+    print("📍 步骤5: 等待气体环境稳定...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 30.0,
+            "description": "等待氢气环境稳定"
+        }
+    })
+    print("✅ 气体稳定等待动作已添加")
+    
+    # 6. 启动加热器
+    print("📍 步骤6: 启动加热反应...")
+    if heater_id:
+        print(f"🔥 启动加热器 {heater_id} 到 {temperature}°C")
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill_start",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "temp": temperature,
+                "purpose": f"氢化反应: 加热到 {temperature}°C"
+            }
+        })
+        
+        # 等待温度稳定
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 20.0,
+                "description": f"等待温度稳定到 {temperature}°C"
+            }
+        })
+        
+        # 🕐 模拟运行时间优化
+        print("  ⏰ 检查模拟运行时间限制...")
+        original_reaction_time = reaction_time
+        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+        
+        if reaction_time > simulation_time_limit:
+            reaction_time = simulation_time_limit
+            print(f"  🎮 模拟运行优化: {original_reaction_time}s → {reaction_time}s (限制为{simulation_time_limit}s)")
+            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
+        else:
+            print(f"  ✅ 时间在限制内: {reaction_time}s ({reaction_time/60:.1f}分钟) 保持不变")
+        
+        # 保持反应温度
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "temp": temperature,
+                "time": reaction_time,
+                "purpose": f"氢化反应: 保持 {temperature}°C，反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
+            }
+        })
+        
+        # 显示时间调整信息
+        if original_reaction_time != reaction_time:
+            print(f"  🎭 模拟优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
+        
+        print("✅ 加热反应动作已添加")
+            
+    else:
+        print(f"⚠️ HYDROGENATE: 警告 - 未找到加热器，使用室温反应")
+        
+        # 🕐 室温反应也需要时间优化
+        print("  ⏰ 检查室温反应模拟时间限制...")
+        original_reaction_time = reaction_time
+        simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+        
+        if reaction_time > simulation_time_limit:
+            reaction_time = simulation_time_limit
+            print(f"  🎮 室温反应时间优化: {original_reaction_time}s → {reaction_time}s")
+            print(f"  📊 时间缩短: {original_reaction_time/3600:.2f}小时 → {reaction_time/60:.1f}分钟")
+        else:
+            print(f"  ✅ 室温反应时间在限制内: {reaction_time}s 保持不变")
+        
+        # 室温反应，只等待时间
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": reaction_time,
+                "description": f"室温氢化反应 {reaction_time/60:.1f}分钟" + (f" (模拟时间)" if original_reaction_time != reaction_time else "")
+            }
+        })
+        
+        # 显示时间调整信息
+        if original_reaction_time != reaction_time:
+            print(f"  🎭 室温反应优化说明: 原计划 {original_reaction_time/3600:.2f}小时，实际模拟 {reaction_time/60:.1f}分钟")
+        
+        print("✅ 室温反应等待动作已添加")
+    
+    # 7. 停止加热
+    print("📍 步骤7: 停止加热...")
+    if heater_id:
+        action_sequence.append({
+            "device_id": heater_id,
+            "action_name": "heat_chill_stop",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "purpose": "氢化反应完成，停止加热"
+            }
+        })
+        print("✅ 停止加热动作已添加")
+    
+    # 8. 等待冷却
+    print("📍 步骤8: 等待冷却...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 300.0,
+            "description": "等待反应混合物冷却"
+        }
+    })
+    print("✅ 冷却等待动作已添加")
+    
+    # 9. 停止气源
+    print("📍 步骤9: 停止氢气源...")
+    if gas_source_id:
+        # 先关闭电磁阀
+        gas_solenoid = find_associated_solenoid_valve(G, gas_source_id)
+        if gas_solenoid:
+            print(f"🚪 关闭气源电磁阀 {gas_solenoid}")
+            action_sequence.append({
+                "device_id": gas_solenoid,
+                "action_name": "set_valve_position",
+                "action_kwargs": {
+                    "command": "CLOSED"
+                }
+            })
+        
+        # 再关闭气源
+        action_sequence.append({
+            "device_id": gas_source_id,
+            "action_name": "set_status",
+            "action_kwargs": {
+                "string": "OFF"
+            }
+        })
+        print("✅ 氢气源停止动作已添加")
+    
+    # 10. 停止搅拌
+    print("📍 步骤10: 停止搅拌...")
+    if stirrer_id:
+        action_sequence.append({
+            "device_id": stirrer_id,
+            "action_name": "stop_stir",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "purpose": "氢化反应完成，停止搅拌"
+            }
+        })
+        print("✅ 停止搅拌动作已添加")
+    
+    # 🔧 新增：氢化完成后的状态（氢化反应通常不改变体积）
+    final_liquid_volume = original_liquid_volume  # 氢化反应体积基本不变
+    
+    # 总结
+    print("🎊" * 20)
+    print(f"🎉 氢化反应协议生成完成! ✨")
+    print(f"📊 总动作数: {len(action_sequence)} 个")
+    print(f"🥽 反应容器: {vessel_id}")
+    print(f"🌡️ 反应温度: {temperature}°C")
+    print(f"⏰ 反应时间: {reaction_time/60:.1f}分钟")
+    print(f"⏱️ 预计总时间: {(reaction_time + 450)/3600:.1f} 小时")
+    print(f"📊 体积状态:")
+    print(f"  - 反应前体积: {original_liquid_volume:.2f}mL")
+    print(f"  - 反应后体积: {final_liquid_volume:.2f}mL (氢化反应体积基本不变)")
+    print("🎊" * 20)
+    
+    return action_sequence
+
+
+# 测试函数
+def test_hydrogenate_protocol():
+    """测试氢化反应协议"""
+    print("🧪 === HYDROGENATE PROTOCOL 测试 === ✨")
+    
+    # 测试温度解析
+    test_temps = ["45 °C", "45°C", "45", "25 C", "invalid"]
+    for temp in test_temps:
+        parsed = parse_temperature(temp)
+        print(f"温度 '{temp}' -> {parsed}°C")
+    
+    # 测试时间解析
+    test_times = ["2 h", "120 min", "7200 s", "2", "invalid"]
+    for time in test_times:
+        parsed = parse_time(time)
+        print(f"时间 '{time}' -> {parsed/3600:.1f} 小时")
+    
+    print("✅ 测试完成 🎉")
+
+
+if __name__ == "__main__":
+    test_hydrogenate_protocol()

unilabos/compile/recrystallize_protocol.py

@@ -0,0 +1,390 @@
+import networkx as nx
+import re
+import logging
+from typing import List, Dict, Any, Tuple, Union
+from .utils.vessel_parser import get_vessel, find_solvent_vessel
+from .utils.unit_parser import parse_volume_input
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[RECRYSTALLIZE] {message}")
+
+
+def parse_ratio(ratio_str: str) -> Tuple[float, float]:
+    """
+    解析比例字符串，支持多种格式
+    
+    Args:
+        ratio_str: 比例字符串（如 "1:1", "3:7", "50:50"）
+    
+    Returns:
+        Tuple[float, float]: 比例元组 (ratio1, ratio2)
+    """
+    debug_print(f"⚖️ 开始解析比例: '{ratio_str}' 📊")
+    
+    try:
+        # 处理 "1:1", "3:7", "50:50" 等格式
+        if ":" in ratio_str:
+            parts = ratio_str.split(":")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                debug_print(f"✅ 冒号格式解析成功: {ratio1}:{ratio2} 🎯")
+                return ratio1, ratio2
+        
+        # 处理 "1-1", "3-7" 等格式
+        if "-" in ratio_str:
+            parts = ratio_str.split("-")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                debug_print(f"✅ 横线格式解析成功: {ratio1}:{ratio2} 🎯")
+                return ratio1, ratio2
+        
+        # 处理 "1,1", "3,7" 等格式
+        if "," in ratio_str:
+            parts = ratio_str.split(",")
+            if len(parts) == 2:
+                ratio1 = float(parts[0])
+                ratio2 = float(parts[1])
+                debug_print(f"✅ 逗号格式解析成功: {ratio1}:{ratio2} 🎯")
+                return ratio1, ratio2
+        
+        # 默认 1:1
+        debug_print(f"⚠️ 无法解析比例 '{ratio_str}'，使用默认比例 1:1 🎭")
+        return 1.0, 1.0
+    
+    except ValueError:
+        debug_print(f"❌ 比例解析错误 '{ratio_str}'，使用默认比例 1:1 🎭")
+        return 1.0, 1.0
+
+
+def generate_recrystallize_protocol(
+    G: nx.DiGraph,
+    vessel: dict,  # 🔧 修改：从字符串改为字典类型
+    ratio: str,
+    solvent1: str,
+    solvent2: str,
+    volume: Union[str, float],  # 支持字符串和数值
+    **kwargs
+) -> List[Dict[str, Any]]:
+    """
+    生成重结晶协议序列 - 支持vessel字典和体积运算
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        vessel: 目标容器字典（从XDL传入）
+        ratio: 溶剂比例（如 "1:1", "3:7"）
+        solvent1: 第一种溶剂名称
+        solvent2: 第二种溶剂名称
+        volume: 总体积（支持 "100 mL", "50", "2.5 L" 等）
+        **kwargs: 其他可选参数
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id, vessel_data = get_vessel(vessel)
+    
+    action_sequence = []
+    
+    debug_print("💎" * 20)
+    debug_print("🚀 开始生成重结晶协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  ⚖️ 比例: {ratio}")
+    debug_print(f"  🧪 溶剂1: {solvent1}")
+    debug_print(f"  🧪 溶剂2: {solvent2}")
+    debug_print(f"  💧 总体积: {volume} (类型: {type(volume)})")
+    debug_print("💎" * 20)
+    
+    # 🔧 新增：记录重结晶前的容器状态
+    debug_print("🔍 记录重结晶前容器状态...")
+    original_liquid_volume = 0.0
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list) and len(current_volume) > 0:
+            original_liquid_volume = current_volume[0]
+        elif isinstance(current_volume, (int, float)):
+            original_liquid_volume = current_volume
+    debug_print(f"📊 重结晶前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # 1. 验证目标容器存在
+    debug_print("📍 步骤1: 验证目标容器... 🔧")
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 目标容器 '{vessel_id}' 不存在于系统中! 😱")
+        raise ValueError(f"目标容器 '{vessel_id}' 不存在于系统中")
+    debug_print(f"✅ 目标容器 '{vessel_id}' 验证通过 🎯")
+    
+    # 2. 解析体积（支持单位）
+    debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
+    final_volume = parse_volume_input(volume, "mL")
+    debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
+    
+    # 3. 解析比例
+    debug_print("📍 步骤3: 解析比例... ⚖️")
+    ratio1, ratio2 = parse_ratio(ratio)
+    total_ratio = ratio1 + ratio2
+    debug_print(f"🎯 比例解析完成: {ratio1}:{ratio2} (总比例: {total_ratio}) ✨")
+    
+    # 4. 计算各溶剂体积
+    debug_print("📍 步骤4: 计算各溶剂体积... 🧮")
+    volume1 = final_volume * (ratio1 / total_ratio)
+    volume2 = final_volume * (ratio2 / total_ratio)
+    
+    debug_print(f"🧪 {solvent1} 体积: {volume1:.2f} mL ({ratio1}/{total_ratio} × {final_volume})")
+    debug_print(f"🧪 {solvent2} 体积: {volume2:.2f} mL ({ratio2}/{total_ratio} × {final_volume})")
+    debug_print(f"✅ 体积计算完成: 总计 {volume1 + volume2:.2f} mL 🎯")
+    
+    # 5. 查找溶剂容器
+    debug_print("📍 步骤5: 查找溶剂容器... 🔍")
+    try:
+        debug_print(f"  🔍 查找溶剂1容器...")
+        solvent1_vessel = find_solvent_vessel(G, solvent1)
+        debug_print(f"  🎉 找到溶剂1容器: {solvent1_vessel} ✨")
+    except ValueError as e:
+        debug_print(f"  ❌ 溶剂1容器查找失败: {str(e)} 😭")
+        raise ValueError(f"无法找到溶剂1 '{solvent1}': {str(e)}")
+    
+    try:
+        debug_print(f"  🔍 查找溶剂2容器...")
+        solvent2_vessel = find_solvent_vessel(G, solvent2)
+        debug_print(f"  🎉 找到溶剂2容器: {solvent2_vessel} ✨")
+    except ValueError as e:
+        debug_print(f"  ❌ 溶剂2容器查找失败: {str(e)} 😭")
+        raise ValueError(f"无法找到溶剂2 '{solvent2}': {str(e)}")
+    
+    # 6. 验证路径存在
+    debug_print("📍 步骤6: 验证传输路径... 🛤️")
+    try:
+        path1 = nx.shortest_path(G, source=solvent1_vessel, target=vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"  🛤️ 溶剂1路径: {' → '.join(path1)} ✅")
+    except nx.NetworkXNoPath:
+        debug_print(f"  ❌ 溶剂1路径不可达: {solvent1_vessel} → {vessel_id} 😞")
+        raise ValueError(f"从溶剂1容器 '{solvent1_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
+    
+    try:
+        path2 = nx.shortest_path(G, source=solvent2_vessel, target=vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"  🛤️ 溶剂2路径: {' → '.join(path2)} ✅")
+    except nx.NetworkXNoPath:
+        debug_print(f"  ❌ 溶剂2路径不可达: {solvent2_vessel} → {vessel_id} 😞")
+        raise ValueError(f"从溶剂2容器 '{solvent2_vessel}' 到目标容器 '{vessel_id}' 没有可用路径")
+    
+    # 7. 添加第一种溶剂
+    debug_print("📍 步骤7: 添加第一种溶剂... 🧪")
+    debug_print(f"  🚰 开始添加溶剂1: {solvent1} ({volume1:.2f} mL)")
+    
+    try:
+        pump_actions1 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent1_vessel,
+            to_vessel=vessel_id,  # 🔧 使用 vessel_id
+            volume=volume1,             # 使用解析后的体积
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.0,  # 正常流速
+            transfer_flowrate=0.5
+        )
+        
+        action_sequence.extend(pump_actions1)
+        debug_print(f"  ✅ 溶剂1泵送动作已添加: {len(pump_actions1)} 个动作 🚰✨")
+        
+    except Exception as e:
+        debug_print(f"  ❌ 溶剂1泵协议生成失败: {str(e)} 😭")
+        raise ValueError(f"生成溶剂1泵协议时出错: {str(e)}")
+    
+    # 🔧 新增：更新容器体积 - 添加溶剂1后
+    debug_print("  🔧 更新容器体积 - 添加溶剂1后...")
+    new_volume_after_solvent1 = original_liquid_volume + volume1
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list):
+            if len(current_volume) > 0:
+                vessel["data"]["liquid_volume"][0] = new_volume_after_solvent1
+            else:
+                vessel["data"]["liquid_volume"] = [new_volume_after_solvent1]
+        else:
+            vessel["data"]["liquid_volume"] = new_volume_after_solvent1
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume_after_solvent1
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume_after_solvent1]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume_after_solvent1
+    
+    debug_print(f"  📊 体积更新: {original_liquid_volume:.2f}mL + {volume1:.2f}mL = {new_volume_after_solvent1:.2f}mL")
+    
+    # 8. 等待溶剂1稳定
+    debug_print("  ⏳ 添加溶剂1稳定等待...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 5.0,  # 缩短等待时间
+            "description": f"等待溶剂1 {solvent1} 稳定"
+        }
+    })
+    debug_print("  ✅ 溶剂1稳定等待已添加 ⏰✨")
+    
+    # 9. 添加第二种溶剂
+    debug_print("📍 步骤8: 添加第二种溶剂... 🧪")
+    debug_print(f"  🚰 开始添加溶剂2: {solvent2} ({volume2:.2f} mL)")
+    
+    try:
+        pump_actions2 = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent2_vessel,
+            to_vessel=vessel_id,  # 🔧 使用 vessel_id
+            volume=volume2,             # 使用解析后的体积
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重结晶不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.0,  # 正常流速
+            transfer_flowrate=0.5
+        )
+        
+        action_sequence.extend(pump_actions2)
+        debug_print(f"  ✅ 溶剂2泵送动作已添加: {len(pump_actions2)} 个动作 🚰✨")
+        
+    except Exception as e:
+        debug_print(f"  ❌ 溶剂2泵协议生成失败: {str(e)} 😭")
+        raise ValueError(f"生成溶剂2泵协议时出错: {str(e)}")
+    
+    # 🔧 新增：更新容器体积 - 添加溶剂2后
+    debug_print("  🔧 更新容器体积 - 添加溶剂2后...")
+    final_liquid_volume = new_volume_after_solvent1 + volume2
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel and "liquid_volume" in vessel["data"]:
+        current_volume = vessel["data"]["liquid_volume"]
+        if isinstance(current_volume, list):
+            if len(current_volume) > 0:
+                vessel["data"]["liquid_volume"][0] = final_liquid_volume
+            else:
+                vessel["data"]["liquid_volume"] = [final_liquid_volume]
+        else:
+            vessel["data"]["liquid_volume"] = final_liquid_volume
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = final_liquid_volume
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [final_liquid_volume]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = final_liquid_volume
+    
+    debug_print(f"  📊 最终体积: {new_volume_after_solvent1:.2f}mL + {volume2:.2f}mL = {final_liquid_volume:.2f}mL")
+    
+    # 10. 等待溶剂2稳定
+    debug_print("  ⏳ 添加溶剂2稳定等待...")
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": 5.0,  # 缩短等待时间
+            "description": f"等待溶剂2 {solvent2} 稳定"
+        }
+    })
+    debug_print("  ✅ 溶剂2稳定等待已添加 ⏰✨")
+    
+    # 11. 等待重结晶完成
+    debug_print("📍 步骤9: 等待重结晶完成... 💎")
+    
+    # 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
+    original_crystallize_time = 600.0  # 原始重结晶时间
+    simulation_time_limit = 60.0  # 模拟运行时间限制：60秒
+
+    final_crystallize_time = min(original_crystallize_time, simulation_time_limit)
+    
+    if original_crystallize_time > simulation_time_limit:
+        debug_print(f"  🎮 模拟运行优化: {original_crystallize_time}s → {final_crystallize_time}s ⚡")
+        debug_print(f"  📊 时间缩短: {original_crystallize_time/60:.1f}分钟 → {final_crystallize_time/60:.1f}分钟 🚀")
+    else:
+        debug_print(f"  ✅ 时间在限制内: {final_crystallize_time}s 保持不变 🎯")
+    
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": final_crystallize_time,
+            "description": f"等待重结晶完成（{solvent1}:{solvent2} = {ratio}，总体积 {final_volume}mL）" + (f" (模拟时间)" if original_crystallize_time != final_crystallize_time else "")
+        }
+    })
+    debug_print(f"  ✅ 重结晶等待已添加: {final_crystallize_time}s 💎✨")
+    
+    # 显示时间调整信息
+    if original_crystallize_time != final_crystallize_time:
+        debug_print(f"  🎭 模拟优化说明: 原计划 {original_crystallize_time/60:.1f}分钟，实际模拟 {final_crystallize_time/60:.1f}分钟 ⚡")
+    
+    # 总结
+    debug_print("💎" * 20)
+    debug_print(f"🎉 重结晶协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 目标容器: {vessel_id}")
+    debug_print(f"💧 总体积变化:")
+    debug_print(f"  - 原始体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 添加溶剂: {final_volume:.2f}mL")
+    debug_print(f"  - 最终体积: {final_liquid_volume:.2f}mL")
+    debug_print(f"⚖️ 溶剂比例: {solvent1}:{solvent2} = {ratio1}:{ratio2}")
+    debug_print(f"🧪 溶剂1: {solvent1} ({volume1:.2f}mL)")
+    debug_print(f"🧪 溶剂2: {solvent2} ({volume2:.2f}mL)")
+    debug_print(f"⏱️ 预计总时间: {(final_crystallize_time + 10)/60:.1f} 分钟 ⌛")
+    debug_print("💎" * 20)
+    
+    return action_sequence
+
+
+# 测试函数
+def test_recrystallize_protocol():
+    """测试重结晶协议"""
+    debug_print("🧪 === RECRYSTALLIZE PROTOCOL 测试 === ✨")
+    
+    # 测试体积解析
+    debug_print("💧 测试体积解析...")
+    test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
+    for vol in test_volumes:
+        parsed = parse_volume_input(vol)
+        debug_print(f"  📊 体积 '{vol}' -> {parsed}mL")
+    
+    # 测试比例解析
+    debug_print("⚖️ 测试比例解析...")
+    test_ratios = ["1:1", "3:7", "50:50", "1-1", "2,8", "invalid"]
+    for ratio in test_ratios:
+        r1, r2 = parse_ratio(ratio)
+        debug_print(f"  📊 比例 '{ratio}' -> {r1}:{r2}")
+    
+    debug_print("✅ 测试完成 🎉")
+
+if __name__ == "__main__":
+    test_recrystallize_protocol()

unilabos/compile/reset_handling_protocol.py

@@ -0,0 +1,387 @@
+import networkx as nx
+import logging
+import sys
+from typing import List, Dict, Any, Optional
+from .pump_protocol import generate_pump_protocol_with_rinsing
+
+# 设置日志
+logger = logging.getLogger(__name__)
+
+# 确保输出编码为UTF-8
+if hasattr(sys.stdout, 'reconfigure'):
+    try:
+        sys.stdout.reconfigure(encoding='utf-8')
+        sys.stderr.reconfigure(encoding='utf-8')
+    except:
+        pass
+
+def debug_print(message):
+    """调试输出函数 - 支持中文"""
+    try:
+        # 确保消息是字符串格式
+        safe_message = str(message)
+        print(f"[重置处理] {safe_message}", flush=True)
+        logger.info(f"[重置处理] {safe_message}")
+    except UnicodeEncodeError:
+        # 如果编码失败，尝试替换不支持的字符
+        safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        print(f"[重置处理] {safe_message}", flush=True)
+        logger.info(f"[重置处理] {safe_message}")
+    except Exception as e:
+        # 最后的安全措施
+        fallback_message = f"日志输出错误: {repr(message)}"
+        print(f"[重置处理] {fallback_message}", flush=True)
+        logger.info(f"[重置处理] {fallback_message}")
+
+def create_action_log(message: str, emoji: str = "📝") -> Dict[str, Any]:
+    """创建一个动作日志 - 支持中文和emoji"""
+    try:
+        full_message = f"{emoji} {message}"
+        debug_print(full_message)
+        logger.info(full_message)
+        
+        return {
+            "action_name": "wait",
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": full_message,
+                "progress_message": full_message
+            }
+        }
+    except Exception as e:
+        # 如果emoji有问题，使用纯文本
+        safe_message = f"[日志] {message}"
+        debug_print(safe_message)
+        logger.info(safe_message)
+        
+        return {
+            "action_name": "wait", 
+            "action_kwargs": {
+                "time": 0.1,
+                "log_message": safe_message,
+                "progress_message": safe_message
+            }
+        }
+
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器，支持多种匹配模式
+    
+    Args:
+        G: 网络图
+        solvent: 溶剂名称（如 "methanol", "ethanol", "water"）
+    
+    Returns:
+        str: 溶剂容器ID
+    """
+    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器...")
+    
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",           # flask_methanol
+        f"bottle_{solvent}",          # bottle_methanol
+        f"reagent_{solvent}",         # reagent_methanol
+        f"reagent_bottle_{solvent}",  # reagent_bottle_methanol
+        f"{solvent}_flask",           # methanol_flask
+        f"{solvent}_bottle",          # methanol_bottle
+        f"{solvent}",                 # methanol
+        f"vessel_{solvent}",          # vessel_methanol
+    ]
+    
+    debug_print(f"🎯 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个)")
+    
+    # 第一步：通过容器名称匹配
+    debug_print("📋 方法1: 精确名称匹配...")
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"✅ 通过名称匹配找到容器: {vessel_name}")
+            return vessel_name
+    debug_print("⚠️ 精确名称匹配失败，尝试模糊匹配...")
+    
+    # 第二步：通过模糊匹配
+    debug_print("📋 方法2: 模糊名称匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                debug_print(f"✅ 通过模糊匹配找到容器: {node_id}")
+                return node_id
+    debug_print("⚠️ 模糊匹配失败，尝试液体类型匹配...")
+    
+    # 第三步：通过液体类型匹配
+    debug_print("📋 方法3: 液体类型匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    reagent_name = vessel_data.get('reagent_name', '').lower()
+                    
+                    if solvent.lower() in liquid_type or solvent.lower() in reagent_name:
+                        debug_print(f"✅ 通过液体类型匹配找到容器: {node_id}")
+                        return node_id
+    
+    # 列出可用容器帮助调试
+    debug_print("📊 显示可用容器信息...")
+    available_containers = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            liquids = vessel_data.get('liquid', [])
+            liquid_types = [liquid.get('liquid_type', '') or liquid.get('name', '') 
+                           for liquid in liquids if isinstance(liquid, dict)]
+            
+            available_containers.append({
+                'id': node_id,
+                'name': G.nodes[node_id].get('name', ''),
+                'liquids': liquid_types,
+                'reagent_name': vessel_data.get('reagent_name', '')
+            })
+    
+    debug_print(f"📋 可用容器列表 (共{len(available_containers)}个):")
+    for i, container in enumerate(available_containers[:5]):  # 只显示前5个
+        debug_print(f"  {i+1}. 🥽 {container['id']}: {container['name']}")
+        debug_print(f"     💧 液体: {container['liquids']}")
+        debug_print(f"     🧪 试剂: {container['reagent_name']}")
+    
+    if len(available_containers) > 5:
+        debug_print(f"    ... 还有 {len(available_containers)-5} 个容器")
+    
+    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器")
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器。尝试了: {possible_names[:3]}...")
+
+def generate_reset_handling_protocol(
+    G: nx.DiGraph,
+    solvent: str,
+    vessel: Optional[str] = None,  # 🆕 新增可选vessel参数
+    **kwargs  # 接收其他可能的参数但不使用
+) -> List[Dict[str, Any]]:
+    """
+    生成重置处理协议序列 - 支持自定义容器
+    
+    Args:
+        G: 有向图，节点为容器和设备
+        solvent: 溶剂名称（从XDL传入）
+        vessel: 目标容器名称（可选，默认为 "main_reactor"）
+        **kwargs: 其他可选参数，但不使用
+    
+    Returns:
+        List[Dict[str, Any]]: 动作序列
+    """
+    action_sequence = []
+    
+    # 🔧 修改：支持自定义vessel参数
+    target_vessel = vessel if vessel is not None else "main_reactor"  # 默认目标容器
+    volume = 50.0  # 默认体积 50 mL
+
+    debug_print("=" * 60)
+    debug_print("🚀 开始生成重置处理协议")
+    debug_print(f"📋 输入参数:")
+    debug_print(f"  🧪 溶剂: {solvent}")
+    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
+    debug_print(f"  💧 体积: {volume} mL")
+    debug_print(f"  ⚙️ 其他参数: {kwargs}")
+    debug_print("=" * 60)
+    
+    # 添加初始日志
+    action_sequence.append(create_action_log(f"开始重置处理操作 - 容器: {target_vessel}", "🎬"))
+    action_sequence.append(create_action_log(f"使用溶剂: {solvent}", "🧪"))
+    action_sequence.append(create_action_log(f"重置体积: {volume}mL", "💧"))
+    
+    if vessel is None:
+        action_sequence.append(create_action_log("使用默认目标容器: main_reactor", "⚙️"))
+    else:
+        action_sequence.append(create_action_log(f"使用指定目标容器: {vessel}", "🎯"))
+    
+    # 1. 验证目标容器存在
+    debug_print("🔍 步骤1: 验证目标容器...")
+    action_sequence.append(create_action_log("正在验证目标容器...", "🔍"))
+    
+    if target_vessel not in G.nodes():
+        debug_print(f"❌ 目标容器 '{target_vessel}' 不存在于系统中!")
+        action_sequence.append(create_action_log(f"目标容器 '{target_vessel}' 不存在", "❌"))
+        raise ValueError(f"目标容器 '{target_vessel}' 不存在于系统中")
+    
+    debug_print(f"✅ 目标容器 '{target_vessel}' 验证通过")
+    action_sequence.append(create_action_log(f"目标容器验证通过: {target_vessel}", "✅"))
+    
+    # 2. 查找溶剂容器
+    debug_print("🔍 步骤2: 查找溶剂容器...")
+    action_sequence.append(create_action_log("正在查找溶剂容器...", "🔍"))
+    
+    try:
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        debug_print(f"✅ 找到溶剂容器: {solvent_vessel}")
+        action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "✅"))
+    except ValueError as e:
+        debug_print(f"❌ 溶剂容器查找失败: {str(e)}")
+        action_sequence.append(create_action_log(f"溶剂容器查找失败: {str(e)}", "❌"))
+        raise ValueError(f"无法找到溶剂 '{solvent}': {str(e)}")
+    
+    # 3. 验证路径存在
+    debug_print("🔍 步骤3: 验证传输路径...")
+    action_sequence.append(create_action_log("正在验证传输路径...", "🛤️"))
+    
+    try:
+        path = nx.shortest_path(G, source=solvent_vessel, target=target_vessel)
+        debug_print(f"✅ 找到路径: {' → '.join(path)}")
+        action_sequence.append(create_action_log(f"传输路径: {' → '.join(path)}", "🛤️"))
+    except nx.NetworkXNoPath:
+        debug_print(f"❌ 路径不可达: {solvent_vessel} → {target_vessel}")
+        action_sequence.append(create_action_log(f"路径不可达: {solvent_vessel} → {target_vessel}", "❌"))
+        raise ValueError(f"从溶剂容器 '{solvent_vessel}' 到目标容器 '{target_vessel}' 没有可用路径")
+    
+    # 4. 使用pump_protocol转移溶剂
+    debug_print("🔍 步骤4: 转移溶剂...")
+    action_sequence.append(create_action_log("开始溶剂转移操作...", "🚰"))
+    
+    debug_print(f"🚛 开始转移: {solvent_vessel} → {target_vessel}")
+    debug_print(f"💧 转移体积: {volume} mL")
+    action_sequence.append(create_action_log(f"转移: {solvent_vessel} → {target_vessel} ({volume}mL)", "🚛"))
+    
+    try:
+        debug_print("🔄 生成泵送协议...")
+        action_sequence.append(create_action_log("正在生成泵送协议...", "🔄"))
+        
+        pump_actions = generate_pump_protocol_with_rinsing(
+            G=G,
+            from_vessel=solvent_vessel,
+            to_vessel=target_vessel,
+            volume=volume,
+            amount="",
+            time=0.0,
+            viscous=False,
+            rinsing_solvent="",  # 重置处理不需要清洗
+            rinsing_volume=0.0,
+            rinsing_repeats=0,
+            solid=False,
+            flowrate=2.5,  # 正常流速
+            transfer_flowrate=0.5  # 正常转移流速
+        )
+        
+        action_sequence.extend(pump_actions)
+        debug_print(f"✅ 泵送协议已添加: {len(pump_actions)} 个动作")
+        action_sequence.append(create_action_log(f"泵送协议完成 ({len(pump_actions)} 个操作)", "✅"))
+        
+    except Exception as e:
+        debug_print(f"❌ 泵送协议生成失败: {str(e)}")
+        action_sequence.append(create_action_log(f"泵送协议生成失败: {str(e)}", "❌"))
+        raise ValueError(f"生成泵协议时出错: {str(e)}")
+    
+    # 5. 等待溶剂稳定
+    debug_print("🔍 步骤5: 等待溶剂稳定...")
+    action_sequence.append(create_action_log("等待溶剂稳定...", "⏳"))
+    
+    # 模拟运行时间优化
+    debug_print("⏱️ 检查模拟运行时间限制...")
+    original_wait_time = 10.0  # 原始等待时间
+    simulation_time_limit = 5.0  # 模拟运行时间限制：5秒
+    
+    final_wait_time = min(original_wait_time, simulation_time_limit)
+    
+    if original_wait_time > simulation_time_limit:
+        debug_print(f"🎮 模拟运行优化: {original_wait_time}s → {final_wait_time}s")
+        action_sequence.append(create_action_log(f"时间优化: {original_wait_time}s → {final_wait_time}s", "⚡"))
+    else:
+        debug_print(f"✅ 时间在限制内: {final_wait_time}s 保持不变")
+        action_sequence.append(create_action_log(f"等待时间: {final_wait_time}s", "⏰"))
+    
+    action_sequence.append({
+        "action_name": "wait",
+        "action_kwargs": {
+            "time": final_wait_time,
+            "description": f"等待溶剂 {solvent} 在容器 {target_vessel} 中稳定" + (f" (模拟时间)" if original_wait_time != final_wait_time else "")
+        }
+    })
+    debug_print(f"✅ 稳定等待已添加: {final_wait_time}s")
+    
+    # 显示时间调整信息
+    if original_wait_time != final_wait_time:
+        debug_print(f"🎭 模拟优化说明: 原计划 {original_wait_time}s，实际模拟 {final_wait_time}s")
+        action_sequence.append(create_action_log("应用模拟时间优化", "🎭"))
+    
+    # 总结
+    debug_print("=" * 60)
+    debug_print(f"🎉 重置处理协议生成完成!")
+    debug_print(f"📊 总结信息:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
+    debug_print(f"  🧪 溶剂: {solvent}")
+    debug_print(f"  🥽 源容器: {solvent_vessel}")
+    debug_print(f"  🥽 目标容器: {target_vessel} {'(默认)' if vessel is None else '(指定)'}")
+    debug_print(f"  💧 转移体积: {volume} mL")
+    debug_print(f"  ⏱️ 预计总时间: {(final_wait_time + 5):.0f} 秒")
+    debug_print(f"  🎯 操作结果: 已添加 {volume} mL {solvent} 到 {target_vessel}")
+    debug_print("=" * 60)
+    
+    # 添加完成日志
+    summary_msg = f"重置处理完成: {target_vessel} (使用 {volume}mL {solvent})"
+    if vessel is None:
+        summary_msg += " [默认容器]"
+    else:
+        summary_msg += " [指定容器]"
+    
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    
+    return action_sequence
+
+# === 便捷函数 ===
+
+def reset_main_reactor(G: nx.DiGraph, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
+    """重置主反应器 (默认行为)"""
+    debug_print(f"🔄 重置主反应器，使用溶剂: {solvent}")
+    return generate_reset_handling_protocol(G, solvent=solvent, vessel=None, **kwargs)
+
+def reset_custom_vessel(G: nx.DiGraph, vessel: str, solvent: str = "methanol", **kwargs) -> List[Dict[str, Any]]:
+    """重置指定容器"""
+    debug_print(f"🔄 重置指定容器: {vessel}，使用溶剂: {solvent}")
+    return generate_reset_handling_protocol(G, solvent=solvent, vessel=vessel, **kwargs)
+
+def reset_with_water(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
+    """使用水重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"💧 使用水重置容器: {target}")
+    return generate_reset_handling_protocol(G, solvent="water", vessel=vessel, **kwargs)
+
+def reset_with_methanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
+    """使用甲醇重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"🧪 使用甲醇重置容器: {target}")
+    return generate_reset_handling_protocol(G, solvent="methanol", vessel=vessel, **kwargs)
+
+def reset_with_ethanol(G: nx.DiGraph, vessel: Optional[str] = None, **kwargs) -> List[Dict[str, Any]]:
+    """使用乙醇重置容器"""
+    target = vessel or "main_reactor"
+    debug_print(f"🧪 使用乙醇重置容器: {target}")
+    return generate_reset_handling_protocol(G, solvent="ethanol", vessel=vessel, **kwargs)
+
+# 测试函数
+def test_reset_handling_protocol():
+    """测试重置处理协议"""
+    debug_print("=== 重置处理协议增强中文版测试 ===")
+    
+    # 测试溶剂名称
+    debug_print("🧪 测试常用溶剂名称...")
+    test_solvents = ["methanol", "ethanol", "water", "acetone", "dmso"]
+    for solvent in test_solvents:
+        debug_print(f"  🔍 测试溶剂: {solvent}")
+    
+    # 测试容器参数
+    debug_print("🥽 测试容器参数...")
+    test_cases = [
+        {"solvent": "methanol", "vessel": None, "desc": "默认容器"},
+        {"solvent": "ethanol", "vessel": "reactor_2", "desc": "指定容器"},
+        {"solvent": "water", "vessel": "flask_1", "desc": "自定义容器"}
+    ]
+    
+    for case in test_cases:
+        debug_print(f"  🧪 测试案例: {case['desc']} - {case['solvent']} -> {case['vessel'] or 'main_reactor'}")
+    
+    debug_print("✅ 测试完成")
+
+if __name__ == "__main__":
+    test_reset_handling_protocol()

unilabos/compile/stir_protocol.py

@@ -1,166 +1,478 @@
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Union
 import networkx as nx
+import logging
+import re
+
+from .utils.unit_parser import parse_time_input
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[STIR] {message}")
 
 
 def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
-    """
-    查找与指定容器相连的搅拌设备，或查找可用的搅拌设备
-    """
-    # 查找所有搅拌设备节点
-    stirrer_nodes = [node for node in G.nodes() 
-                    if (G.nodes[node].get('class') or '') == 'virtual_stirrer']
+    """查找与指定容器相连的搅拌设备"""
+    debug_print(f"🔍 查找搅拌设备，目标容器: {vessel} 🥽")
     
-    if vessel:
-        # 检查哪个搅拌设备与目标容器相连（机械连接）
+    # 🔧 查找所有搅拌设备
+    stirrer_nodes = []
+    for node in G.nodes():
+        node_data = G.nodes[node]
+        node_class = node_data.get('class', '') or ''
+        
+        if 'stirrer' in node_class.lower() or 'virtual_stirrer' in node_class:
+            stirrer_nodes.append(node)
+            debug_print(f"🎉 找到搅拌设备: {node} 🌪️")
+    
+    # 🔗 检查连接
+    if vessel and stirrer_nodes:
         for stirrer in stirrer_nodes:
             if G.has_edge(stirrer, vessel) or G.has_edge(vessel, stirrer):
+                debug_print(f"✅ 搅拌设备 '{stirrer}' 与容器 '{vessel}' 相连 🔗")
                 return stirrer
     
-    # 如果没有指定容器或没有直接连接，返回第一个可用的搅拌设备
+    # 🎯 使用第一个可用设备
     if stirrer_nodes:
-        return stirrer_nodes[0]
+        selected = stirrer_nodes[0]
+        debug_print(f"🔧 使用第一个搅拌设备: {selected} 🌪️")
+        return selected
     
-    raise ValueError("系统中未找到可用的搅拌设备")
+    # 🆘 默认设备
+    debug_print("⚠️ 未找到搅拌设备，使用默认设备 🌪️")
+    return "stirrer_1"
 
+def validate_and_fix_params(stir_time: float, stir_speed: float, settling_time: float) -> tuple:
+    """验证和修正参数"""
+    # ⏰ 搅拌时间验证
+    if stir_time < 0:
+        debug_print(f"⚠️ 搅拌时间 {stir_time}s 无效，修正为 100s 🕐")
+        stir_time = 100.0
+    elif stir_time > 100:  # 限制为100s
+        debug_print(f"⚠️ 搅拌时间 {stir_time}s 过长，仿真运行时，修正为 100s 🕐")
+        stir_time = 100.0
+    else:
+        debug_print(f"✅ 搅拌时间 {stir_time}s ({stir_time/60:.1f}分钟) 有效 ⏰")
+    
+    # 🌪️ 搅拌速度验证
+    if stir_speed < 10.0 or stir_speed > 1500.0:
+        debug_print(f"⚠️ 搅拌速度 {stir_speed} RPM 超出范围，修正为 300 RPM 🌪️")
+        stir_speed = 300.0
+    else:
+        debug_print(f"✅ 搅拌速度 {stir_speed} RPM 在正常范围内 🌪️")
+    
+    # ⏱️ 沉降时间验证
+    if settling_time < 0 or settling_time > 600:  # 限制为10分钟
+        debug_print(f"⚠️ 沉降时间 {settling_time}s 超出范围，修正为 60s ⏱️")
+        settling_time = 60.0
+    else:
+        debug_print(f"✅ 沉降时间 {settling_time}s 在正常范围内 ⏱️")
+    
+    return stir_time, stir_speed, settling_time
+
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """
+    从vessel参数中提取vessel_id
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: vessel_id
+    """
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
+        return vessel_id
+    elif isinstance(vessel, str):
+        debug_print(f"🔧 vessel参数为字符串: {vessel}")
+        return vessel
+    else:
+        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
+        return ""
+
+def get_vessel_display_info(vessel: Union[str, dict]) -> str:
+    """
+    获取容器的显示信息（用于日志）
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: 显示信息
+    """
+    if isinstance(vessel, dict):
+        vessel_id = vessel.get("id", "unknown")
+        vessel_name = vessel.get("name", "")
+        if vessel_name:
+            return f"{vessel_id} ({vessel_name})"
+        else:
+            return vessel_id
+    else:
+        return str(vessel)
 
 def generate_stir_protocol(
     G: nx.DiGraph,
-    stir_time: float,
-    stir_speed: float,
-    settling_time: float
+    vessel: Union[str, dict],  # 支持vessel字典或字符串
+    time: Union[str, float, int] = "300",
+    stir_time: Union[str, float, int] = "0",
+    time_spec: str = "",
+    event: str = "",
+    stir_speed: float = 300.0,
+    settling_time: Union[str, float] = "60",
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成搅拌操作的协议序列 - 定时搅拌 + 沉降
-    """
-    action_sequence = []
+    """生成搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    print(f"STIR: 开始生成搅拌协议")
-    print(f"  - 搅拌时间: {stir_time}秒")
-    print(f"  - 搅拌速度: {stir_speed} RPM")
-    print(f"  - 沉降时间: {settling_time}秒")
+    # 🔧 核心修改：正确处理vessel参数
+    vessel_id = extract_vessel_id(vessel)
+    vessel_display = get_vessel_display_info(vessel)
     
-    # 查找搅拌设备
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+    if isinstance(vessel, dict):
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
+    else:
+        # 如果只是字符串，构建一个基本的Resource对象
+        vessel_resource = {
+            "id": vessel,
+            "name": "",
+            "category": "",
+            "children": [],
+            "config": "",
+            "data": "",
+            "parent": "",
+            "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": "",
+            "type": ""
+        }
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
+    
+    debug_print("🌪️" * 20)
+    debug_print("🚀 开始生成搅拌协议（支持vessel字典）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🕐 stir_time: {stir_time}")
+    debug_print(f"  🎯 time_spec: {time_spec}")
+    debug_print(f"  🌪️ stir_speed: {stir_speed} RPM")
+    debug_print(f"  ⏱️ settling_time: {settling_time}")
+    debug_print("🌪️" * 20)
+    
+    # 📋 参数验证
+    debug_print("📍 步骤1: 参数验证... 🔧")
+    if not vessel_id:  # 🔧 使用 vessel_id
+        debug_print("❌ vessel 参数不能为空! 😱")
+        raise ValueError("vessel 参数不能为空")
+    
+    if vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print(f"❌ 容器 '{vessel_id}' 不存在于系统中! 😞")
+        raise ValueError(f"容器 '{vessel_id}' 不存在于系统中")
+    
+    debug_print("✅ 基础参数验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤2: 参数解析... ⚡")
+    
+    # 确定实际时间（优先级：time_spec > stir_time > time）
+    if time_spec:
+        parsed_time = parse_time_input(time_spec)
+        debug_print(f"🎯 使用time_spec: '{time_spec}' → {parsed_time}s")
+    elif stir_time not in ["0", 0, 0.0]:
+        parsed_time = parse_time_input(stir_time)
+        debug_print(f"🎯 使用stir_time: {stir_time} → {parsed_time}s")
+    else:
+        parsed_time = parse_time_input(time)
+        debug_print(f"🎯 使用time: {time} → {parsed_time}s")
+    
+    # 解析沉降时间
+    parsed_settling_time = parse_time_input(settling_time)
+    
+    # 🕐 模拟运行时间优化
+    debug_print("  ⏱️ 检查模拟运行时间限制...")
+    original_stir_time = parsed_time
+    original_settling_time = parsed_settling_time
+    
+    # 搅拌时间限制为60秒
+    stir_time_limit = 60.0
+    if parsed_time > stir_time_limit:
+        parsed_time = stir_time_limit
+        debug_print(f"  🎮 搅拌时间优化: {original_stir_time}s → {parsed_time}s ⚡")
+    
+    # 沉降时间限制为30秒
+    settling_time_limit = 30.0
+    if parsed_settling_time > settling_time_limit:
+        parsed_settling_time = settling_time_limit
+        debug_print(f"  🎮 沉降时间优化: {original_settling_time}s → {parsed_settling_time}s ⚡")
+    
+    # 参数修正
+    parsed_time, stir_speed, parsed_settling_time = validate_and_fix_params(
+        parsed_time, stir_speed, parsed_settling_time
+    )
+    
+    debug_print(f"🎯 最终参数: time={parsed_time}s, speed={stir_speed}RPM, settling={parsed_settling_time}s")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤3: 查找搅拌设备... 🔍")
     try:
-        stirrer_id = find_connected_stirrer(G)
-        print(f"STIR: 找到搅拌设备: {stirrer_id}")
-    except ValueError as e:
+        stirrer_id = find_connected_stirrer(G, vessel_id)  # 🔧 使用 vessel_id
+        debug_print(f"🎉 使用搅拌设备: {stirrer_id} ✨")
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
         raise ValueError(f"无法找到搅拌设备: {str(e)}")
     
-    # 执行搅拌操作
+    # 🚀 生成动作
+    debug_print("📍 步骤4: 生成搅拌动作... 🌪️")
+    
+    action_sequence = []
     stir_action = {
         "device_id": stirrer_id,
         "action_name": "stir",
         "action_kwargs": {
-            "stir_time": stir_time,
-            "stir_speed": stir_speed,
-            "settling_time": settling_time
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
+            "time": str(time),
+            "event": event,
+            "time_spec": time_spec,
+            "stir_time": float(parsed_time),
+            "stir_speed": float(stir_speed),
+            "settling_time": float(parsed_settling_time)
         }
     }
-    
     action_sequence.append(stir_action)
+    debug_print("✅ 搅拌动作已添加 🌪️✨")
+    
+    # 显示时间优化信息
+    if original_stir_time != parsed_time or original_settling_time != parsed_settling_time:
+        debug_print(f"  🎭 模拟优化说明:")
+        debug_print(f"    搅拌时间: {original_stir_time/60:.1f}分钟 → {parsed_time/60:.1f}分钟")
+        debug_print(f"    沉降时间: {original_settling_time/60:.1f}分钟 → {parsed_settling_time/60:.1f}分钟")
+    
+    # 🎊 总结
+    debug_print("🎊" * 20)
+    debug_print(f"🎉 搅拌协议生成完成! ✨")
+    debug_print(f"📊 总动作数: {len(action_sequence)} 个")
+    debug_print(f"🥽 搅拌容器: {vessel_display}")
+    debug_print(f"🌪️ 搅拌参数: {stir_speed} RPM, {parsed_time}s, 沉降 {parsed_settling_time}s")
+    debug_print(f"⏱️ 预计总时间: {(parsed_time + parsed_settling_time)/60:.1f} 分钟 ⌛")
+    debug_print("🎊" * 20)
     
-    print(f"STIR: 生成了 {len(action_sequence)} 个动作")
     return action_sequence
 
-
 def generate_start_stir_protocol(
     G: nx.DiGraph,
-    vessel: str,
-    stir_speed: float,
-    purpose: str
+    vessel: Union[str, dict],
+    stir_speed: float = 300.0,
+    purpose: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成开始搅拌操作的协议序列 - 持续搅拌
-    """
-    action_sequence = []
+    """生成开始搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    print(f"START_STIR: 开始生成启动搅拌协议")
-    print(f"  - 容器: {vessel}")
-    print(f"  - 搅拌速度: {stir_speed} RPM")
-    print(f"  - 目的: {purpose}")
+    # 🔧 核心修改：正确处理vessel参数
+    vessel_id = extract_vessel_id(vessel)
+    vessel_display = get_vessel_display_info(vessel)
     
-    # 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+    if isinstance(vessel, dict):
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
+    else:
+        # 如果只是字符串，构建一个基本的Resource对象
+        vessel_resource = {
+            "id": vessel,
+            "name": "",
+            "category": "",
+            "children": [],
+            "config": "",
+            "data": "",
+            "parent": "",
+            "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": "",
+            "type": ""
+        }
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
     
-    # 查找搅拌设备
-    try:
-        stirrer_id = find_connected_stirrer(G, vessel)
-        print(f"START_STIR: 找到搅拌设备: {stirrer_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    debug_print("🔄 开始生成启动搅拌协议（修复vessel参数）✨")
+    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"🌪️ speed: {stir_speed} RPM")
+    debug_print(f"🎯 purpose: {purpose}")
     
-    # 执行开始搅拌操作
-    start_stir_action = {
+    # 基础验证
+    if not vessel_id or vessel_id not in G.nodes():
+        debug_print("❌ 容器验证失败!")
+        raise ValueError("vessel 参数无效")
+    
+    # 参数修正
+    if stir_speed < 10.0 or stir_speed > 1500.0:
+        debug_print(f"⚠️ 搅拌速度修正: {stir_speed} → 300 RPM 🌪️")
+        stir_speed = 300.0
+    
+    # 查找设备
+    stirrer_id = find_connected_stirrer(G, vessel_id)
+    
+    # 🔧 关键修复：传递vessel_id字符串
+    action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "start_stir",
         "action_kwargs": {
-            "vessel": vessel,
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
             "stir_speed": stir_speed,
-            "purpose": purpose
+            "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
-    }
+    }]
     
-    action_sequence.append(start_stir_action)
-    
-    print(f"START_STIR: 生成了 {len(action_sequence)} 个动作")
+    debug_print(f"✅ 启动搅拌协议生成完成 🎯")
     return action_sequence
 
-
 def generate_stop_stir_protocol(
     G: nx.DiGraph,
-    vessel: str
+    vessel: Union[str, dict],
+    **kwargs
 ) -> List[Dict[str, Any]]:
-    """
-    生成停止搅拌操作的协议序列
-    """
-    action_sequence = []
+    """生成停止搅拌操作的协议序列 - 修复vessel参数传递"""
     
-    print(f"STOP_STIR: 开始生成停止搅拌协议")
-    print(f"  - 容器: {vessel}")
+    # 🔧 核心修改：正确处理vessel参数
+    vessel_id = extract_vessel_id(vessel)
+    vessel_display = get_vessel_display_info(vessel)
     
-    # 验证容器存在
-    if vessel not in G.nodes():
-        raise ValueError(f"容器 '{vessel}' 不存在于系统中")
+    # 🔧 关键修复：确保vessel_resource是完整的Resource对象
+    if isinstance(vessel, dict):
+        vessel_resource = vessel  # 已经是完整的Resource字典
+        debug_print(f"✅ 使用传入的vessel Resource对象")
+    else:
+        # 如果只是字符串，构建一个基本的Resource对象
+        vessel_resource = {
+            "id": vessel,
+            "name": "",
+            "category": "",
+            "children": [],
+            "config": "",
+            "data": "",
+            "parent": "",
+            "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": "",
+            "type": ""
+        }
+        debug_print(f"🔧 构建了基本的vessel Resource对象: {vessel}")
     
-    # 查找搅拌设备
-    try:
-        stirrer_id = find_connected_stirrer(G, vessel)
-        print(f"STOP_STIR: 找到搅拌设备: {stirrer_id}")
-    except ValueError as e:
-        raise ValueError(f"无法找到搅拌设备: {str(e)}")
+    debug_print("🛑 开始生成停止搅拌协议（修复vessel参数）✨")
+    debug_print(f"🥽 vessel: {vessel_display} (ID: {vessel_id})")
     
-    # 执行停止搅拌操作
-    stop_stir_action = {
+    # 基础验证
+    if not vessel_id or vessel_id not in G.nodes():
+        debug_print("❌ 容器验证失败!")
+        raise ValueError("vessel 参数无效")
+    
+    # 查找设备
+    stirrer_id = find_connected_stirrer(G, vessel_id)
+    
+    # 🔧 关键修复：传递vessel_id字符串
+    action_sequence = [{
         "device_id": stirrer_id,
         "action_name": "stop_stir",
         "action_kwargs": {
-            "vessel": vessel
+            # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
+            "vessel": vessel_id  # 传递字符串ID，不是Resource对象
         }
-    }
+    }]
     
-    action_sequence.append(stop_stir_action)
-    
-    print(f"STOP_STIR: 生成了 {len(action_sequence)} 个动作")
+    debug_print(f"✅ 停止搅拌协议生成完成 🎯")
     return action_sequence
 
+# 🔧 新增：便捷函数
+def stir_briefly(G: nx.DiGraph, vessel: Union[str, dict], 
+                speed: float = 300.0) -> List[Dict[str, Any]]:
+    """短时间搅拌（30秒）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"⚡ 短时间搅拌: {vessel_display} @ {speed}RPM (30s)")
+    return generate_stir_protocol(G, vessel, time="30", stir_speed=speed)
 
-# 便捷函数
-def generate_fast_stir_protocol(
-    G: nx.DiGraph,
-    time: float = 300.0,
-    speed: float = 800.0,
-    settling: float = 60.0
-) -> List[Dict[str, Any]]:
-    """快速搅拌的便捷函数"""
-    return generate_stir_protocol(G, time, speed, settling)
+def stir_slowly(G: nx.DiGraph, vessel: Union[str, dict], 
+               time: Union[str, float] = "10 min") -> List[Dict[str, Any]]:
+    """慢速搅拌"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🐌 慢速搅拌: {vessel_display} @ 150RPM")
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=150.0)
 
+def stir_vigorously(G: nx.DiGraph, vessel: Union[str, dict], 
+                   time: Union[str, float] = "5 min") -> List[Dict[str, Any]]:
+    """剧烈搅拌"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💨 剧烈搅拌: {vessel_display} @ 800RPM")
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=800.0)
 
-def generate_gentle_stir_protocol(
-    G: nx.DiGraph,
-    time: float = 600.0,
-    speed: float = 200.0,
-    settling: float = 120.0
-) -> List[Dict[str, Any]]:
-    """温和搅拌的便捷函数"""
-    return generate_stir_protocol(G, time, speed, settling)
+def stir_for_reaction(G: nx.DiGraph, vessel: Union[str, dict], 
+                     time: Union[str, float] = "1 h") -> List[Dict[str, Any]]:
+    """反应搅拌（标准速度，长时间）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🧪 反应搅拌: {vessel_display} @ 400RPM")
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=400.0)
+
+def stir_for_dissolution(G: nx.DiGraph, vessel: Union[str, dict], 
+                        time: Union[str, float] = "15 min") -> List[Dict[str, Any]]:
+    """溶解搅拌（中等速度）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💧 溶解搅拌: {vessel_display} @ 500RPM")
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=500.0)
+
+def stir_gently(G: nx.DiGraph, vessel: Union[str, dict], 
+               time: Union[str, float] = "30 min") -> List[Dict[str, Any]]:
+    """温和搅拌"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🍃 温和搅拌: {vessel_display} @ 200RPM")
+    return generate_stir_protocol(G, vessel, time=time, stir_speed=200.0)
+
+def stir_overnight(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
+    """过夜搅拌（模拟时缩短为2小时）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🌙 过夜搅拌（模拟2小时）: {vessel_display} @ 300RPM")
+    return generate_stir_protocol(G, vessel, time="2 h", stir_speed=300.0)
+
+def start_continuous_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
+                             speed: float = 300.0, purpose: str = "continuous stirring") -> List[Dict[str, Any]]:
+    """开始连续搅拌"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🔄 开始连续搅拌: {vessel_display} @ {speed}RPM")
+    return generate_start_stir_protocol(G, vessel, stir_speed=speed, purpose=purpose)
+
+def stop_all_stirring(G: nx.DiGraph, vessel: Union[str, dict]) -> List[Dict[str, Any]]:
+    """停止所有搅拌"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🛑 停止搅拌: {vessel_display}")
+    return generate_stop_stir_protocol(G, vessel)
+
+# 测试函数
+def test_stir_protocol():
+    """测试搅拌协议"""
+    debug_print("🧪 === STIR PROTOCOL 测试 === ✨")
+    
+    # 测试vessel参数处理
+    debug_print("🔧 测试vessel参数处理...")
+    
+    # 测试字典格式
+    vessel_dict = {"id": "flask_1", "name": "反应瓶1"}
+    vessel_id = extract_vessel_id(vessel_dict)
+    vessel_display = get_vessel_display_info(vessel_dict)
+    debug_print(f"  字典格式: {vessel_dict} → ID: {vessel_id}, 显示: {vessel_display}")
+    
+    # 测试字符串格式
+    vessel_str = "flask_2"
+    vessel_id = extract_vessel_id(vessel_str)
+    vessel_display = get_vessel_display_info(vessel_str)
+    debug_print(f"  字符串格式: {vessel_str} → ID: {vessel_id}, 显示: {vessel_display}")
+    
+    debug_print("✅ 测试完成 🎉")
+
+if __name__ == "__main__":
+    test_stir_protocol()

unilabos/compile/transfer_protocol.py

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

unilabos/compile/utils/logger_util.py

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

unilabos/compile/utils/unit_parser.py

@@ -0,0 +1,215 @@
+"""
+统一的单位解析工具模块
+支持时间、体积、质量等各种单位的解析
+"""
+
+import re
+from typing import Union
+
+from .logger_util import debug_print
+
+
+def parse_volume_input(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
+    """
+    解析带单位的体积输入
+    
+    Args:
+        volume_input: 体积输入（如 "100 mL", "2.5 L", "500", "?", 100.0）
+        default_unit: 默认单位（默认为毫升）
+    
+    Returns:
+        float: 体积（毫升）
+    """
+    if not volume_input:
+        return 0.0
+    
+    # 处理数值输入
+    if isinstance(volume_input, (int, float)):
+        result = float(volume_input)
+        debug_print(f"数值体积输入: {volume_input} → {result}mL（默认单位）")
+        return result
+    
+    # 处理字符串输入
+    volume_str = str(volume_input).lower().strip()
+    debug_print(f"解析体积字符串: '{volume_str}'")
+    
+    # 处理特殊值
+    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_volume = 50.0  # 50mL默认值
+        debug_print(f"检测到未知体积，使用默认值: {default_volume}mL")
+        return default_volume
+    
+    # 如果是纯数字，使用默认单位
+    try:
+        value = float(volume_str)
+        if default_unit.lower() in ["ml", "milliliter"]:
+            result = value
+        elif default_unit.lower() in ["l", "liter"]:
+            result = value * 1000.0
+        elif default_unit.lower() in ["μl", "ul", "microliter"]:
+            result = value / 1000.0
+        else:
+            result = value  # 默认mL
+        debug_print(f"纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）")
+        return result
+    except ValueError:
+        pass
+    
+    # 移除空格并提取数字和单位
+    volume_clean = re.sub(r'\s+', '', volume_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL")
+        return 50.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or default_unit.lower()
+    
+    # 转换为毫升
+    if unit in ['l', 'liter']:
+        volume = value * 1000.0  # L -> mL
+    elif unit in ['μl', 'ul', 'microliter']:
+        volume = value / 1000.0  # μL -> mL
+    else:  # ml, milliliter 或默认
+        volume = value  # 已经是mL
+    
+    debug_print(f"体积解析: '{volume_str}' → {value} {unit} → {volume}mL")
+    return volume
+
+
+def parse_mass_input(mass_input: Union[str, float]) -> float:
+    """
+    解析质量输入，支持带单位的字符串
+
+    Args:
+        mass_input: 质量输入（如 "19.3 g", "4.5 g", 2.5）
+
+    Returns:
+        float: 质量（克）
+    """
+    if isinstance(mass_input, (int, float)):
+        debug_print(f"⚖️ 质量输入为数值: {mass_input}g")
+        return float(mass_input)
+
+    if not mass_input or not str(mass_input).strip():
+        debug_print(f"⚠️ 质量输入为空，返回0.0g")
+        return 0.0
+
+    mass_str = str(mass_input).lower().strip()
+    debug_print(f"🔍 解析质量输入: '{mass_str}'")
+
+    # 移除空格并提取数字和单位
+    mass_clean = re.sub(r'\s+', '', mass_str)
+
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(g|mg|kg|gram|milligram|kilogram)?', mass_clean)
+
+    if not match:
+        debug_print(f"❌ 无法解析质量: '{mass_str}'，返回0.0g")
+        return 0.0
+
+    value = float(match.group(1))
+    unit = match.group(2) or 'g'  # 默认单位为克
+
+    # 转换为克
+    if unit in ['mg', 'milligram']:
+        mass = value / 1000.0  # mg -> g
+        debug_print(f"🔄 质量转换: {value}mg → {mass}g")
+    elif unit in ['kg', 'kilogram']:
+        mass = value * 1000.0  # kg -> g
+        debug_print(f"🔄 质量转换: {value}kg → {mass}g")
+    else:  # g, gram 或默认
+        mass = value  # 已经是g
+        debug_print(f"✅ 质量已为g: {mass}g")
+
+    return mass
+
+
+def parse_time_input(time_input: Union[str, float]) -> float:
+    """
+    解析时间输入，支持带单位的字符串
+
+    Args:
+        time_input: 时间输入（如 "1 h", "20 min", "30 s", 60.0）
+
+    Returns:
+        float: 时间（秒）
+    """
+    if isinstance(time_input, (int, float)):
+        debug_print(f"⏱️ 时间输入为数值: {time_input}秒")
+        return float(time_input)
+
+    if not time_input or not str(time_input).strip():
+        debug_print(f"⚠️ 时间输入为空，返回0秒")
+        return 0.0
+
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间输入: '{time_str}'")
+
+    # 处理未知时间
+    if time_str in ['?', 'unknown', 'tbd']:
+        default_time = 60.0  # 默认1分钟
+        debug_print(f"❓ 检测到未知时间，使用默认值: {default_time}s (1分钟) ⏰")
+        return default_time
+
+    # 移除空格并提取数字和单位
+    time_clean = re.sub(r'\s+', '', time_str)
+
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(s|sec|second|min|minute|h|hr|hour|d|day)?', time_clean)
+
+    if not match:
+        debug_print(f"❌ 无法解析时间: '{time_str}'，返回0s")
+        return 0.0
+
+    value = float(match.group(1))
+    unit = match.group(2) or 's'  # 默认单位为秒
+
+    # 转换为秒
+    if unit in ['m', 'min', 'minute', 'mins', 'minutes']:
+        time_sec = value * 60.0  # min -> s
+        debug_print(f"🔄 时间转换: {value}分钟 → {time_sec}秒")
+    elif unit in ['h', 'hr', 'hour', 'hrs', 'hours']:
+        time_sec = value * 3600.0  # h -> s
+        debug_print(f"🔄 时间转换: {value}小时 → {time_sec}秒")
+    elif unit in ['d', 'day', 'days']:
+        time_sec = value * 86400.0  # d -> s
+        debug_print(f"🔄 时间转换: {value}天 → {time_sec}秒")
+    else:  # s, sec, second 或默认
+        time_sec = value  # 已经是s
+        debug_print(f"✅ 时间已为秒: {time_sec}秒")
+
+    return time_sec
+
+# 测试函数
+def test_unit_parser():
+    """测试单位解析功能"""
+    print("=== 单位解析器测试 ===")
+    
+    # 测试时间解析
+    time_tests = [
+        "30 min", "1 h", "300", "5.5 h", "?", 60.0, "2 hours", "30 s"
+    ]
+    
+    print("\n时间解析测试:")
+    for time_input in time_tests:
+        result = parse_time_input(time_input)
+        print(f"  {time_input} → {result}s ({result/60:.1f}min)")
+    
+    # 测试体积解析
+    volume_tests = [
+        "100 mL", "2.5 L", "500", "?", 100.0, "500 μL", "1 liter"
+    ]
+    
+    print("\n体积解析测试:")
+    for volume_input in volume_tests:
+        result = parse_volume_input(volume_input)
+        print(f"  {volume_input} → {result}mL")
+    
+    print("\n✅ 测试完成")
+
+if __name__ == "__main__":
+    test_unit_parser()

unilabos/compile/utils/vessel_parser.py

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

unilabos/compile/wash_solid_protocol.py

@@ -1,216 +1,548 @@
-from typing import List, Dict, Any
+from typing import List, Dict, Any, Union
 import networkx as nx
+import logging
+import re
+
+from .utils.unit_parser import parse_time_input, parse_volume_input
+
+logger = logging.getLogger(__name__)
+
+def debug_print(message):
+    """调试输出"""
+    logger.info(f"[WASH_SOLID] {message}")
+
+
+def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
+    """查找溶剂源（精简版）"""
+    debug_print(f"🔍 查找溶剂源: {solvent}")
+    
+    # 简化搜索列表
+    search_patterns = [
+        f"flask_{solvent}", f"bottle_{solvent}", f"reagent_{solvent}",
+        "liquid_reagent_bottle_1", "flask_1", "solvent_bottle"
+    ]
+    
+    for pattern in search_patterns:
+        if pattern in G.nodes():
+            debug_print(f"🎉 找到溶剂源: {pattern}")
+            return pattern
+    
+    debug_print(f"⚠️ 使用默认溶剂源: flask_{solvent}")
+    return f"flask_{solvent}"
+
+def find_filtrate_vessel(G: nx.DiGraph, filtrate_vessel: str = "") -> str:
+    """查找滤液容器（精简版）"""
+    debug_print(f"🔍 查找滤液容器: {filtrate_vessel}")
+    
+    # 如果指定了且存在，直接使用
+    if filtrate_vessel and filtrate_vessel in G.nodes():
+        debug_print(f"✅ 使用指定容器: {filtrate_vessel}")
+        return filtrate_vessel
+    
+    # 简化搜索列表
+    default_vessels = ["waste_workup", "filtrate_vessel", "flask_1", "collection_bottle_1"]
+    
+    for vessel in default_vessels:
+        if vessel in G.nodes():
+            debug_print(f"🎉 找到滤液容器: {vessel}")
+            return vessel
+    
+    debug_print(f"⚠️ 使用默认滤液容器: waste_workup")
+    return "waste_workup"
+
+def extract_vessel_id(vessel: Union[str, dict]) -> str:
+    """
+    从vessel参数中提取vessel_id
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: vessel_id
+    """
+    if isinstance(vessel, dict):
+        vessel_id = list(vessel.values())[0].get("id", "")
+        debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
+        return vessel_id
+    elif isinstance(vessel, str):
+        debug_print(f"🔧 vessel参数为字符串: {vessel}")
+        return vessel
+    else:
+        debug_print(f"⚠️ 无效的vessel参数类型: {type(vessel)}")
+        return ""
+
+def get_vessel_display_info(vessel: Union[str, dict]) -> str:
+    """
+    获取容器的显示信息（用于日志）
+    
+    Args:
+        vessel: vessel字典或vessel_id字符串
+        
+    Returns:
+        str: 显示信息
+    """
+    if isinstance(vessel, dict):
+        vessel_id = vessel.get("id", "unknown")
+        vessel_name = vessel.get("name", "")
+        if vessel_name:
+            return f"{vessel_id} ({vessel_name})"
+        else:
+            return vessel_id
+    else:
+        return str(vessel)
+
+def get_vessel_liquid_volume(vessel: dict) -> float:
+    """
+    获取容器中的液体体积 - 支持vessel字典
+    
+    Args:
+        vessel: 容器字典
+        
+    Returns:
+        float: 液体体积（mL）
+    """
+    if not vessel or "data" not in vessel:
+        debug_print(f"⚠️ 容器数据为空，返回 0.0mL")
+        return 0.0
+    
+    vessel_data = vessel["data"]
+    vessel_id = vessel.get("id", "unknown")
+    
+    debug_print(f"🔍 读取容器 '{vessel_id}' 体积数据: {vessel_data}")
+    
+    # 检查liquid_volume字段
+    if "liquid_volume" in vessel_data:
+        liquid_volume = vessel_data["liquid_volume"]
+        
+        # 处理列表格式
+        if isinstance(liquid_volume, list):
+            if len(liquid_volume) > 0:
+                volume = liquid_volume[0]
+                if isinstance(volume, (int, float)):
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (列表格式)")
+                    return float(volume)
+        
+        # 处理直接数值格式
+        elif isinstance(liquid_volume, (int, float)):
+            debug_print(f"✅ 容器 '{vessel_id}' 体积: {liquid_volume}mL (数值格式)")
+            return float(liquid_volume)
+    
+    # 检查其他可能的体积字段
+    volume_keys = ['current_volume', 'total_volume', 'volume']
+    for key in volume_keys:
+        if key in vessel_data:
+            try:
+                volume = float(vessel_data[key])
+                if volume > 0:
+                    debug_print(f"✅ 容器 '{vessel_id}' 体积: {volume}mL (字段: {key})")
+                    return volume
+            except (ValueError, TypeError):
+                continue
+    
+    debug_print(f"⚠️ 无法获取容器 '{vessel_id}' 的体积，返回默认值 0.0mL")
+    return 0.0
+
+def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, description: str = "") -> None:
+    """
+    更新容器体积（同时更新vessel字典和图节点）
+    
+    Args:
+        vessel: 容器字典
+        G: 网络图
+        new_volume: 新体积
+        description: 更新描述
+    """
+    vessel_id = vessel.get("id", "unknown")
+    
+    if description:
+        debug_print(f"🔧 更新容器体积 - {description}")
+    
+    # 更新vessel字典中的体积
+    if "data" in vessel:
+        if "liquid_volume" in vessel["data"]:
+            current_volume = vessel["data"]["liquid_volume"]
+            if isinstance(current_volume, list):
+                if len(current_volume) > 0:
+                    vessel["data"]["liquid_volume"][0] = new_volume
+                else:
+                    vessel["data"]["liquid_volume"] = [new_volume]
+            else:
+                vessel["data"]["liquid_volume"] = new_volume
+        else:
+            vessel["data"]["liquid_volume"] = new_volume
+    else:
+        vessel["data"] = {"liquid_volume": new_volume}
+    
+    # 同时更新图中的容器数据
+    if vessel_id in G.nodes():
+        if 'data' not in G.nodes[vessel_id]:
+            G.nodes[vessel_id]['data'] = {}
+        
+        vessel_node_data = G.nodes[vessel_id]['data']
+        current_node_volume = vessel_node_data.get('liquid_volume', 0.0)
+        
+        if isinstance(current_node_volume, list):
+            if len(current_node_volume) > 0:
+                G.nodes[vessel_id]['data']['liquid_volume'][0] = new_volume
+            else:
+                G.nodes[vessel_id]['data']['liquid_volume'] = [new_volume]
+        else:
+            G.nodes[vessel_id]['data']['liquid_volume'] = new_volume
+    
+    debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
 
 def generate_wash_solid_protocol(
     G: nx.DiGraph,
-    vessel: str,
+    vessel: Union[str, dict],  # 🔧 修改：支持vessel字典
     solvent: str,
-    volume: float,
-    filtrate_vessel: str = "",
+    volume: Union[float, str] = "50",
+    filtrate_vessel: Union[str, dict] = "",  # 🔧 修改：支持vessel字典
     temp: float = 25.0,
     stir: bool = False,
     stir_speed: float = 0.0,
-    time: float = 0.0,
-    repeats: int = 1
+    time: Union[str, float] = "0",
+    repeats: int = 1,
+    volume_spec: str = "",
+    repeats_spec: str = "",
+    mass: str = "",
+    event: str = "",
+    **kwargs
 ) -> List[Dict[str, Any]]:
     """
-    生成固体清洗的协议序列
+    生成固体清洗协议 - 支持vessel字典和体积运算
     
     Args:
-        G: 有向图，节点为设备和容器
-        vessel: 装有固体物质的容器名称
-        solvent: 用于清洗固体的溶剂名称
-        volume: 清洗溶剂的体积
-        filtrate_vessel: 滤液要收集到的容器名称，可选参数
-        temp: 清洗时的温度，可选参数
-        stir: 是否在清洗过程中搅拌，默认为 False
-        stir_speed: 搅拌速度，可选参数
-        time: 清洗的时间，可选参数
-        repeats: 清洗操作的重复次数，默认为 1
+        G: 有向图，节点为设备和容器，边为流体管道
+        vessel: 清洗容器字典（从XDL传入）或容器ID字符串
+        solvent: 清洗溶剂名称
+        volume: 溶剂体积（每次清洗）
+        filtrate_vessel: 滤液收集容器字典或容器ID字符串
+        temp: 清洗温度（°C）
+        stir: 是否搅拌
+        stir_speed: 搅拌速度（RPM）
+        time: 搅拌时间
+        repeats: 清洗重复次数
+        volume_spec: 体积规格（small/medium/large）
+        repeats_spec: 重复次数规格（few/several/many）
+        mass: 固体质量（用于计算溶剂用量）
+        event: 事件描述
+        **kwargs: 其他可选参数
     
     Returns:
         List[Dict[str, Any]]: 固体清洗操作的动作序列
-    
-    Raises:
-        ValueError: 当找不到必要的设备时抛出异常
-    
-    Examples:
-        wash_solid_protocol = generate_wash_solid_protocol(
-            G, "reactor", "ethanol", 100.0, "waste_flask", 60.0, True, 300.0, 600.0, 3
-        )
     """
+    
+    # 🔧 核心修改：从vessel参数中提取vessel_id
+    vessel_id = extract_vessel_id(vessel)
+    vessel_display = get_vessel_display_info(vessel)
+    
+    # 🔧 处理filtrate_vessel参数
+    filtrate_vessel_id = extract_vessel_id(filtrate_vessel) if filtrate_vessel else ""
+    
+    debug_print("🧼" * 20)
+    debug_print("🚀 开始生成固体清洗协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel_display} (ID: {vessel_id})")
+    debug_print(f"  🧪 solvent: {solvent}")
+    debug_print(f"  💧 volume: {volume}")
+    debug_print(f"  🗑️ filtrate_vessel: {filtrate_vessel_id}")
+    debug_print(f"  ⏰ time: {time}")
+    debug_print(f"  🔄 repeats: {repeats}")
+    debug_print("🧼" * 20)
+    
+    # 🔧 新增：记录清洗前的容器状态
+    debug_print("🔍 记录清洗前容器状态...")
+    if isinstance(vessel, dict):
+        original_volume = get_vessel_liquid_volume(vessel)
+        debug_print(f"📊 清洗前液体体积: {original_volume:.2f}mL")
+    else:
+        original_volume = 0.0
+        debug_print(f"📊 vessel为字符串格式，无法获取体积信息")
+    
+    # 📋 快速验证
+    if not vessel_id or vessel_id not in G.nodes():  # 🔧 使用 vessel_id
+        debug_print("❌ 容器验证失败! 😱")
+        raise ValueError("vessel 参数无效")
+    
+    if not solvent:
+        debug_print("❌ 溶剂不能为空! 😱")
+        raise ValueError("solvent 参数不能为空")
+    
+    debug_print("✅ 基础验证通过 🎯")
+    
+    # 🔄 参数解析
+    debug_print("📍 步骤1: 参数解析... ⚡")
+    final_volume = parse_volume_input(volume, volume_spec, mass)
+    final_time = parse_time_input(time)
+    
+    # 重复次数处理（简化）
+    if repeats_spec:
+        spec_map = {'few': 2, 'several': 3, 'many': 4, 'thorough': 5}
+        final_repeats = next((v for k, v in spec_map.items() if k in repeats_spec.lower()), repeats)
+    else:
+        final_repeats = max(1, min(repeats, 5))  # 限制1-5次
+    
+    # 🕐 模拟时间优化
+    debug_print("  ⏱️ 模拟时间优化...")
+    original_time = final_time
+    if final_time > 60.0:
+        final_time = 60.0  # 限制最长60秒
+        debug_print(f"  🎮 时间优化: {original_time}s → {final_time}s ⚡")
+    
+    # 参数修正
+    temp = max(25.0, min(temp, 80.0))  # 温度范围25-80°C
+    stir_speed = max(0.0, min(stir_speed, 300.0)) if stir else 0.0  # 速度范围0-300
+    
+    debug_print(f"🎯 最终参数: 体积={final_volume}mL, 时间={final_time}s, 重复={final_repeats}次")
+    
+    # 🔍 查找设备
+    debug_print("📍 步骤2: 查找设备... 🔍")
+    try:
+        solvent_source = find_solvent_source(G, solvent)
+        actual_filtrate_vessel = find_filtrate_vessel(G, filtrate_vessel_id)
+        debug_print(f"🎉 设备配置完成 ✨")
+        debug_print(f"  🧪 溶剂源: {solvent_source}")
+        debug_print(f"  🗑️ 滤液容器: {actual_filtrate_vessel}")
+    except Exception as e:
+        debug_print(f"❌ 设备查找失败: {str(e)} 😭")
+        raise ValueError(f"设备查找失败: {str(e)}")
+    
+    # 🚀 生成动作序列
+    debug_print("📍 步骤3: 生成清洗动作... 🧼")
     action_sequence = []
     
-    # 验证容器是否存在
-    if vessel not in G.nodes():
-        raise ValueError(f"固体容器 {vessel} 不存在于图中")
+    # 🔧 新增：体积变化跟踪变量
+    current_volume = original_volume
+    total_solvent_used = 0.0
     
-    if filtrate_vessel and filtrate_vessel not in G.nodes():
-        raise ValueError(f"滤液容器 {filtrate_vessel} 不存在于图中")
-    
-    # 查找转移泵设备（用于添加溶剂和转移滤液）
-    pump_nodes = [node for node in G.nodes() 
-                  if G.nodes[node].get('class') == 'virtual_transfer_pump']
-    
-    if not pump_nodes:
-        raise ValueError("没有找到可用的转移泵设备")
-    
-    pump_id = pump_nodes[0]
-    
-    # 查找加热设备（如果需要加热）
-    heatchill_nodes = [node for node in G.nodes() 
-                      if G.nodes[node].get('class') == 'virtual_heatchill']
-    
-    heatchill_id = heatchill_nodes[0] if heatchill_nodes else None
-    
-    # 查找搅拌设备（如果需要搅拌）
-    stirrer_nodes = [node for node in G.nodes() 
-                    if G.nodes[node].get('class') == 'virtual_stirrer']
-    
-    stirrer_id = stirrer_nodes[0] if stirrer_nodes else None
-    
-    # 查找过滤设备（用于分离固体和滤液）
-    filter_nodes = [node for node in G.nodes() 
-                   if G.nodes[node].get('class') == 'virtual_filter']
-    
-    filter_id = filter_nodes[0] if filter_nodes else None
-    
-    # 查找溶剂容器
-    solvent_vessel = f"flask_{solvent}"
-    if solvent_vessel not in G.nodes():
-        # 如果没有找到特定溶剂容器，查找可用的源容器
-        available_vessels = [node for node in G.nodes() 
-                           if node.startswith('flask_') and 
-                           G.nodes[node].get('type') == 'container']
-        if available_vessels:
-            solvent_vessel = available_vessels[0]
-        else:
-            raise ValueError(f"没有找到溶剂容器 {solvent}")
-    
-    # 如果没有指定滤液容器，使用废液容器
-    if not filtrate_vessel:
-        waste_vessels = [node for node in G.nodes() 
-                        if 'waste' in node.lower() and 
-                        G.nodes[node].get('type') == 'container']
-        filtrate_vessel = waste_vessels[0] if waste_vessels else "waste_flask"
-    
-    # 重复清洗操作
-    for repeat in range(repeats):
-        repeat_num = repeat + 1
+    for cycle in range(final_repeats):
+        debug_print(f"  🔄 第{cycle+1}/{final_repeats}次清洗...")
         
-        # 步骤1：如果需要加热，先设置温度
-        if temp > 25.0 and heatchill_id:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_start",
+        # 1. 转移溶剂
+        try:
+            from .pump_protocol import generate_pump_protocol_with_rinsing
+            
+            debug_print(f"    💧 添加溶剂: {final_volume}mL {solvent}")
+            transfer_actions = generate_pump_protocol_with_rinsing(
+                G=G,
+                from_vessel=solvent_source,
+                to_vessel=vessel_id,  # 🔧 使用 vessel_id
+                volume=final_volume,
+                amount="",
+                time=0.0,
+                viscous=False,
+                rinsing_solvent="",
+                rinsing_volume=0.0,
+                rinsing_repeats=0,
+                solid=False,
+                flowrate=2.5,
+                transfer_flowrate=0.5
+            )
+            
+            if transfer_actions:
+                action_sequence.extend(transfer_actions)
+                debug_print(f"    ✅ 转移动作: {len(transfer_actions)}个 🚚")
+                
+                # 🔧 新增：更新体积 - 添加溶剂后
+                current_volume += final_volume
+                total_solvent_used += final_volume
+                
+                if isinstance(vessel, dict):
+                    update_vessel_volume(vessel, G, current_volume, 
+                                       f"第{cycle+1}次清洗添加{final_volume}mL溶剂后")
+            
+        except Exception as e:
+            debug_print(f"    ❌ 转移失败: {str(e)} 😞")
+        
+        # 2. 搅拌（如果需要）
+        if stir and final_time > 0:
+            debug_print(f"    🌪️ 搅拌: {final_time}s @ {stir_speed}RPM")
+            stir_action = {
+                "device_id": "stirrer_1",
+                "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": vessel,
-                    "temp": temp,
-                    "purpose": f"固体清洗 - 第 {repeat_num} 次"
+                    "vessel": vessel_id,  # 🔧 使用 vessel_id
+                    "time": str(time),
+                    "stir_time": final_time,
+                    "stir_speed": stir_speed,
+                    "settling_time": 10.0  # 🕐 缩短沉降时间
                 }
-            })
-        
-        # 步骤2：添加清洗溶剂到固体容器
-        action_sequence.append({
-            "device_id": pump_id,
-            "action_name": "transfer",
-            "action_kwargs": {
-                "from_vessel": solvent_vessel,
-                "to_vessel": vessel,
-                "volume": volume,
-                "amount": f"清洗溶剂 {solvent} - 第 {repeat_num} 次",
-                "time": 0.0,
-                "viscous": False,
-                "rinsing_solvent": "",
-                "rinsing_volume": 0.0,
-                "rinsing_repeats": 0,
-                "solid": False
             }
+            action_sequence.append(stir_action)
+            debug_print(f"    ✅ 搅拌动作: {final_time}s, {stir_speed}RPM 🌪️")
+        
+        # 3. 过滤
+        debug_print(f"    🌊 过滤到: {actual_filtrate_vessel}")
+        filter_action = {
+            "device_id": "filter_1",
+            "action_name": "filter",
+            "action_kwargs": {
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
+                "filtrate_vessel": actual_filtrate_vessel,
+                "temp": temp,
+                "volume": final_volume
+            }
+        }
+        action_sequence.append(filter_action)
+        debug_print(f"    ✅ 过滤动作: → {actual_filtrate_vessel} 🌊")
+        
+        # 🔧 新增：更新体积 - 过滤后（液体被滤除）
+        # 假设滤液完全被移除，固体残留在容器中
+        filtered_volume = current_volume * 0.9  # 假设90%的液体被过滤掉
+        current_volume = current_volume - filtered_volume
+        
+        if isinstance(vessel, dict):
+            update_vessel_volume(vessel, G, current_volume, 
+                               f"第{cycle+1}次清洗过滤后")
+        
+        # 4. 等待（缩短时间）
+        wait_time = 5.0  # 🕐 缩短等待时间：10s → 5s
+        action_sequence.append({
+            "action_name": "wait",
+            "action_kwargs": {"time": wait_time}
         })
-        
-        # 步骤3：如果需要搅拌，开始搅拌
-        if stir and stir_speed > 0 and stirrer_id:
-            if time > 0:
-                # 定时搅拌
-                action_sequence.append({
-                    "device_id": stirrer_id,
-                    "action_name": "stir",
-                    "action_kwargs": {
-                        "stir_time": time,
-                        "stir_speed": stir_speed,
-                        "settling_time": 30.0  # 搅拌后静置30秒
-                    }
-                })
-            else:
-                # 开始搅拌（需要手动停止）
-                action_sequence.append({
-                    "device_id": stirrer_id,
-                    "action_name": "start_stir",
-                    "action_kwargs": {
-                        "vessel": vessel,
-                        "stir_speed": stir_speed,
-                        "purpose": f"固体清洗搅拌 - 第 {repeat_num} 次"
-                    }
-                })
-        
-        # 步骤4：如果指定了清洗时间但没有搅拌，等待清洗时间
-        if time > 0 and (not stir or stir_speed == 0):
-            # 这里可以添加等待操作，暂时跳过
-            pass
-        
-        # 步骤5：如果有搅拌且没有定时，停止搅拌
-        if stir and stir_speed > 0 and time == 0 and stirrer_id:
-            action_sequence.append({
-                "device_id": stirrer_id,
-                "action_name": "stop_stir",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
-        
-        # 步骤6：过滤分离固体和滤液
-        if filter_id:
-            action_sequence.append({
-                "device_id": filter_id,
-                "action_name": "filter_sample",
-                "action_kwargs": {
-                    "vessel": vessel,
-                    "filtrate_vessel": filtrate_vessel,
-                    "stir": False,
-                    "stir_speed": 0.0,
-                    "temp": temp,
-                    "continue_heatchill": temp > 25.0,
-                    "volume": volume
-                }
-            })
-        else:
-            # 没有专门的过滤设备，使用转移泵模拟过滤过程
-            # 将滤液转移到滤液容器
-            action_sequence.append({
-                "device_id": pump_id,
-                "action_name": "transfer",
-                "action_kwargs": {
-                    "from_vessel": vessel,
-                    "to_vessel": filtrate_vessel,
-                    "volume": volume,
-                    "amount": f"转移滤液 - 第 {repeat_num} 次清洗",
-                    "time": 0.0,
-                    "viscous": False,
-                    "rinsing_solvent": "",
-                    "rinsing_volume": 0.0,
-                    "rinsing_repeats": 0,
-                    "solid": False
-                }
-            })
-        
-        # 步骤7：如果加热了，停止加热（在最后一次清洗后）
-        if temp > 25.0 and heatchill_id and repeat_num == repeats:
-            action_sequence.append({
-                "device_id": heatchill_id,
-                "action_name": "heat_chill_stop",
-                "action_kwargs": {
-                    "vessel": vessel
-                }
-            })
+        debug_print(f"    ✅ 等待: {wait_time}s ⏰")
     
-    return action_sequence
+    # 🔧 新增：清洗完成后的最终状态报告
+    if isinstance(vessel, dict):
+        final_volume_vessel = get_vessel_liquid_volume(vessel)
+    else:
+        final_volume_vessel = current_volume
+    
+    # 🎊 总结
+    debug_print("🧼" * 20)
+    debug_print(f"🎉 固体清洗协议生成完成! ✨")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)} 个")
+    debug_print(f"  🥽 清洗容器: {vessel_display}")
+    debug_print(f"  🧪 使用溶剂: {solvent}")
+    debug_print(f"  💧 单次体积: {final_volume}mL")
+    debug_print(f"  🔄 清洗次数: {final_repeats}次")
+    debug_print(f"  💧 总溶剂用量: {total_solvent_used:.2f}mL")
+    debug_print(f"📊 体积变化统计:")
+    debug_print(f"  - 清洗前体积: {original_volume:.2f}mL")
+    debug_print(f"  - 清洗后体积: {final_volume_vessel:.2f}mL")
+    debug_print(f"  - 溶剂总用量: {total_solvent_used:.2f}mL")
+    debug_print(f"⏱️ 预计总时间: {(final_time + 5) * final_repeats / 60:.1f} 分钟")
+    debug_print("🧼" * 20)
+    
+    return action_sequence
+
+# 🔧 新增：便捷函数
+def wash_with_water(G: nx.DiGraph, vessel: Union[str, dict], 
+                   volume: Union[float, str] = "50", 
+                   repeats: int = 2) -> List[Dict[str, Any]]:
+    """用水清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💧 水洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, "water", volume=volume, repeats=repeats)
+
+def wash_with_ethanol(G: nx.DiGraph, vessel: Union[str, dict], 
+                     volume: Union[float, str] = "30", 
+                     repeats: int = 1) -> List[Dict[str, Any]]:
+    """用乙醇清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🍺 乙醇洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, "ethanol", volume=volume, repeats=repeats)
+
+def wash_with_acetone(G: nx.DiGraph, vessel: Union[str, dict], 
+                     volume: Union[float, str] = "25", 
+                     repeats: int = 1) -> List[Dict[str, Any]]:
+    """用丙酮清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"💨 丙酮洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, "acetone", volume=volume, repeats=repeats)
+
+def wash_with_ether(G: nx.DiGraph, vessel: Union[str, dict], 
+                   volume: Union[float, str] = "40", 
+                   repeats: int = 2) -> List[Dict[str, Any]]:
+    """用乙醚清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🌬️ 乙醚洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, "diethyl_ether", volume=volume, repeats=repeats)
+
+def wash_with_cold_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
+                          solvent: str, volume: Union[float, str] = "30", 
+                          repeats: int = 1) -> List[Dict[str, Any]]:
+    """用冷溶剂清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"❄️ 冷{solvent}洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+                                      temp=5.0, repeats=repeats)
+
+def wash_with_hot_solvent(G: nx.DiGraph, vessel: Union[str, dict], 
+                         solvent: str, volume: Union[float, str] = "50", 
+                         repeats: int = 1) -> List[Dict[str, Any]]:
+    """用热溶剂清洗固体"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🔥 热{solvent}洗固体: {vessel_display} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+                                      temp=60.0, repeats=repeats)
+
+def wash_with_stirring(G: nx.DiGraph, vessel: Union[str, dict], 
+                      solvent: str, volume: Union[float, str] = "50", 
+                      stir_time: Union[str, float] = "5 min", 
+                      repeats: int = 1) -> List[Dict[str, Any]]:
+    """带搅拌的溶剂清洗"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🌪️ 搅拌清洗: {vessel_display} with {solvent} ({repeats} 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, 
+                                      stir=True, stir_speed=200.0, 
+                                      time=stir_time, repeats=repeats)
+
+def thorough_wash(G: nx.DiGraph, vessel: Union[str, dict], 
+                 solvent: str, volume: Union[float, str] = "50") -> List[Dict[str, Any]]:
+    """彻底清洗（多次重复）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"🔄 彻底清洗: {vessel_display} with {solvent} (5 次)")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=5)
+
+def quick_rinse(G: nx.DiGraph, vessel: Union[str, dict], 
+               solvent: str, volume: Union[float, str] = "20") -> List[Dict[str, Any]]:
+    """快速冲洗（单次，小体积）"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"⚡ 快速冲洗: {vessel_display} with {solvent}")
+    return generate_wash_solid_protocol(G, vessel, solvent, volume=volume, repeats=1)
+
+def sequential_wash(G: nx.DiGraph, vessel: Union[str, dict], 
+                   solvents: list, volume: Union[float, str] = "40") -> List[Dict[str, Any]]:
+    """连续多溶剂清洗"""
+    vessel_display = get_vessel_display_info(vessel)
+    debug_print(f"📝 连续清洗: {vessel_display} with {' → '.join(solvents)}")
+    
+    action_sequence = []
+    for solvent in solvents:
+        wash_actions = generate_wash_solid_protocol(G, vessel, solvent, 
+                                                   volume=volume, repeats=1)
+        action_sequence.extend(wash_actions)
+    
+    return action_sequence
+
+# 测试函数
+def test_wash_solid_protocol():
+    """测试固体清洗协议"""
+    debug_print("🧪 === WASH SOLID PROTOCOL 测试 === ✨")
+    
+    # 测试vessel参数处理
+    debug_print("🔧 测试vessel参数处理...")
+    
+    # 测试字典格式
+    vessel_dict = {"id": "filter_flask_1", "name": "过滤瓶1", 
+                  "data": {"liquid_volume": 25.0}}
+    vessel_id = extract_vessel_id(vessel_dict)
+    vessel_display = get_vessel_display_info(vessel_dict)
+    volume = get_vessel_liquid_volume(vessel_dict)
+    debug_print(f"  字典格式: {vessel_dict}")
+    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}, 体积: {volume}mL")
+    
+    # 测试字符串格式
+    vessel_str = "filter_flask_2"
+    vessel_id = extract_vessel_id(vessel_str)
+    vessel_display = get_vessel_display_info(vessel_str)
+    debug_print(f"  字符串格式: {vessel_str}")
+    debug_print(f"    → ID: {vessel_id}, 显示: {vessel_display}")
+    
+    debug_print("✅ 测试完成 🎉")
+
+if __name__ == "__main__":
+    test_wash_solid_protocol()

unilabos/config/config.py

@@ -1,39 +1,38 @@
-#!/usr/bin/env python
-# coding=utf-8
-# 定义配置变量和加载函数
+import base64
 import traceback
 import os
 import importlib.util
+from typing import Optional
 from unilabos.utils import logger
 
 
 class BasicConfig:
-    ENV = "pro"  # 'test'
+    ak = ""
+    sk = ""
+    working_dir = ""
     config_path = ""
     is_host_mode = True
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
+    enable_resource_load = True
+    communication_protocol = "websocket"
+
+    @classmethod
+    def auth_secret(cls):
+        if not cls.ak or not cls.sk:
+            return ""
+        target = f"{cls.ak}:{cls.sk}"
+        base64_target = base64.b64encode(target.encode("utf-8")).decode("utf-8")
+        return base64_target
 
 
-# MQTT配置
-class MQConfig:
-    lab_id = ""
-    instance_id = ""
-    access_key = ""
-    secret_key = ""
-    group_id = ""
-    broker_url = ""
-    port = 1883
-    ca_content = ""
-    cert_content = ""
-    key_content = ""
-
-    # 指定
-    ca_file = ""  # 相对config.py所在目录的路径
-    cert_file = ""  # 相对config.py所在目录的路径
-    key_file = ""  # 相对config.py所在目录的路径
+# WebSocket配置
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）
 
 
 # OSS上传配置
@@ -70,47 +69,15 @@ def _update_config_from_module(module):
                 for attr in dir(getattr(module, name)):
                     if not attr.startswith("_"):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
-    # 更新OSS认证
-    if len(OSSUploadConfig.authorization) == 0:
-        OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
-    # 对 ca_file cert_file key_file 进行初始化
-    if len(MQConfig.ca_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.ca_file.startswith("."):
-            MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
-                MQConfig.ca_content = f.read()
-        else:
-            logger.warning("Skipping CA file loading, ca_file is empty")
-    if len(MQConfig.cert_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.cert_file.startswith("."):
-            MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
-                MQConfig.cert_content = f.read()
-        else:
-            logger.warning("Skipping cert file loading, cert_file is empty")
-    if len(MQConfig.key_content) == 0:
-        # 需要先判断是否为相对路径
-        if MQConfig.key_file.startswith("."):
-            MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
-        if len(MQConfig.ca_file) != 0:
-            with open(MQConfig.key_file, "r", encoding="utf-8") as f:
-                MQConfig.key_content = f.read()
-        else:
-            logger.warning("Skipping key file loading, key_file is empty")
-
 
 def _update_config_from_env():
-    prefix = "UNILABOS."
+    prefix = "UNILABOS_"
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
             key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
-            class_field = key_path.upper().split(".", 1)
+            class_field = key_path.upper().split("_", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
                 continue
@@ -154,16 +121,15 @@ def _update_config_from_env():
             logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
 
 
-
 def load_config(config_path=None):
     # 如果提供了配置文件路径，从该文件导入配置
     if config_path:
-        _update_config_from_env()  # 允许config_path被env设定后读取
+        env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
+        config_path = env_config_path if env_config_path else config_path
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
             logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
-
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
@@ -174,6 +140,7 @@ def load_config(config_path=None):
             spec.loader.exec_module(module)  # type: ignore
             _update_config_from_module(module)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
+            _update_config_from_env()
         except Exception as e:
             logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()

unilabos/config/example_config.py

@@ -0,0 +1,12 @@
+# unilabos的配置文件
+
+class BasicConfig:
+    ak = ""  # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
+    sk = ""  # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
+
+
+# WebSocket配置，一般无需调整
+class WSConfig:
+    reconnect_interval = 5  # 重连间隔（秒）
+    max_reconnect_attempts = 999  # 最大重连次数
+    ping_interval = 30  # ping间隔（秒）

unilabos/controllers/__init__.py

@@ -1 +0,0 @@
-from .eis_model import EISModelBasedController

unilabos/controllers/eis_model.py

@@ -1,5 +0,0 @@
-import numpy as np
-
-
-def EISModelBasedController(eis: np.array) -> float:
-    return 0.0

unilabos/device_mesh/devices/benyao_arm/config/initial_positions.yaml

@@ -1,9 +0,0 @@
-# Default initial positions for full_dev's ros2_control fake system
-
-initial_positions:
-  arm_base_joint: 0
-  arm_link_1_joint: 0
-  arm_link_2_joint: 0
-  arm_link_3_joint: 0
-  gripper_base_joint: 0
-  gripper_right_joint: 0.03

unilabos/device_mesh/devices/benyao_arm/config/joint_limits.yaml

@@ -1,40 +0,0 @@
-# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
-
-# For beginners, we downscale velocity and acceleration limits.
-# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
-default_velocity_scaling_factor: 0.1
-default_acceleration_scaling_factor: 0.1
-
-# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
-# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
-joint_limits:
-  arm_base_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  arm_link_1_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  arm_link_2_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  arm_link_3_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_base_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_right_joint:
-    has_velocity_limits: true
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0

unilabos/device_mesh/devices/benyao_arm/config/kinematics.yaml

@@ -1,4 +0,0 @@
-arm:
-  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
-  kinematics_solver_search_resolution: 0.0050000000000000001
-  kinematics_solver_timeout: 0.0050000000000000001

unilabos/device_mesh/devices/benyao_arm/config/macro.ros2_control.xacro

@@ -1,56 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_ros2_control" params="device_name mesh_path">
-        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/benyao_arm/config/initial_positions.yaml')['initial_positions']}"/>
-
-        <ros2_control name="${device_name}benyao_arm" type="system">
-            <hardware>
-                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
-                <plugin>mock_components/GenericSystem</plugin>
-            </hardware>
-            <joint name="${device_name}arm_base_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="${device_name}arm_link_1_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="${device_name}arm_link_2_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="${device_name}arm_link_3_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="${device_name}gripper_base_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-            <joint name="${device_name}gripper_right_joint">
-                <command_interface name="position"/>
-                <state_interface name="position">
-                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
-                </state_interface>
-                <state_interface name="velocity"/>
-            </joint>
-
-        </ros2_control>
-    </xacro:macro>
-</robot>

unilabos/device_mesh/devices/benyao_arm/config/macro.srdf.xacro

@@ -1,46 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!--This does not replace URDF, and is not an extension of URDF.
-    This is a format for representing semantic information about the robot structure.
-    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:macro name="benyao_arm_srdf" params="device_name">
-        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
-        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
-        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
-        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
-        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-        <group name="${device_name}arm">
-            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
-        </group>
-        <group name="${device_name}arm_gripper">
-            <joint name="${device_name}gripper_right_joint"/>
-        </group>
-        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
-        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
-        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
-        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
-    </xacro:macro>
-</robot>

unilabos/device_mesh/devices/benyao_arm/config/move_group.json

@@ -1,14 +0,0 @@
-{
-    "arm":
-    {
-        "joint_names": [ 
-            "arm_base_joint",
-            "arm_link_1_joint",
-            "arm_link_2_joint",
-            "arm_link_3_joint",
-            "gripper_base_joint"
-            ],
-        "base_link_name": "device_link",
-        "end_effector_name": "gripper_base"
-    }
-}

unilabos/device_mesh/devices/benyao_arm/config/moveit_controllers.yaml

@@ -1,29 +0,0 @@
-# MoveIt uses this configuration for controller management
-
-moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
-
-moveit_simple_controller_manager:
-  controller_names:
-    - arm_controller
-    - gripper_controller
-
-  arm_controller:
-    type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
-    joints:
-      - arm_base_joint
-      - arm_link_1_joint
-      - arm_link_2_joint
-      - arm_link_3_joint
-      - gripper_base_joint
-    action_ns: follow_joint_trajectory
-    default: true
-  gripper_controller:
-    type: FollowJointTrajectory
-    action_ns: follow_joint_trajectory
-    default: true
-    joints:
-      - gripper_right_joint
-    action_ns: follow_joint_trajectory
-    default: true

unilabos/device_mesh/devices/benyao_arm/config/moveit_planners.yaml

@@ -1,2 +0,0 @@
-planner_configs:
-  - ompl_interface/OMPLPlanner

unilabos/device_mesh/devices/benyao_arm/config/pilz_cartesian_limits.yaml

@@ -1,6 +0,0 @@
-# Limits for the Pilz planner
-cartesian_limits:
-  max_trans_vel: 1.0
-  max_trans_acc: 2.25
-  max_trans_dec: -5.0
-  max_rot_vel: 1.57

unilabos/device_mesh/devices/benyao_arm/config/ros2_controllers.yaml

@@ -1,39 +0,0 @@
-# This config file is used by ros2_control
-controller_manager:
-  ros__parameters:
-    update_rate: 100  # Hz
-
-    arm_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-
-    gripper_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-arm_controller:
-  ros__parameters:
-    joints:
-      - arm_base_joint
-      - arm_link_1_joint
-      - arm_link_2_joint
-      - arm_link_3_joint
-      - gripper_base_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-
-gripper_controller:
-  ros__parameters:
-    joints:
-      - gripper_right_joint
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity

unilabos/device_mesh/devices/benyao_arm/joint_limit.yaml

@@ -1,44 +0,0 @@
-joint_limits:
-
-  arm_base_joint:
-    effort: 50
-    velocity: 1.0
-    lower: 0
-    upper: 1.5
-
-  arm_link_1_joint:
-    effort: 50
-    velocity: 1.0
-    lower: 0
-    upper: 0.6
-
-  arm_link_2_joint:
-    effort: 50
-    velocity: 1.0
-    lower: !degrees  -95
-    upper: !degrees  95
-
-  arm_link_3_joint:
-    effort: 50
-    velocity: 1.0
-    lower: !degrees  -195
-    upper: !degrees  195
-
-  gripper_base_joint:
-    effort: 50
-    velocity: 1.0
-    lower: !degrees  -95
-    upper: !degrees  95
-
-
-  gripper_right_joint:
-    effort: 50
-    velocity: 1.0
-    lower: 0
-    upper: 0.03
-
-  gripper_left_joint:
-    effort: 50
-    velocity: 1.0
-    lower: 0
-    upper: 0.03

unilabos/device_mesh/devices/benyao_arm/macro_device.xacro

@@ -1,293 +0,0 @@
-<?xml version="1.0" ?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="benyao_arm">
-
-  <xacro:macro name="benyao_arm" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
-    <!-- Read .yaml files from disk, load content into properties -->
-    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/benyao_arm/joint_limit.yaml')}"/>
-
-    <!-- Extract subsections from yaml dictionaries -->
-    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
-
-    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
-      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
-      <parent link="${parent_link}"/>
-      <child link="${station_name}${device_name}device_link"/>
-      <axis xyz="0 0 0"/>
-    </joint>
-
-    <link name="${station_name}${device_name}device_link"/>
-    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <parent link="${station_name}${device_name}device_link"/>
-      <child link="${station_name}${device_name}arm_slideway"/>
-      <axis xyz="0 0 0"/>
-    </joint>
-
-    <!-- JOINTS LIMIT PARAMETERS -->
-    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
-    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
-    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
-    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
-    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
-    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
-    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
-    <link name="${station_name}${device_name}arm_slideway">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
-        <mass value="13.6578107753627"/>
-        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_slideway.STL"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
-      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
-      <parent link="${station_name}${device_name}arm_slideway"/>
-      <child link="${station_name}${device_name}arm_base"/>
-      <axis xyz="1 0 0"/>
-      <limit 
-        effort="${limit_arm_base_joint['effort']}" 
-        lower="${limit_arm_base_joint['lower']}" 
-        upper="${limit_arm_base_joint['upper']}" 
-        velocity="${limit_arm_base_joint['velocity']}"/>
-    </joint>
-
-    <link name="${station_name}${device_name}arm_base">
-      <inertial>
-        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
-        <mass value="16.1341586205194"/>
-        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_base.STL"/>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name="${station_name}${device_name}arm_link_1">
-      <inertial>
-        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
-        <mass value="0.828629227096429"/>
-        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_1.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
-      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
-      <parent link="${station_name}${device_name}arm_base"/>
-      <child link="${station_name}${device_name}arm_link_1"/>
-      <axis xyz="0 0 1"/>
-      <limit 
-      effort="${limit_arm_link_1_joint['effort']}" 
-      lower="${limit_arm_link_1_joint['lower']}" 
-      upper="${limit_arm_link_1_joint['upper']}" 
-      velocity="${limit_arm_link_1_joint['velocity']}"/>
-    </joint>
-    <link name="${station_name}${device_name}arm_link_2">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
-        <mass value="2.04764861029349"/>
-        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_2.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <parent link="${station_name}${device_name}arm_link_1"/>
-      <child link="${station_name}${device_name}arm_link_2"/>
-      <axis xyz="0 0 1"/>
-      <limit 
-        effort="${limit_arm_link_2_joint['effort']}" 
-        lower="${limit_arm_link_2_joint['lower']}" 
-        upper="${limit_arm_link_2_joint['upper']}" 
-        velocity="${limit_arm_link_2_joint['velocity']}"/>
-    </joint>
-    <link name="${station_name}${device_name}arm_link_3">
-      <inertial>
-        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
-        <mass value="1.19870202871083"/>
-        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/arm_link_3.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
-      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
-      <parent link="${station_name}${device_name}arm_link_2"/>
-      <child link="${station_name}${device_name}arm_link_3"/>
-      <axis xyz="0 0 1"/>
-      <limit 
-        effort="${limit_arm_link_3_joint['effort']}" 
-        lower="${limit_arm_link_3_joint['lower']}" 
-        upper="${limit_arm_link_3_joint['upper']}" 
-        velocity="${limit_arm_link_3_joint['velocity']}"/>
-    </joint>
-    <link name="${station_name}${device_name}gripper_base">
-      <inertial>
-        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
-        <mass value="0.511925198394943"/>
-        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_base.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
-      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
-      <parent link="${station_name}${device_name}arm_link_3"/>
-      <child link="${station_name}${device_name}gripper_base"/>
-      <axis xyz="0 0 1"/>
-      <limit 
-        effort="${limit_gripper_base_joint['effort']}" 
-        lower="${limit_gripper_base_joint['lower']}" 
-        upper="${limit_gripper_base_joint['upper']}" 
-        velocity="${limit_gripper_base_joint['velocity']}"/>
-    </joint>
-    <link name="${station_name}${device_name}gripper_right">
-      <inertial>
-        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
-        <mass value="0.013337481136229"/>
-        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_right.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
-      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
-      <parent link="${station_name}${device_name}gripper_base"/>
-      <child link="${station_name}${device_name}gripper_right"/>
-      <axis xyz="1 0 0"/>
-      <limit 
-        effort="${limit_gripper_right_joint['effort']}" 
-        lower="${limit_gripper_right_joint['lower']}" 
-        upper="${limit_gripper_right_joint['upper']}" 
-        velocity="${limit_gripper_right_joint['velocity']}"/>
-    </joint>
-    <link name="${station_name}${device_name}gripper_left">
-      <inertial>
-        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
-        <mass value="0.0133374811362292"/>
-        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
-      </inertial>
-      <visual>
-        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
-        </geometry>
-        <material name="">
-          <color rgba="1 1 1 1"/>
-        </material>
-      </visual>
-      <collision>
-        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
-        <geometry>
-          <mesh filename="file://${mesh_path}/devices/benyao_arm/meshes/gripper_left.STL"/>
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
-      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
-      <parent link="${station_name}${device_name}gripper_base"/>
-      <child link="${station_name}${device_name}gripper_left"/>
-      <axis xyz="1 0 0"/>
-      <limit 
-        effort="${limit_gripper_left_joint['effort']}" 
-        lower="${limit_gripper_left_joint['lower']}" 
-        upper="${limit_gripper_left_joint['upper']}" 
-        velocity="${limit_gripper_left_joint['velocity']}"/>
-      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
-    </joint>
-
-  </xacro:macro>
-</robot>