fix: Protocol node resource run (#65)

* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

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

.conda/recipe.yaml

@@ -1,89 +0,0 @@
-package:
-  name: unilabos
-  version: 0.10.6
-
-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

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

.conda/scripts/post-link.sh

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

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

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

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

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

.gitignore

@@ -1,7 +1,5 @@
 configs/
 temp/
-output/
-unilabos_data/
 ## Python
 
 # Byte-compiled / optimized / DLL files
@@ -244,7 +242,3 @@ unilabos/device_mesh/view_robot.rviz
 **/.certs
 local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
-*.bz2
-test_config.py
-
-

MANIFEST.in

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

README.md

@@ -5,7 +5,6 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
-
 **English** | [中文](README_zh.md)
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -35,14 +34,30 @@ 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 create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
+
+# Currently, you need to install the `unilabos_msgs` package
+# You can download the system-specific package from the Release page
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# Install PyLabRobot and other prerequisites
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-## Install Dev Uni-Lab-OS
+2. Install Uni-Lab-OS:
 
 ```bash
 # Clone the repository
@@ -75,4 +90,4 @@ This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for det
 
 ## Contact Us
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)

README_zh.md

@@ -5,7 +5,6 @@
 # Uni-Lab-OS
 
 <!-- Language switcher -->
-
 [English](README.md) | **中文**
 
 [![GitHub Stars](https://img.shields.io/github/stars/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
@@ -13,7 +12,7 @@
 [![GitHub Issues](https://img.shields.io/github/issues/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/issues)
 [![GitHub License](https://img.shields.io/github/license/dptech-corp/Uni-Lab-OS.svg)](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
 
-Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
+Uni-Lab-OS是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
 
 ## 🏆 比赛
 
@@ -35,16 +34,30 @@ 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 create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba env create -f unilabos-[YOUR_OS].yaml
+mamba activate unilab
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
+
+# 现阶段，需要安装 `unilabos_msgs` 包
+# 可以前往 Release 页面下载系统对应的包进行安装
+conda install ros-humble-unilabos-msgs-0.9.13-xxxxx.tar.bz2
+
+# 安装PyLabRobot等前置
+git clone https://github.com/PyLabRobot/pylabrobot plr_repo
+cd plr_repo
+pip install .[opentrons]
 ```
 
-2. 安装开发版 Uni-Lab-OS:
+2. 安装 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库
@@ -77,4 +90,4 @@ Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在
 
 ## 联系我们
 
-- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
+- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues) 

docs/boot_examples/liquid_handler.md

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

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

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

docs/developer_guide/action_includes.md

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

docs/developer_guide/add_action.md

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

docs/developer_guide/add_device.md

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

docs/developer_guide/add_yaml.md

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

docs/developer_guide/workstation_architecture.md

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

docs/user_guide/configuration.md

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

docs/user_guide/installation.md

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

docs/user_guide/launch.md

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

recipes/msgs/recipe.yaml

@@ -1,76 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.6
-source:
-  path: ../../unilabos_msgs
-  target_directory: src
-
-build:
-  script:
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
-    - call %SRC_DIR%\bld_ament_cmake.bat
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
-    - bash $SRC_DIR/build_ament_cmake.sh
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
-
-requirements:
-  build:
-  - ${{ compiler('cxx') }}
-  - ${{ compiler('c') }}
-  - python ==3.11.11
-  - numpy
-  - if: build_platform != target_platform
-    then:
-    - pkg-config
-    - cross-python_${{ target_platform }}
-  - if: linux and x86_64
-    then:
-    - sysroot_linux-64 ==2.17
-  - ninja
-  - setuptools
-  - cython
-  - cmake
-  - if: unix
-    then:
-    - make
-    - coreutils
-  - if: osx
-    then:
-    - tapi
-  - if: win
-    then:
-    - vs2022_win-64
-  host:
-  - numpy
-  - pip
-  - if: build_platform == target_platform
-    then:
-    - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  - if: osx and x86_64
-    then:
-    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

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

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

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

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

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

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

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.6"
+  version: "0.9.13"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.6',
+    version='0.9.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],
@@ -16,7 +16,8 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "unilab = unilabos.app.main:main"
+            "unilab = unilabos.app.main:main",
+            "unilab-register = unilabos.app.register:main"
         ],
     },
 )

test/experiments/comprehensive_protocol/comprehensive_station.json

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

test/experiments/dispensing_station_bioyond.json

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

test/experiments/mock_reactor.json

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

test/experiments/plr_test_converted.json

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

test/experiments/reaction_station_bioyond.json

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

test/experiments/reaction_station_bioyond_test.json

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

test/experiments/test_moveit.json

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

test/experiments/workshop.json

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

test/registry/example_devices.py

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

test/resources/bioyond_materials.json

@@ -1,198 +0,0 @@
-{
-    "data": [
-        {
-            "id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
-            "typeName": "烧杯",
-            "code": "0006-00160",
-            "barCode": "",
-            "name": "ODA",
-            "quantity": 120000.00000000000000000000000,
-            "lockQuantity": 695374.00000000000000000000000,
-            "unit": "微升",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0001",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
-            "typeName": "烧杯",
-            "code": "0006-00161",
-            "barCode": "",
-            "name": "MPDA",
-            "quantity": 120000.00000000000000000000000,
-            "lockQuantity": 681618.00000000000000000000000,
-            "unit": "",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0002",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
-            "typeName": "试剂瓶",
-            "code": "0004-00041",
-            "barCode": "",
-            "name": "NMP",
-            "quantity": 300000.00000000000000000000000,
-            "lockQuantity": 380000.00000000000000000000000,
-            "unit": "微升",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
-                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-                    "whName": "站内试剂存放堆栈",
-                    "code": "0003-0001",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
-            "typeName": "试剂瓶",
-            "code": "0004-00042",
-            "barCode": "",
-            "name": "PGME",
-            "quantity": 300000.00000000000000000000000,
-            "lockQuantity": 337892.00000000000000000000000,
-            "unit": "",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
-                    "whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
-                    "whName": "站内试剂存放堆栈",
-                    "code": "0003-0002",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": []
-        },
-        {
-            "id": "3a1c68c8-0574-d748-725e-97a2e549f085",
-            "typeName": "样品板",
-            "code": "0001-00004",
-            "barCode": "",
-            "name": "0917",
-            "quantity": 1.0000000000000000000000000000,
-            "lockQuantity": 4.0000000000000000000000000000,
-            "unit": "块",
-            "status": 1,
-            "isUse": false,
-            "locations": [
-                {
-                    "id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
-                    "whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
-                    "whName": "堆栈1",
-                    "code": "0001-0009",
-                    "x": 2,
-                    "y": 1,
-                    "z": 1,
-                    "quantity": 0
-                }
-            ],
-            "detail": [
-                {
-                    "id": "3a1c68c8-0574-69a1-9858-4637e0193451",
-                    "detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
-                    "code": null,
-                    "name": "SIDA",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 1,
-                    "y": 2,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
-                    "detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
-                    "code": null,
-                    "name": "BTDA-2",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 2,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-da80-735b-53ae2197a360",
-                    "detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
-                    "code": null,
-                    "name": "BTDA-DD",
-                    "quantity": "300000",
-                    "lockQuantity": "28",
-                    "unit": "微升",
-                    "x": 1,
-                    "y": 1,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-e717-1b1b-99891f875455",
-                    "detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
-                    "code": null,
-                    "name": "BTDA-3",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 3,
-                    "z": 1,
-                    "associateId": null
-                },
-                {
-                    "id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
-                    "detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
-                    "code": null,
-                    "name": "BTDA-1",
-                    "quantity": "300000",
-                    "lockQuantity": "4",
-                    "unit": "微升",
-                    "x": 2,
-                    "y": 1,
-                    "z": 1,
-                    "associateId": null
-                }
-            ]
-        }
-    ],
-    "code": 1,
-    "message": "",
-    "timestamp": 1758560573511
-}

test/resources/test_bottle_carrier.py

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

test/resources/test_converter_bioyond.py

@@ -1,35 +0,0 @@
-import pytest
-import json
-import os
-
-from unilabos.resources.graphio import resource_bioyond_to_plr
-from unilabos.registry.registry import lab_registry
-
-from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
-
-lab_registry.setup()
-
-
-type_mapping = {
-    "烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
-    "试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
-    "样品板": "BIOYOND_PolymerStation_6VialCarrier",
-}
-
-@pytest.fixture
-def bioyond_materials() -> list[dict]:
-    print("加载 BioYond 物料数据...")
-    print(os.getcwd())
-    with open("bioyond_materials.json", "r", encoding="utf-8") as f:
-        data = json.load(f)["data"]
-    print(f"加载了 {len(data)} 条物料数据")
-    return data
-
-
-def test_bioyond_to_plr(bioyond_materials) -> list[dict]:
-    deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
-    print("将 BioYond 物料数据转换为 PLR 格式...")
-    output = resource_bioyond_to_plr(bioyond_materials, type_mapping=type_mapping, deck=deck)
-    print(deck.summary())
-    print([resource.serialize() for resource in output])
-    print([resource.serialize_all_state() for resource in output])

unilabos-linux-64.yaml

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

unilabos-osx-64.yaml

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

unilabos-osx-arm64.yaml

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

unilabos-win64.yaml

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

unilabos/app/backend.py

@@ -15,33 +15,24 @@ 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

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

unilabos/app/main.py

@@ -1,7 +1,7 @@
 import argparse
 import asyncio
+import json
 import os
-import shutil
 import signal
 import sys
 import threading
@@ -10,6 +10,7 @@ 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__))
@@ -17,14 +18,13 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig, HTTPConfig
+from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.resources.graphio import modify_to_backend_format
 
 
 def load_config_from_file(config_path):
     if config_path is None:
-        config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
@@ -37,34 +37,19 @@ def load_config_from_file(config_path):
         load_config(config_path)
 
 
-def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
-    # easier for user input, easier for dev search code
-    option_strings = list(args._option_string_actions.keys())
-    for i, arg in enumerate(sys.argv):
-        for option_string in option_strings:
-            if arg.startswith(option_string):
-                new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
-                sys.argv[i] = new_arg
-                break
-
-
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
-    parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
-    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
+    parser.add_argument("-g", "--graph", help="Physical setup graph.")
+    parser.add_argument("-d", "--devices", help="Devices config file.")
+    parser.add_argument("-r", "--resources", help="Resources config file.")
+    parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
     parser.add_argument(
         "--registry_path",
         type=str,
         default=None,
         action="append",
-        help="Path to the registry directory",
-    )
-    parser.add_argument(
-        "--working_dir",
-        type=str,
-        default=None,
-        help="Path to the working directory",
+        help="Path to the registry",
     )
     parser.add_argument(
         "--backend",
@@ -75,179 +60,69 @@ def parse_args():
     parser.add_argument(
         "--app_bridges",
         nargs="+",
-        default=["websocket", "fastapi"],
-        help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
+        default=["mqtt", "fastapi"],
+        help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
     )
     parser.add_argument(
-        "--is_slave",
+        "--without_host",
         action="store_true",
-        help="Run the backend as slave node (without host privileges).",
+        help="Run the backend as slave (without host).",
     )
     parser.add_argument(
         "--slave_no_host",
         action="store_true",
-        help="Skip waiting for host service in slave mode",
+        help="Slave模式下跳过等待host服务",
     )
     parser.add_argument(
         "--upload_registry",
         action="store_true",
-        help="Upload registry information when starting unilab",
-    )
-    parser.add_argument(
-        "--use_remote_resource",
-        action="store_true",
-        help="Use remote resources when starting unilab",
+        help="启动unilab时同时报送注册表信息",
     )
     parser.add_argument(
         "--config",
         type=str,
         default=None,
-        help="Configuration file path, supports .py format Python config files",
+        help="配置文件路径，支持.py格式的Python配置文件",
     )
     parser.add_argument(
         "--port",
         type=int,
         default=8002,
-        help="Port for web service information page",
+        help="信息页web服务的启动端口",
     )
     parser.add_argument(
         "--disable_browser",
-        action="store_true",
-        help="Disable opening information page on startup",
+        action='store_true',
+        help="是否在启动时关闭信息页",
     )
     parser.add_argument(
         "--2d_vis",
-        action="store_true",
-        help="Enable 2D visualization when starting pylabrobot instance",
+        action='store_true',
+        help="是否在pylabrobot实例启动时，同时启动可视化",
     )
     parser.add_argument(
         "--visual",
         choices=["rviz", "web", "disable"],
         default="disable",
-        help="Choose visualization tool: rviz, web, or disable",
+        help="选择可视化工具: rviz, web",
     )
-    parser.add_argument(
-        "--ak",
-        type=str,
-        default="",
-        help="Access key for laboratory requests",
-    )
-    parser.add_argument(
-        "--sk",
-        type=str,
-        default="",
-        help="Secret key for laboratory requests",
-    )
-    parser.add_argument(
-        "--addr",
-        type=str,
-        default="https://uni-lab.bohrium.com/api/v1",
-        help="Laboratory backend address",
-    )
-    parser.add_argument(
-        "--skip_env_check",
-        action="store_true",
-        help="Skip environment dependency check on startup",
-    )
-    parser.add_argument(
-        "--complete_registry",
-        action="store_true",
-        default=False,
-        help="Complete registry information",
-    )
-    return parser
+    return parser.parse_args()
 
 
 def main():
     """主函数"""
     # 解析命令行参数
     args = parse_args()
-    convert_argv_dashes_to_underscores(args)
-    args_dict = vars(args.parse_args())
-
-    # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
-        from unilabos.utils.environment_check import check_environment
-
-        print_status("正在进行环境依赖检查...", "info")
-        if not check_environment(auto_install=True):
-            print_status("环境检查失败，程序退出", "error")
-            os._exit(1)
-    else:
-        print_status("跳过环境依赖检查", "warning")
+    args_dict = vars(args)
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
-        working_dir = os.path.abspath(os.getcwd())
-    else:
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-    if args_dict.get("working_dir"):
-        working_dir = args_dict.get("working_dir", "")
-        if config_path and not os.path.exists(config_path):
-            config_path = os.path.join(working_dir, "local_config.py")
-            if not os.path.exists(config_path):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
-                )
-                os._exit(1)
-    elif config_path and os.path.exists(config_path):
-        working_dir = os.path.dirname(config_path)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-        if input() != "n":
-            os.makedirs(working_dir, exist_ok=True)
-            config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
-                os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
-            )
-            print_status(f"已创建 local_config.py 路径： {config_path}", "info")
-        else:
-            os._exit(1)
-    # 加载配置文件
-    print_status(f"当前工作目录为 {working_dir}", "info")
     load_config_from_file(config_path)
-    if args_dict["addr"] == "test":
-        print_status("使用测试环境地址", "info")
-        HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
-    elif args_dict["addr"] == "uat":
-        print_status("使用uat环境地址", "info")
-        HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
-    elif args_dict["addr"] == "local":
-        print_status("使用本地环境地址", "info")
-        HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
-    else:
-        HTTPConfig.remote_addr = args_dict.get("addr", "")
-
-    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
-    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.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
     BasicConfig.upload_registry = args_dict.get("upload_registry", False)
-    BasicConfig.communication_protocol = "websocket"
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name
@@ -260,101 +135,46 @@ def main():
         dict_to_nested_dict,
         initialize_resources,
     )
-    from unilabos.app.communication import get_communication_client
+    from unilabos.app.mq import mqtt_client
     from unilabos.registry.registry import build_registry
     from unilabos.app.backend import start_backend
     from unilabos.app.web import http_client
     from unilabos.app.web import start_server
-    from unilabos.app.register import register_devices_and_resources
 
     # 显示启动横幅
     print_unilab_banner(args_dict)
 
     # 注册表
-    lab_registry = build_registry(
-        args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
-    )
-
-    if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
-        os._exit(1)
-    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)
+    build_registry(args_dict["registry_path"])
+    resource_edge_info = []
+    devices_and_resources = None
+    if args_dict["graph"] is not None:
+        import unilabos.resources.graphio as graph_res
+        if args_dict["graph"].endswith(".json"):
+            graph, data = read_node_link_json(args_dict["graph"])
         else:
-            print_status("联网获取设备加载文件成功", "info")
-        graph, data = read_node_link_json(request_startup_json)
+            graph, data = read_graphml(args_dict["graph"])
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
+        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
+        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+        args_dict["resources_config"] = list(devices_and_resources.values())
+        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
+        args_dict["graph"] = graph_res.physical_setup_graph
     else:
-        file_path = args_dict["graph"]
-        if file_path.endswith(".json"):
-            graph, 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
+        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())
 
     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:
@@ -362,44 +182,32 @@ def main():
 
     args_dict["bridges"] = []
 
-    # 获取通信客户端（仅支持WebSocket）
-    comm_client = get_communication_client()
-
-    if "websocket" in args_dict["app_bridges"]:
-        args_dict["bridges"].append(comm_client)
+    if "mqtt" in args_dict["app_bridges"]:
+        args_dict["bridges"].append(mqtt_client)
     if "fastapi" in args_dict["app_bridges"]:
         args_dict["bridges"].append(http_client)
-    if "websocket" in args_dict["app_bridges"]:
+    if "mqtt" in args_dict["app_bridges"]:
 
         def _exit(signum, frame):
-            comm_client.stop()
+            mqtt_client.stop()
             sys.exit(0)
 
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
-        comm_client.start()
+        mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
     args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         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()
@@ -407,16 +215,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(
-                open_browser=not args_dict["disable_browser"],
-                port=args_dict["port"],
-            )
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
     else:
         start_backend(**args_dict)
-        start_server(
-            open_browser=not args_dict["disable_browser"],
-            port=args_dict["port"],
-        )
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
 
 
 if __name__ == "__main__":

unilabos/app/model.py

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

unilabos/app/mq.py

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

unilabos/app/register.py

@@ -1,62 +1,73 @@
 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(lab_registry):
+def register_devices_and_resources(mqtt_client, lab_registry):
     """
-    注册设备和资源到服务器（仅支持HTTP）
+    注册设备和资源到 MQTT
     """
-
-    # 注册资源信息 - 使用HTTP方式
-    from unilabos.app.web.client import http_client
-
     logger.info("[UniLab Register] 开始注册设备和资源...")
 
     # 注册设备信息
-    devices_to_register = {}
     for device_info in lab_registry.obtain_registry_device_info():
-        devices_to_register[device_info["id"]] = json.loads(
-            json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
-        )
-        logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
+        logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
-    resources_to_register = {}
+    # 注册资源信息
     for resource_info in lab_registry.obtain_registry_resource_info():
-        resources_to_register[resource_info["id"]] = resource_info
-        logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
+        logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
 
-    # 注册设备
-    if devices_to_register:
-        try:
-            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(devices_to_register.values())})
-            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
-            else:
-                logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
-        except Exception as e:
-            logger.error(f"[UniLab Register] 设备注册异常: {e}")
-
-    # 注册资源
-    if resources_to_register:
-        try:
-            start_time = time.time()
-            response = http_client.resource_registry({"resources": list(resources_to_register.values())})
-            cost_time = time.time() - start_time
-            if response.status_code in [200, 201]:
-                logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
-            else:
-                logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
-        except Exception as e:
-            logger.error(f"[UniLab Register] 资源注册异常: {e}")
+    time.sleep(10)
 
     logger.info("[UniLab Register] 设备和资源注册完成.")
+
+
+def main():
+    """
+    命令行入口函数
+    """
+    parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
+    parser.add_argument(
+        "--registry",
+        type=str,
+        default=None,
+        action="append",
+        help="注册表路径",
+    )
+    parser.add_argument(
+        "--config",
+        type=str,
+        default=None,
+        help="配置文件路径，支持.py格式的Python配置文件",
+    )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
+    args = parser.parse_args()
+
+    # 构建注册表
+    build_registry(args.registry, args.complete_registry)
+    load_config_from_file(args.config)
+
+    from unilabos.app.mq import mqtt_client
+
+    # 连接mqtt
+    mqtt_client.start()
+
+    from unilabos.registry.registry import lab_registry
+
+    # 注册设备和资源
+    register_devices_and_resources(mqtt_client, lab_registry)
+
+
+if __name__ == "__main__":
+    main()

unilabos/app/web/client.py

@@ -4,13 +4,11 @@ HTTP客户端模块
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 
-import json
-import os
 from typing import List, Dict, Any, Optional
 
 import requests
 from unilabos.utils.log import info
-from unilabos.config.config import HTTPConfig, BasicConfig
+from unilabos.config.config import MQConfig, HTTPConfig
 from unilabos.utils import logger
 
 
@@ -25,17 +23,14 @@ class HTTPClient:
             remote_addr: 远程服务器地址，如果不提供则从配置中获取
             auth: 授权信息
         """
-        self.initialized = False
         self.remote_addr = remote_addr or HTTPConfig.remote_addr
         if auth is not None:
             self.auth = auth
         else:
-            auth_secret = BasicConfig.auth_secret()
-            self.auth = auth_secret
-            info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
+            self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
@@ -46,50 +41,31 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/material/edge",
-            json={
-                "edges": resources,
-            },
-            headers={"Authorization": f"Lab {self.auth}"},
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=100,
         )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料关系失败: {response.text}")
         if response.status_code != 200 and response.status_code != 201:
             logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
         return response
 
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 
         Args:
             resources: 要添加的资源列表
+            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
-        if not self.initialized:
-            self.initialized = True
-            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        else:
-            response = requests.put(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料失败: {response.text}")
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=100,
+        )
         if response.status_code != 200:
             logger.error(f"添加物料失败: {response.text}")
         return response
@@ -106,9 +82,9 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/material",
+            f"{self.remote_addr}/lab/resource/?edge_format=1",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"Lab {self.auth}"},
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -126,7 +102,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"Lab {self.auth}"},
+            headers={"Authorization": f"lab {self.auth}"},
             timeout=20,
         )
         return response
@@ -141,29 +117,13 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        if not self.initialized:
-            self.initialized = True
-            info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        else:
-            response = requests.put(
-                f"{self.remote_addr}/lab/material",
-                json={"nodes": resources},
-                headers={"Authorization": f"Lab {self.auth}"},
-                timeout=100,
-            )
-        if response.status_code == 200:
-            res = response.json()
-            if "code" in res and res["code"] != 0:
-                logger.error(f"添加物料失败: {response.text}")
-        if response.status_code != 200:
-            logger.error(f"添加物料失败: {response.text}")
-        return response.json()
+        response = requests.patch(
+            f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=100,
+        )
+        return response
 
     def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
         """
@@ -184,61 +144,11 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"Lab {self.auth}"},
+                headers={"Authorization": f"lab {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
 
-    def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
-        """
-        注册资源到服务器
-
-        Args:
-            registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.post(
-            f"{self.remote_addr}/lab/resource",
-            json=registry_data,
-            headers={"Authorization": f"Lab {self.auth}"},
-            timeout=30,
-        )
-        if response.status_code not in [200, 201]:
-            logger.error(f"注册资源失败: {response.status_code}, {response.text}")
-        return response
-
-    def request_startup_json(self) -> Optional[Dict[str, Any]]:
-        """
-        请求启动配置
-
-        Args:
-            startup_json: 启动配置JSON数据
-
-        Returns:
-            Response: API响应对象
-        """
-        response = requests.get(
-            f"{self.remote_addr}/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/pages.py

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

unilabos/app/web/templates/base.html

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

unilabos/app/web/templates/home.html

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

unilabos/compile/__init__.py

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

unilabos/compile/add_protocol.py

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

unilabos/compile/adjustph_protocol.py

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

unilabos/compile/centrifuge_protocol.py

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

unilabos/compile/clean_vessel_protocol.py

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

unilabos/compile/dissolve_protocol.py

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

unilabos/compile/dry_protocol.py

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

unilabos/compile/evacuateandrefill_protocol.py

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

unilabos/compile/evaporate_protocol.py

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

unilabos/compile/filter_protocol.py

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

unilabos/compile/heatchill_protocol.py

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

unilabos/compile/hydrogenate_protocol.py

@@ -1,6 +1,5 @@
 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:
@@ -171,7 +170,7 @@ def generate_hydrogenate_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     action_sequence = []
     

unilabos/compile/recrystallize_protocol.py

@@ -2,17 +2,91 @@ import networkx as nx
 import re
 import logging
 from typing import List, Dict, Any, Tuple, Union
-from .utils.vessel_parser import get_vessel, find_solvent_vessel
-from .utils.unit_parser import parse_volume_input
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"💎 [RECRYSTALLIZE] {message}", flush=True)
     logger.info(f"[RECRYSTALLIZE] {message}")
 
 
+def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
+    """
+    解析带单位的体积输入
+    
+    Args:
+        volume_input: 体积输入（如 "100 mL", "2.5 L", "500", "?", 100.0）
+        default_unit: 默认单位（默认为毫升）
+    
+    Returns:
+        float: 体积（毫升）
+    """
+    if not volume_input:
+        debug_print("⚠️ 体积输入为空，返回 0.0mL 📦")
+        return 0.0
+    
+    # 处理数值输入
+    if isinstance(volume_input, (int, float)):
+        result = float(volume_input)
+        debug_print(f"🔢 数值体积输入: {volume_input} → {result}mL（默认单位）💧")
+        return result
+    
+    # 处理字符串输入
+    volume_str = str(volume_input).lower().strip()
+    debug_print(f"🔍 解析体积字符串: '{volume_str}' 📝")
+    
+    # 处理特殊值
+    if volume_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_volume = 50.0  # 50mL默认值
+        debug_print(f"❓ 检测到未知体积，使用默认值: {default_volume}mL 🎯")
+        return default_volume
+    
+    # 如果是纯数字，使用默认单位
+    try:
+        value = float(volume_str)
+        if default_unit.lower() in ["ml", "milliliter"]:
+            result = value
+        elif default_unit.lower() in ["l", "liter"]:
+            result = value * 1000.0
+        elif default_unit.lower() in ["μl", "ul", "microliter"]:
+            result = value / 1000.0
+        else:
+            result = value  # 默认mL
+        debug_print(f"🔢 纯数字输入: {volume_str} → {result}mL（单位: {default_unit}）📏")
+        return result
+    except ValueError:
+        pass
+    
+    # 移除空格并提取数字和单位
+    volume_clean = re.sub(r'\s+', '', volume_str)
+    
+    # 匹配数字和单位的正则表达式
+    match = re.match(r'([0-9]*\.?[0-9]+)\s*(ml|l|μl|ul|microliter|milliliter|liter)?', volume_clean)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析体积: '{volume_str}'，使用默认值: 50mL 🎯")
+        return 50.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or default_unit.lower()
+    
+    # 转换为毫升
+    if unit in ['l', 'liter']:
+        volume = value * 1000.0  # L -> mL
+        debug_print(f"📏 升转毫升: {value}L → {volume}mL 💧")
+    elif unit in ['μl', 'ul', 'microliter']:
+        volume = value / 1000.0  # μL -> mL
+        debug_print(f"📏 微升转毫升: {value}μL → {volume}mL 💧")
+    else:  # ml, milliliter 或默认
+        volume = value  # 已经是mL
+        debug_print(f"📏 毫升单位: {value}mL → {volume}mL 💧")
+    
+    debug_print(f"✅ 体积解析完成: '{volume_str}' → {volume}mL ✨")
+    return volume
+
+
 def parse_ratio(ratio_str: str) -> Tuple[float, float]:
     """
     解析比例字符串，支持多种格式
@@ -62,6 +136,131 @@ def parse_ratio(ratio_str: str) -> Tuple[float, float]:
         return 1.0, 1.0
 
 
+def find_solvent_vessel(G: nx.DiGraph, solvent: str) -> str:
+    """
+    查找溶剂容器
+    
+    Args:
+        G: 网络图
+        solvent: 溶剂名称
+    
+    Returns:
+        str: 溶剂容器ID
+    """
+    debug_print(f"🔍 正在查找溶剂 '{solvent}' 的容器... 🧪")
+    
+    # 构建可能的容器名称
+    possible_names = [
+        f"flask_{solvent}",
+        f"bottle_{solvent}",
+        f"reagent_{solvent}",
+        f"reagent_bottle_{solvent}",
+        f"{solvent}_flask",
+        f"{solvent}_bottle",
+        f"{solvent}",
+        f"vessel_{solvent}",
+    ]
+    
+    debug_print(f"📋 候选容器名称: {possible_names[:3]}... (共{len(possible_names)}个) 📝")
+    
+    # 第一步：通过容器名称匹配
+    debug_print("  🎯 步骤1: 精确名称匹配...")
+    for vessel_name in possible_names:
+        if vessel_name in G.nodes():
+            debug_print(f"  🎉 通过名称匹配找到容器: {vessel_name} ✨")
+            return vessel_name
+    
+    # 第二步：通过模糊匹配（节点ID和名称）
+    debug_print("  🔍 步骤2: 模糊名称匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            if solvent.lower() in node_id.lower() or solvent.lower() in node_name:
+                debug_print(f"  🎉 通过模糊匹配找到容器: {node_id} (名称: {node_name}) ✨")
+                return node_id
+    
+    # 第三步：通过配置中的试剂信息匹配
+    debug_print("  🧪 步骤3: 配置试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            # 检查 config 中的 reagent 字段
+            node_config = G.nodes[node_id].get('config', {})
+            config_reagent = node_config.get('reagent', '').lower()
+            
+            if config_reagent and solvent.lower() == config_reagent:
+                debug_print(f"  🎉 通过config.reagent匹配找到容器: {node_id} (试剂: {config_reagent}) ✨")
+                return node_id
+    
+    # 第四步：通过数据中的试剂信息匹配
+    debug_print("  🧪 步骤4: 数据试剂信息匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            vessel_data = G.nodes[node_id].get('data', {})
+            
+            # 检查 data 中的 reagent_name 字段
+            reagent_name = vessel_data.get('reagent_name', '').lower()
+            if reagent_name and solvent.lower() == reagent_name:
+                debug_print(f"  🎉 通过data.reagent_name匹配找到容器: {node_id} (试剂: {reagent_name}) ✨")
+                return node_id
+            
+            # 检查 data 中的液体信息
+            liquids = vessel_data.get('liquid', [])
+            for liquid in liquids:
+                if isinstance(liquid, dict):
+                    liquid_type = (liquid.get('liquid_type') or liquid.get('name', '')).lower()
+                    
+                    if solvent.lower() in liquid_type:
+                        debug_print(f"  🎉 通过液体类型匹配找到容器: {node_id} (液体类型: {liquid_type}) ✨")
+                        return node_id
+    
+    # 第五步：部分匹配（如果前面都没找到）
+    debug_print("  🔍 步骤5: 部分匹配...")
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '').lower()
+            
+            config_reagent = node_config.get('reagent', '').lower()
+            data_reagent = node_data.get('reagent_name', '').lower()
+            
+            # 检查是否包含溶剂名称
+            if (solvent.lower() in config_reagent or 
+                solvent.lower() in data_reagent or 
+                solvent.lower() in node_name or
+                solvent.lower() in node_id.lower()):
+                debug_print(f"  🎉 通过部分匹配找到容器: {node_id} ✨")
+                debug_print(f"    - 节点名称: {node_name}")
+                debug_print(f"    - 配置试剂: {config_reagent}")
+                debug_print(f"    - 数据试剂: {data_reagent}")
+                return node_id
+    
+    # 调试信息：列出所有容器
+    debug_print("  🔎 调试信息：列出所有容器...")
+    container_list = []
+    for node_id in G.nodes():
+        if G.nodes[node_id].get('type') == 'container':
+            node_config = G.nodes[node_id].get('config', {})
+            node_data = G.nodes[node_id].get('data', {})
+            node_name = G.nodes[node_id].get('name', '')
+            
+            container_info = {
+                'id': node_id,
+                'name': node_name,
+                'config_reagent': node_config.get('reagent', ''),
+                'data_reagent': node_data.get('reagent_name', '')
+            }
+            container_list.append(container_info)
+            debug_print(f"    - 容器: {node_id}, 名称: {node_name}, config试剂: {node_config.get('reagent', '')}, data试剂: {node_data.get('reagent_name', '')}")
+    
+    debug_print(f"❌ 找不到溶剂 '{solvent}' 对应的容器 😭")
+    debug_print(f"🔍 查找的溶剂: '{solvent}' (小写: '{solvent.lower()}')")
+    debug_print(f"📊 总共发现 {len(container_list)} 个容器")
+    
+    raise ValueError(f"找不到溶剂 '{solvent}' 对应的容器")
+
+
 def generate_recrystallize_protocol(
     G: nx.DiGraph,
     vessel: dict,  # 🔧 修改：从字符串改为字典类型
@@ -88,7 +287,7 @@ def generate_recrystallize_protocol(
     """
     
     # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
+    vessel_id = vessel["id"]
     
     action_sequence = []
     
@@ -122,7 +321,7 @@ def generate_recrystallize_protocol(
     
     # 2. 解析体积（支持单位）
     debug_print("📍 步骤2: 解析体积（支持单位）... 💧")
-    final_volume = parse_volume_input(volume, "mL")
+    final_volume = parse_volume_with_units(volume, "mL")
     debug_print(f"🎯 体积解析完成: {volume} → {final_volume}mL ✨")
     
     # 3. 解析比例
@@ -374,7 +573,7 @@ def test_recrystallize_protocol():
     debug_print("💧 测试体积解析...")
     test_volumes = ["100 mL", "2.5 L", "500", "50.5", "?", "invalid"]
     for vol in test_volumes:
-        parsed = parse_volume_input(vol)
+        parsed = parse_volume_with_units(vol)
         debug_print(f"  📊 体积 '{vol}' -> {parsed}mL")
     
     # 测试比例解析

unilabos/compile/run_column_protocol.py

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

unilabos/compile/separate_protocol.py

@@ -1,12 +1,8 @@
-from functools import partial
-
 import networkx as nx
 import re
 import logging
 import sys
 from typing import List, Dict, Any, Union
-from .utils.vessel_parser import get_vessel
-from .utils.logger_util import action_log
 from .pump_protocol import generate_pump_protocol_with_rinsing
 
 logger = logging.getLogger(__name__)
@@ -24,472 +20,48 @@ def debug_print(message):
     try:
         # 确保消息是字符串格式
         safe_message = str(message)
+        print(f"🌀 [SEPARATE] {safe_message}", flush=True)
         logger.info(f"[SEPARATE] {safe_message}")
     except UnicodeEncodeError:
         # 如果编码失败，尝试替换不支持的字符
         safe_message = str(message).encode('utf-8', errors='replace').decode('utf-8')
+        print(f"🌀 [SEPARATE] {safe_message}", flush=True)
         logger.info(f"[SEPARATE] {safe_message}")
     except Exception as e:
         # 最后的安全措施
         fallback_message = f"日志输出错误: {repr(message)}"
+        print(f"🌀 [SEPARATE] {fallback_message}", flush=True)
         logger.info(f"[SEPARATE] {fallback_message}")
 
-create_action_log = partial(action_log, prefix="[SEPARATE]")
-
-
-def generate_separate_protocol(
-    G: nx.DiGraph,
-    # 🔧 基础参数，支持XDL的vessel参数
-    vessel: dict = None,  # 🔧 修改：从字符串改为字典类型
-    purpose: str = "separate",  # 分离目的
-    product_phase: str = "top",  # 产物相
-    # 🔧 可选的详细参数
-    from_vessel: Union[str, dict] = "",  # 源容器（通常在separate前已经transfer了）
-    separation_vessel: Union[str, dict] = "",  # 分离容器（与vessel同义）
-    to_vessel: Union[str, dict] = "",  # 目标容器（可选）
-    waste_phase_to_vessel: Union[str, dict] = "",  # 废相目标容器
-    product_vessel: Union[str, dict] = "",  # XDL: 产物容器（与to_vessel同义）
-    waste_vessel: Union[str, dict] = "",  # XDL: 废液容器（与waste_phase_to_vessel同义）
-    # 🔧 溶剂相关参数
-    solvent: str = "",  # 溶剂名称
-    solvent_volume: Union[str, float] = 0.0,  # 溶剂体积
-    volume: Union[str, float] = 0.0,  # XDL: 体积（与solvent_volume同义）
-    # 🔧 操作参数
-    through: str = "",  # 通过材料
-    repeats: int = 1,  # 重复次数
-    stir_time: float = 30.0,  # 搅拌时间（秒）
-    stir_speed: float = 300.0,  # 搅拌速度
-    settling_time: float = 300.0,  # 沉降时间（秒）
-    **kwargs
-) -> List[Dict[str, Any]]:
-    """
-    生成分离操作的协议序列 - 支持vessel字典和体积运算
-
-    支持XDL参数格式：
-    - vessel: 分离容器字典（必需）
-    - purpose: "wash", "extract", "separate"
-    - product_phase: "top", "bottom"
-    - product_vessel: 产物收集容器
-    - waste_vessel: 废液收集容器
-    - solvent: 溶剂名称
-    - volume: "200 mL", "?" 或数值
-    - repeats: 重复次数
-
-    分离流程：
-    1. （可选）添加溶剂到分离容器
-    2. 搅拌混合
-    3. 静置分层
-    4. 收集指定相到目标容器
-    5. 重复指定次数
-    """
-
-    # 🔧 核心修改：vessel参数兼容处理
-    if vessel is None:
-        if isinstance(separation_vessel, dict):
-            vessel = separation_vessel
-        else:
-            raise ValueError("必须提供vessel字典参数")
-
-    # 🔧 核心修改：从字典中提取容器ID
-    vessel_id, vessel_data = get_vessel(vessel)
-
-    debug_print("🌀" * 20)
-    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
-    debug_print(f"📝 输入参数:")
-    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
-    debug_print(f"  🎯 分离目的: '{purpose}'")
-    debug_print(f"  📊 产物相: '{product_phase}'")
-    debug_print(f"  💧 溶剂: '{solvent}'")
-    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"  🎯 产物容器: '{product_vessel}'")
-    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
-    debug_print(f"  📦 其他参数: {kwargs}")
-    debug_print("🌀" * 20)
-
-    action_sequence = []
-
-    # 🔧 新增：记录分离前的容器状态
-    debug_print("🔍 记录分离前容器状态...")
-    original_liquid_volume = get_vessel_liquid_volume(vessel)
-    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
-
-    # === 参数验证和标准化 ===
-    debug_print("🔍 步骤1: 参数验证和标准化...")
-    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
-    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
-    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
-
-    # 统一容器参数 - 支持字典和字符串
-    def extract_vessel_id(vessel_param):
-        if isinstance(vessel_param, dict):
-            return vessel_param.get("id", "")
-        elif isinstance(vessel_param, str):
-            return vessel_param
-        else:
-            return ""
-
-    final_vessel_id, _ = vessel_id
-    final_to_vessel_id, _ = get_vessel(to_vessel) or get_vessel(product_vessel)
-    final_waste_vessel_id, _ = get_vessel(waste_phase_to_vessel) or get_vessel(waste_vessel)
-
-    # 统一体积参数
-    final_volume = parse_volume_input(volume or solvent_volume)
-
-    # 🔧 修复：确保repeats至少为1
-    if repeats <= 0:
-        repeats = 1
-        debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
-
-    debug_print(f"🔧 标准化后的参数:")
-    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
-    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
-    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
-    debug_print(f"  📏 溶剂体积: {final_volume}mL")
-    debug_print(f"  🔄 重复次数: {repeats}")
-
-    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
-    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
-    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
-
-    # 验证必需参数
-    if not purpose:
-        purpose = "separate"
-    if not product_phase:
-        product_phase = "top"
-    if purpose not in ["wash", "extract", "separate"]:
-        debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
-        purpose = "separate"
-        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
-    if product_phase not in ["top", "bottom"]:
-        debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
-        product_phase = "top"
-        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
-
-    debug_print("✅ 参数验证通过")
-    action_sequence.append(create_action_log("参数验证通过", "✅"))
-
-    # === 查找设备 ===
-    debug_print("🔍 步骤2: 查找设备...")
-    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
-
-    # 查找分离器设备
-    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
-    if separator_device:
-        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
-    else:
-        debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
-        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
-
-    # 查找搅拌器
-    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
-    if stirrer_device:
-        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
-    else:
-        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
-
-    # 查找溶剂容器（如果需要）
-    solvent_vessel = ""
-    if solvent and solvent.strip():
-        solvent_vessel = find_solvent_vessel(G, solvent)
-        if solvent_vessel:
-            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
-        else:
-            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
-
-    debug_print(f"📊 设备配置:")
-    debug_print(f"  🧪 分离器设备: '{separator_device}'")
-    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
-    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
-
-    # === 执行分离流程 ===
-    debug_print("🔍 步骤3: 执行分离流程...")
-    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
-
-    # 🔧 新增：体积变化跟踪变量
-    current_volume = original_liquid_volume
-
+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:
-        for repeat_idx in range(repeats):
-            cycle_num = repeat_idx + 1
-            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
-            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
-
-            # 步骤3.1: 添加溶剂（如果需要）
-            if solvent_vessel and final_volume > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
-                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
-
-                try:
-                    # 使用pump protocol添加溶剂
-                    pump_actions = generate_pump_protocol_with_rinsing(
-                        G=G,
-                        from_vessel=solvent_vessel,
-                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
-                        volume=final_volume,
-                        amount="",
-                        time=0.0,
-                        viscous=False,
-                        rinsing_solvent="",
-                        rinsing_volume=0.0,
-                        rinsing_repeats=0,
-                        solid=False,
-                        flowrate=2.5,
-                        transfer_flowrate=0.5,
-                        rate_spec="",
-                        event="",
-                        through="",
-                        **kwargs
-                    )
-                    action_sequence.extend(pump_actions)
-                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
-                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
-
-                    # 🔧 新增：更新体积 - 添加溶剂后
-                    current_volume += final_volume
-                    update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
-
-                except Exception as e:
-                    debug_print(f"❌ 溶剂添加失败: {str(e)}")
-                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
-                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
-
-            # 步骤3.2: 启动搅拌（如果有搅拌器）
-            if stirrer_device and stir_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
-                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
-
-                action_sequence.append({
-                    "device_id": stirrer_device,
-                    "action_name": "start_stir",
-                    "action_kwargs": {
-                        "vessel": {"id": final_vessel_id},  # 🔧 使用 final_vessel_id
-                        "stir_speed": stir_speed,
-                        "purpose": f"分离混合 - {purpose}"
-                    }
-                })
-
-                # 搅拌等待
-                stir_minutes = stir_time / 60
-                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": stir_time}
-                })
-
-                # 停止搅拌
-                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
-                action_sequence.append({
-                    "device_id": stirrer_device,
-                    "action_name": "stop_stir",
-                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
-                })
-
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
-                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
-
-            # 步骤3.3: 静置分层
-            if settling_time > 0:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
-                settling_minutes = settling_time / 60
-                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": settling_time}
-                })
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
-                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
-
-            # 步骤3.4: 执行分离操作
-            if separator_device:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
-                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
-
-                # 🔧 替换为具体的分离操作逻辑（基于old版本）
-
-                # 首先进行分液判断（电导突跃）
-                action_sequence.append({
-                    "device_id": separator_device,
-                    "action_name": "valve_open",
-                    "action_kwargs": {
-                        "command": "delta > 0.05"
-                    }
-                })
-
-                # 估算每相的体积（假设大致平分）
-                phase_volume = current_volume / 2
-
-                # 智能查找分离容器底部
-                separation_vessel_bottom = find_separation_vessel_bottom(G, final_vessel_id)  # ✅
-
-                if product_phase == "bottom":
-                    debug_print(f"🔄 收集底相产物到 {final_to_vessel_id}")
-                    action_sequence.append(create_action_log("收集底相产物", "📦"))
-
-                    # 产物转移到目标瓶
-                    if final_to_vessel_id:
-                        pump_actions = generate_pump_protocol_with_rinsing(
-                            G=G,
-                            from_vessel=separation_vessel_bottom,
-                            to_vessel=final_to_vessel_id,
-                            volume=current_volume,
-                            flowrate=2.5,
-                            **kwargs
-                        )
-                        action_sequence.extend(pump_actions)
-
-                    # 放出上面那一相，60秒后关阀门
-                    action_sequence.append({
-                        "device_id": separator_device,
-                        "action_name": "valve_open",
-                        "action_kwargs": {
-                            "command": "time > 60"
-                        }
-                    })
-
-                    # 弃去上面那一相进废液
-                    if final_waste_vessel_id:
-                        pump_actions = generate_pump_protocol_with_rinsing(
-                            G=G,
-                            from_vessel=separation_vessel_bottom,
-                            to_vessel=final_waste_vessel_id,
-                            volume=current_volume,
-                            flowrate=2.5,
-                            **kwargs
-                        )
-                        action_sequence.extend(pump_actions)
-
-                elif product_phase == "top":
-                    debug_print(f"🔄 收集上相产物到 {final_to_vessel_id}")
-                    action_sequence.append(create_action_log("收集上相产物", "📦"))
-
-                    # 弃去下面那一相进废液
-                    if final_waste_vessel_id:
-                        pump_actions = generate_pump_protocol_with_rinsing(
-                            G=G,
-                            from_vessel=separation_vessel_bottom,
-                            to_vessel=final_waste_vessel_id,
-                            volume=phase_volume,
-                            flowrate=2.5,
-                            **kwargs
-                        )
-                        action_sequence.extend(pump_actions)
-
-                    # 放出上面那一相，60秒后关阀门
-                    action_sequence.append({
-                        "device_id": separator_device,
-                        "action_name": "valve_open",
-                        "action_kwargs": {
-                            "command": "time > 60"
-                        }
-                    })
-
-                    # 产物转移到目标瓶
-                    if final_to_vessel_id:
-                        pump_actions = generate_pump_protocol_with_rinsing(
-                            G=G,
-                            from_vessel=separation_vessel_bottom,
-                            to_vessel=final_to_vessel_id,
-                            volume=phase_volume,
-                            flowrate=2.5,
-                            **kwargs
-                        )
-                        action_sequence.extend(pump_actions)
-
-                debug_print(f"✅ 分离操作已完成")
-                action_sequence.append(create_action_log("分离操作完成", "✅"))
-
-                # 🔧 新增：分离后体积估算
-                separated_volume = phase_volume * 0.95  # 假设5%损失，只保留产物相体积
-                update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
-                current_volume = separated_volume
-
-                # 收集结果
-                if final_to_vessel_id:
-                    action_sequence.append(
-                        create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
-                if final_waste_vessel_id:
-                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
-
-            else:
-                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
-                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
-                # 添加等待时间模拟分离
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": 10.0}
-                })
-
-            # 🔧 新增：如果不是最后一次，从中转瓶转移回分液漏斗（基于old版本逻辑）
-            if repeat_idx < repeats - 1 and final_to_vessel_id and final_to_vessel_id != final_vessel_id:
-                debug_print(f"🔄 第{cycle_num}轮: 产物转移回分离容器准备下一轮")
-                action_sequence.append(create_action_log("产物转回分离容器，准备下一轮", "🔄"))
-
-                pump_actions = generate_pump_protocol_with_rinsing(
-                    G=G,
-                    from_vessel=final_to_vessel_id,
-                    to_vessel=final_vessel_id,
-                    volume=current_volume,
-                    flowrate=2.5,
-                    **kwargs
-                )
-                action_sequence.extend(pump_actions)
-
-                # 更新体积回到分离容器
-                update_vessel_volume(vessel, G, current_volume, f"产物转回分离容器（第{cycle_num}轮后）")
-
-            # 循环间等待（除了最后一次）
-            if repeat_idx < repeats - 1:
-                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
-                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
-                action_sequence.append({
-                    "action_name": "wait",
-                    "action_kwargs": {"time": 5}
-                })
-            else:
-                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
-
+        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:
-        debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
-        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
-
-    # 🔧 新增：分离完成后的最终状态报告
-    final_liquid_volume = get_vessel_liquid_volume(vessel)
-
-    # === 最终结果 ===
-    total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
-
-    debug_print("🌀" * 20)
-    debug_print(f"🎉 分离协议生成完成")
-    debug_print(f"📊 协议统计:")
-    debug_print(f"  📋 总动作数: {len(action_sequence)}")
-    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time / 60:.1f} 分钟)")
-    debug_print(f"  🥼 分离容器: {final_vessel_id}")
-    debug_print(f"  🎯 分离目的: {purpose}")
-    debug_print(f"  📊 产物相: {product_phase}")
-    debug_print(f"  🔄 重复次数: {repeats}")
-    debug_print(f"💧 体积变化统计:")
-    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
-    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
-    if solvent:
-        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
-    if final_to_vessel_id:
-        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
-    if final_waste_vessel_id:
-        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
-    debug_print("🌀" * 20)
-
-    # 添加完成日志
-    summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
-    if solvent:
-        summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
-    action_sequence.append(create_action_log(summary_msg, "🎉"))
-
-    return action_sequence
+        # 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 parse_volume_input(volume_input: Union[str, float]) -> float:
     """
@@ -792,54 +364,377 @@ def update_vessel_volume(vessel: dict, G: nx.DiGraph, new_volume: float, descrip
     
     debug_print(f"📊 容器 '{vessel_id}' 体积已更新为: {new_volume:.2f}mL")
 
-
-def find_separation_vessel_bottom(G: nx.DiGraph, vessel_id: str) -> str:
+def generate_separate_protocol(
+    G: nx.DiGraph,
+    # 🔧 基础参数，支持XDL的vessel参数
+    vessel: dict = None,             # 🔧 修改：从字符串改为字典类型
+    purpose: str = "separate",       # 分离目的
+    product_phase: str = "top",      # 产物相
+    # 🔧 可选的详细参数
+    from_vessel: Union[str, dict] = "",   # 源容器（通常在separate前已经transfer了）
+    separation_vessel: Union[str, dict] = "",  # 分离容器（与vessel同义）
+    to_vessel: Union[str, dict] = "",         # 目标容器（可选）
+    waste_phase_to_vessel: Union[str, dict] = "",  # 废相目标容器
+    product_vessel: Union[str, dict] = "",    # XDL: 产物容器（与to_vessel同义）
+    waste_vessel: Union[str, dict] = "",      # XDL: 废液容器（与waste_phase_to_vessel同义）
+    # 🔧 溶剂相关参数
+    solvent: str = "",                   # 溶剂名称
+    solvent_volume: Union[str, float] = 0.0,  # 溶剂体积
+    volume: Union[str, float] = 0.0,     # XDL: 体积（与solvent_volume同义）
+    # 🔧 操作参数
+    through: str = "",                   # 通过材料
+    repeats: int = 1,                    # 重复次数
+    stir_time: float = 30.0,             # 搅拌时间（秒）
+    stir_speed: float = 300.0,           # 搅拌速度
+    settling_time: float = 300.0,        # 沉降时间（秒）
+    **kwargs
+) -> List[Dict[str, Any]]:
     """
-    智能查找分离容器的底部容器（假设为flask或vessel类型）
+    生成分离操作的协议序列 - 支持vessel字典和体积运算
     
-    Args:
-        G: 网络图
-        vessel_id: 分离容器ID
-        
-    Returns:
-        str: 底部容器ID
+    支持XDL参数格式：
+    - vessel: 分离容器字典（必需）
+    - purpose: "wash", "extract", "separate"
+    - product_phase: "top", "bottom"
+    - product_vessel: 产物收集容器
+    - waste_vessel: 废液收集容器
+    - solvent: 溶剂名称
+    - volume: "200 mL", "?" 或数值
+    - repeats: 重复次数
+    
+    分离流程：
+    1. （可选）添加溶剂到分离容器
+    2. 搅拌混合
+    3. 静置分层
+    4. 收集指定相到目标容器
+    5. 重复指定次数
     """
-    debug_print(f"🔍 查找分离容器 {vessel_id} 的底部容器...")
     
-    # 方法1：根据命名规则推测
-    possible_bottoms = [
-        f"{vessel_id}_bottom",
-        f"flask_{vessel_id}",
-        f"vessel_{vessel_id}",
-        f"{vessel_id}_flask",
-        f"{vessel_id}_vessel"
-    ]
+    # 🔧 核心修改：vessel参数兼容处理
+    if vessel is None:
+        if isinstance(separation_vessel, dict):
+            vessel = separation_vessel
+        else:
+            raise ValueError("必须提供vessel字典参数")
     
-    debug_print(f"📋 尝试的底部容器名称: {possible_bottoms}")
+    # 🔧 核心修改：从字典中提取容器ID
+    vessel_id = vessel["id"]
     
-    for bottom_id in possible_bottoms:
-        if bottom_id in G.nodes():
-            node_type = G.nodes[bottom_id].get('type', '')
-            if node_type == 'container':
-                debug_print(f"✅ 通过命名规则找到底部容器: {bottom_id}")
-                return bottom_id
+    debug_print("🌀" * 20)
+    debug_print("🚀 开始生成分离协议（支持vessel字典和体积运算）✨")
+    debug_print(f"📝 输入参数:")
+    debug_print(f"  🥽 vessel: {vessel} (ID: {vessel_id})")
+    debug_print(f"  🎯 分离目的: '{purpose}'")
+    debug_print(f"  📊 产物相: '{product_phase}'")
+    debug_print(f"  💧 溶剂: '{solvent}'")
+    debug_print(f"  📏 体积: {volume} (类型: {type(volume)})")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"  🎯 产物容器: '{product_vessel}'")
+    debug_print(f"  🗑️ 废液容器: '{waste_vessel}'")
+    debug_print(f"  📦 其他参数: {kwargs}")
+    debug_print("🌀" * 20)
     
-    # 方法2：查找与分离器相连的容器（假设底部容器会与分离器相连）
-    debug_print(f"📋 方法2: 查找连接的容器...")
-    for node in G.nodes():
-        node_data = G.nodes[node]
-        node_class = node_data.get('class', '') or ''
-        
-        if 'separator' in node_class.lower():
-            # 检查分离器的输入端
-            if G.has_edge(node, vessel_id):
-                for neighbor in G.neighbors(node):
-                    if neighbor != vessel_id:
-                        neighbor_type = G.nodes[neighbor].get('type', '')
-                        if neighbor_type == 'container':
-                            debug_print(f"✅ 通过连接找到底部容器: {neighbor}")
-                            return neighbor
+    action_sequence = []
     
-    debug_print(f"❌ 无法找到分离容器 {vessel_id} 的底部容器")
-    return ""
+    # 🔧 新增：记录分离前的容器状态
+    debug_print("🔍 记录分离前容器状态...")
+    original_liquid_volume = get_vessel_liquid_volume(vessel)
+    debug_print(f"📊 分离前液体体积: {original_liquid_volume:.2f}mL")
+    
+    # === 参数验证和标准化 ===
+    debug_print("🔍 步骤1: 参数验证和标准化...")
+    action_sequence.append(create_action_log(f"开始分离操作 - 容器: {vessel_id}", "🎬"))
+    action_sequence.append(create_action_log(f"分离目的: {purpose}", "🧪"))
+    action_sequence.append(create_action_log(f"产物相: {product_phase}", "📊"))
+    
+    # 统一容器参数 - 支持字典和字符串
+    def extract_vessel_id(vessel_param):
+        if isinstance(vessel_param, dict):
+            return vessel_param.get("id", "")
+        elif isinstance(vessel_param, str):
+            return vessel_param
+        else:
+            return ""
+    
+    final_vessel_id = vessel_id
+    final_to_vessel_id = extract_vessel_id(to_vessel) or extract_vessel_id(product_vessel)
+    final_waste_vessel_id = extract_vessel_id(waste_phase_to_vessel) or extract_vessel_id(waste_vessel)
+    
+    # 统一体积参数
+    final_volume = parse_volume_input(volume or solvent_volume)
+    
+    # 🔧 修复：确保repeats至少为1
+    if repeats <= 0:
+        repeats = 1
+        debug_print(f"⚠️ 重复次数参数 <= 0，自动设置为 1")
+    
+    debug_print(f"🔧 标准化后的参数:")
+    debug_print(f"  🥼 分离容器: '{final_vessel_id}'")
+    debug_print(f"  🎯 产物容器: '{final_to_vessel_id}'")
+    debug_print(f"  🗑️ 废液容器: '{final_waste_vessel_id}'")
+    debug_print(f"  📏 溶剂体积: {final_volume}mL")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    
+    action_sequence.append(create_action_log(f"分离容器: {final_vessel_id}", "🧪"))
+    action_sequence.append(create_action_log(f"溶剂体积: {final_volume}mL", "📏"))
+    action_sequence.append(create_action_log(f"重复次数: {repeats}", "🔄"))
+    
+    # 验证必需参数
+    if not purpose:
+        purpose = "separate"
+    if not product_phase:
+        product_phase = "top"
+    if purpose not in ["wash", "extract", "separate"]:
+        debug_print(f"⚠️ 未知的分离目的 '{purpose}'，使用默认值 'separate'")
+        purpose = "separate"
+        action_sequence.append(create_action_log(f"未知目的，使用: {purpose}", "⚠️"))
+    if product_phase not in ["top", "bottom"]:
+        debug_print(f"⚠️ 未知的产物相 '{product_phase}'，使用默认值 'top'")
+        product_phase = "top"
+        action_sequence.append(create_action_log(f"未知相别，使用: {product_phase}", "⚠️"))
+    
+    debug_print("✅ 参数验证通过")
+    action_sequence.append(create_action_log("参数验证通过", "✅"))
+    
+    # === 查找设备 ===
+    debug_print("🔍 步骤2: 查找设备...")
+    action_sequence.append(create_action_log("正在查找相关设备...", "🔍"))
+    
+    # 查找分离器设备
+    separator_device = find_separator_device(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    if separator_device:
+        action_sequence.append(create_action_log(f"找到分离器设备: {separator_device}", "🧪"))
+    else:
+        debug_print("⚠️ 未找到分离器设备，可能无法执行分离")
+        action_sequence.append(create_action_log("未找到分离器设备", "⚠️"))
+    
+    # 查找搅拌器
+    stirrer_device = find_connected_stirrer(G, final_vessel_id)  # 🔧 使用 final_vessel_id
+    if stirrer_device:
+        action_sequence.append(create_action_log(f"找到搅拌器: {stirrer_device}", "🌪️"))
+    else:
+        action_sequence.append(create_action_log("未找到搅拌器", "⚠️"))
+    
+    # 查找溶剂容器（如果需要）
+    solvent_vessel = ""
+    if solvent and solvent.strip():
+        solvent_vessel = find_solvent_vessel(G, solvent)
+        if solvent_vessel:
+            action_sequence.append(create_action_log(f"找到溶剂容器: {solvent_vessel}", "💧"))
+        else:
+            action_sequence.append(create_action_log(f"未找到溶剂容器: {solvent}", "⚠️"))
+    
+    debug_print(f"📊 设备配置:")
+    debug_print(f"  🧪 分离器设备: '{separator_device}'")
+    debug_print(f"  🌪️ 搅拌器设备: '{stirrer_device}'")
+    debug_print(f"  💧 溶剂容器: '{solvent_vessel}'")
+    
+    # === 执行分离流程 ===
+    debug_print("🔍 步骤3: 执行分离流程...")
+    action_sequence.append(create_action_log("开始分离工作流程", "🎯"))
+    
+    # 🔧 新增：体积变化跟踪变量
+    current_volume = original_liquid_volume
+    
+    try:
+        for repeat_idx in range(repeats):
+            cycle_num = repeat_idx + 1
+            debug_print(f"🔄 第{cycle_num}轮: 开始分离循环 {cycle_num}/{repeats}")
+            action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 开始", "🔄"))
+            
+            # 步骤3.1: 添加溶剂（如果需要）
+            if solvent_vessel and final_volume > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 添加溶剂 {solvent} ({final_volume}mL)")
+                action_sequence.append(create_action_log(f"向分离容器添加 {final_volume}mL {solvent}", "💧"))
+                
+                try:
+                    # 使用pump protocol添加溶剂
+                    pump_actions = generate_pump_protocol_with_rinsing(
+                        G=G,
+                        from_vessel=solvent_vessel,
+                        to_vessel=final_vessel_id,  # 🔧 使用 final_vessel_id
+                        volume=final_volume,
+                        amount="",
+                        time=0.0,
+                        viscous=False,
+                        rinsing_solvent="",
+                        rinsing_volume=0.0,
+                        rinsing_repeats=0,
+                        solid=False,
+                        flowrate=2.5,
+                        transfer_flowrate=0.5,
+                        rate_spec="",
+                        event="",
+                        through="",
+                        **kwargs
+                    )
+                    action_sequence.extend(pump_actions)
+                    debug_print(f"✅ 溶剂添加完成，添加了 {len(pump_actions)} 个动作")
+                    action_sequence.append(create_action_log(f"溶剂转移完成 ({len(pump_actions)} 个操作)", "✅"))
+                    
+                    # 🔧 新增：更新体积 - 添加溶剂后
+                    current_volume += final_volume
+                    update_vessel_volume(vessel, G, current_volume, f"添加{final_volume}mL {solvent}后")
+                    
+                except Exception as e:
+                    debug_print(f"❌ 溶剂添加失败: {str(e)}")
+                    action_sequence.append(create_action_log(f"溶剂添加失败: {str(e)}", "❌"))
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤1: 无需添加溶剂")
+                action_sequence.append(create_action_log("无需添加溶剂", "⏭️"))
+            
+            # 步骤3.2: 启动搅拌（如果有搅拌器）
+            if stirrer_device and stir_time > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 开始搅拌 ({stir_speed}rpm，持续 {stir_time}s)")
+                action_sequence.append(create_action_log(f"开始搅拌: {stir_speed}rpm，持续 {stir_time}s", "🌪️"))
+                
+                action_sequence.append({
+                    "device_id": stirrer_device,
+                    "action_name": "start_stir",
+                    "action_kwargs": {
+                        "vessel": final_vessel_id,  # 🔧 使用 final_vessel_id
+                        "stir_speed": stir_speed,
+                        "purpose": f"分离混合 - {purpose}"
+                    }
+                })
+                
+                # 搅拌等待
+                stir_minutes = stir_time / 60
+                action_sequence.append(create_action_log(f"搅拌中，持续 {stir_minutes:.1f} 分钟", "⏱️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": stir_time}
+                })
+                
+                # 停止搅拌
+                action_sequence.append(create_action_log("停止搅拌器", "🛑"))
+                action_sequence.append({
+                    "device_id": stirrer_device,
+                    "action_name": "stop_stir",
+                    "action_kwargs": {"vessel": final_vessel_id}  # 🔧 使用 final_vessel_id
+                })
+                
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤2: 无需搅拌")
+                action_sequence.append(create_action_log("无需搅拌", "⏭️"))
+            
+            # 步骤3.3: 静置分层
+            if settling_time > 0:
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 静置分层 ({settling_time}s)")
+                settling_minutes = settling_time / 60
+                action_sequence.append(create_action_log(f"静置分层 ({settling_minutes:.1f} 分钟)", "⚖️"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": settling_time}
+                })
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤3: 未指定静置时间")
+                action_sequence.append(create_action_log("未指定静置时间", "⏭️"))
+            
+            # 步骤3.4: 执行分离操作
+            if separator_device:
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 执行分离操作")
+                action_sequence.append(create_action_log(f"执行分离: 收集{product_phase}相", "🧪"))
+                
+                # 调用分离器设备的separate方法
+                separate_action = {
+                    "device_id": separator_device,
+                    "action_name": "separate",
+                    "action_kwargs": {
+                        "purpose": purpose,
+                        "product_phase": product_phase,
+                        "from_vessel": extract_vessel_id(from_vessel) or final_vessel_id,  # 🔧 使用vessel_id
+                        "separation_vessel": final_vessel_id,   # 🔧 使用 final_vessel_id
+                        "to_vessel": final_to_vessel_id or final_vessel_id,       # 🔧 使用vessel_id
+                        "waste_phase_to_vessel": final_waste_vessel_id or final_vessel_id,  # 🔧 使用vessel_id
+                        "solvent": solvent,
+                        "solvent_volume": final_volume,
+                        "through": through,
+                        "repeats": 1,  # 每次调用只做一次分离
+                        "stir_time": 0,  # 已经在上面完成
+                        "stir_speed": stir_speed,
+                        "settling_time": 0  # 已经在上面完成
+                    }
+                }
+                action_sequence.append(separate_action)
+                debug_print(f"✅ 分离操作已添加")
+                action_sequence.append(create_action_log("分离操作完成", "✅"))
+                
+                # 🔧 新增：分离后体积估算（分离通常不改变总体积，但会重新分配）
+                # 假设分离后保持体积（实际情况可能有少量损失）
+                separated_volume = current_volume * 0.95  # 假设5%损失
+                update_vessel_volume(vessel, G, separated_volume, f"分离操作后（第{cycle_num}轮）")
+                current_volume = separated_volume
+                
+                # 收集结果
+                if final_to_vessel_id:
+                    action_sequence.append(create_action_log(f"产物 ({product_phase}相) 收集到: {final_to_vessel_id}", "📦"))
+                if final_waste_vessel_id:
+                    action_sequence.append(create_action_log(f"废相收集到: {final_waste_vessel_id}", "🗑️"))
+            
+            else:
+                debug_print(f"🔄 第{cycle_num}轮 步骤4: 无分离器设备，跳过分离")
+                action_sequence.append(create_action_log("无分离器设备可用", "❌"))
+                # 添加等待时间模拟分离
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 10.0}
+                })
+            
+            # 循环间等待（除了最后一次）
+            if repeat_idx < repeats - 1:
+                debug_print(f"🔄 第{cycle_num}轮: 等待下一次循环...")
+                action_sequence.append(create_action_log("等待下一次循环...", "⏳"))
+                action_sequence.append({
+                    "action_name": "wait",
+                    "action_kwargs": {"time": 5}
+                })
+            else:
+                action_sequence.append(create_action_log(f"分离循环 {cycle_num}/{repeats} 完成", "🌟"))
+    
+    except Exception as e:
+        debug_print(f"❌ 分离工作流程执行失败: {str(e)}")
+        action_sequence.append(create_action_log(f"分离工作流程失败: {str(e)}", "❌"))
+        # 添加错误日志
+        action_sequence.append({
+            "device_id": "system",
+            "action_name": "log_message",
+            "action_kwargs": {
+                "message": f"分离操作失败: {str(e)}"
+            }
+        })
+    
+    # 🔧 新增：分离完成后的最终状态报告
+    final_liquid_volume = get_vessel_liquid_volume(vessel)
+    
+    # === 最终结果 ===
+    total_time = (stir_time + settling_time + 15) * repeats  # 估算总时间
+    
+    debug_print("🌀" * 20)
+    debug_print(f"🎉 分离协议生成完成")
+    debug_print(f"📊 协议统计:")
+    debug_print(f"  📋 总动作数: {len(action_sequence)}")
+    debug_print(f"  ⏱️ 预计总时间: {total_time:.0f}s ({total_time/60:.1f} 分钟)")
+    debug_print(f"  🥼 分离容器: {final_vessel_id}")
+    debug_print(f"  🎯 分离目的: {purpose}")
+    debug_print(f"  📊 产物相: {product_phase}")
+    debug_print(f"  🔄 重复次数: {repeats}")
+    debug_print(f"💧 体积变化统计:")
+    debug_print(f"  - 分离前体积: {original_liquid_volume:.2f}mL")
+    debug_print(f"  - 分离后体积: {final_liquid_volume:.2f}mL")
+    if solvent:
+        debug_print(f"  💧 溶剂: {solvent} ({final_volume}mL × {repeats}轮 = {final_volume * repeats:.2f}mL)")
+    if final_to_vessel_id:
+        debug_print(f"  🎯 产物容器: {final_to_vessel_id}")
+    if final_waste_vessel_id:
+        debug_print(f"  🗑️ 废液容器: {final_waste_vessel_id}")
+    debug_print("🌀" * 20)
+    
+    # 添加完成日志
+    summary_msg = f"分离协议完成: {final_vessel_id} ({purpose}，{repeats} 次循环)"
+    if solvent:
+        summary_msg += f"，使用 {final_volume * repeats:.2f}mL {solvent}"
+    action_sequence.append(create_action_log(summary_msg, "🎉"))
+    
+    return action_sequence
 

unilabos/compile/stir_protocol.py

@@ -3,14 +3,81 @@ import networkx as nx
 import logging
 import re
 
-from .utils.unit_parser import parse_time_input
-
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"🌪️ [STIR] {message}", flush=True)
     logger.info(f"[STIR] {message}")
 
+def parse_time_input(time_input: Union[str, float, int], default_unit: str = "s") -> float:
+    """
+    统一的时间解析函数（精简版）
+    
+    Args:
+        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
+        default_unit: 默认单位（默认为秒）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if not time_input:
+        return 100.0  # 默认100秒
+    
+    # 🔢 处理数值输入
+    if isinstance(time_input, (int, float)):
+        result = float(time_input)
+        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
+        return result
+    
+    # 📝 处理字符串输入
+    time_str = str(time_input).lower().strip()
+    debug_print(f"🔍 解析时间: '{time_str}'")
+    
+    # ❓ 特殊值处理
+    special_times = {
+        '?': 300.0, 'unknown': 300.0, 'tbd': 300.0,
+        'briefly': 30.0, 'quickly': 60.0, 'slowly': 600.0,
+        'several minutes': 300.0, 'few minutes': 180.0, 'overnight': 3600.0
+    }
+    
+    if time_str in special_times:
+        result = special_times[time_str]
+        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s ({result/60:.1f}分钟)")
+        return result
+    
+    # 🔢 纯数字处理
+    try:
+        result = float(time_str)
+        debug_print(f"⏰ 纯数字: {time_str} → {result}s")
+        return result
+    except ValueError:
+        pass
+    
+    # 📐 正则表达式解析
+    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
+    match = re.match(pattern, time_str)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 100s")
+        return 100.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or default_unit
+    
+    # 📏 单位转换
+    unit_multipliers = {
+        's': 1.0, 'sec': 1.0, 'second': 1.0, 'seconds': 1.0,
+        'm': 60.0, 'min': 60.0, 'mins': 60.0, 'minute': 60.0, 'minutes': 60.0,
+        'h': 3600.0, 'hr': 3600.0, 'hrs': 3600.0, 'hour': 3600.0, 'hours': 3600.0,
+        'd': 86400.0, 'day': 86400.0, 'days': 86400.0
+    }
+    
+    multiplier = unit_multipliers.get(unit, 1.0)
+    result = value * multiplier
+    
+    debug_print(f"✅ 时间解析: '{time_str}' → {value} {unit} → {result}s ({result/60:.1f}分钟)")
+    return result
 
 def find_connected_stirrer(G: nx.DiGraph, vessel: str = None) -> str:
     """查找与指定容器相连的搅拌设备"""
@@ -234,7 +301,7 @@ def generate_stir_protocol(
         "action_name": "stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是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,
@@ -323,7 +390,7 @@ def generate_start_stir_protocol(
         "action_name": "start_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
+            "vessel": vessel_id,  # 传递字符串ID，不是Resource对象
             "stir_speed": stir_speed,
             "purpose": purpose or f"启动搅拌 {stir_speed} RPM"
         }
@@ -383,7 +450,7 @@ def generate_stop_stir_protocol(
         "action_name": "stop_stir",
         "action_kwargs": {
             # 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
-            "vessel": {"id": vessel_id},  # 传递字符串ID，不是Resource对象
+            "vessel": vessel_id  # 传递字符串ID，不是Resource对象
         }
     }]
     

unilabos/compile/transfer_protocol.py

@@ -0,0 +1,79 @@
+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

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

unilabos/compile/utils/unit_parser.py

@@ -4,12 +4,108 @@
 """
 
 import re
+import logging
 from typing import Union
 
-from .logger_util import debug_print
+logger = logging.getLogger(__name__)
 
+def debug_print(message, prefix="[UNIT_PARSER]"):
+    """调试输出"""
+    print(f"{prefix} {message}", flush=True)
+    logger.info(f"{prefix} {message}")
 
-def parse_volume_input(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
+def parse_time_with_units(time_input: Union[str, float, int], default_unit: str = "s") -> float:
+    """
+    解析带单位的时间输入
+    
+    Args:
+        time_input: 时间输入（如 "30 min", "1 h", "300", "?", 60.0）
+        default_unit: 默认单位（默认为秒）
+    
+    Returns:
+        float: 时间（秒）
+    """
+    if not time_input:
+        return 0.0
+    
+    # 处理数值输入
+    if isinstance(time_input, (int, float)):
+        result = float(time_input)
+        debug_print(f"数值时间输入: {time_input} → {result}s（默认单位）")
+        return result
+    
+    # 处理字符串输入
+    time_str = str(time_input).lower().strip()
+    debug_print(f"解析时间字符串: '{time_str}'")
+    
+    # 处理特殊值
+    if time_str in ['?', 'unknown', 'tbd', 'to be determined']:
+        default_time = 300.0  # 5分钟默认值
+        debug_print(f"检测到未知时间，使用默认值: {default_time}s")
+        return default_time
+    
+    # 如果是纯数字，使用默认单位
+    try:
+        value = float(time_str)
+        if default_unit == "s":
+            result = value
+        elif default_unit in ["min", "minute"]:
+            result = value * 60.0
+        elif default_unit in ["h", "hour"]:
+            result = value * 3600.0
+        else:
+            result = value  # 默认秒
+        debug_print(f"纯数字输入: {time_str} → {result}s（单位: {default_unit}）")
+        return result
+    except ValueError:
+        pass
+    
+    # 使用正则表达式匹配数字和单位
+    pattern = r'(\d+\.?\d*)\s*([a-z]*)'
+    match = re.match(pattern, time_str)
+    
+    if not match:
+        debug_print(f"⚠️ 无法解析时间: '{time_str}'，使用默认值: 60s")
+        return 60.0
+    
+    value = float(match.group(1))
+    unit = match.group(2) or default_unit
+    
+    # 单位转换映射
+    unit_multipliers = {
+        # 秒
+        's': 1.0,
+        'sec': 1.0,
+        'second': 1.0,
+        'seconds': 1.0,
+        
+        # 分钟
+        'm': 60.0,
+        'min': 60.0,
+        'mins': 60.0,
+        'minute': 60.0,
+        'minutes': 60.0,
+        
+        # 小时
+        'h': 3600.0,
+        'hr': 3600.0,
+        'hrs': 3600.0,
+        'hour': 3600.0,
+        'hours': 3600.0,
+        
+        # 天
+        'd': 86400.0,
+        'day': 86400.0,
+        'days': 86400.0,
+    }
+    
+    multiplier = unit_multipliers.get(unit, 1.0)
+    result = value * multiplier
+    
+    debug_print(f"时间解析: '{time_str}' → {value} {unit} → {result}s")
+    return result
+
+def parse_volume_with_units(volume_input: Union[str, float, int], default_unit: str = "mL") -> float:
     """
     解析带单位的体积输入
     
@@ -79,111 +175,6 @@ def parse_volume_input(volume_input: Union[str, float, int], default_unit: str =
     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"""
@@ -196,7 +187,7 @@ def test_unit_parser():
     
     print("\n时间解析测试:")
     for time_input in time_tests:
-        result = parse_time_input(time_input)
+        result = parse_time_with_units(time_input)
         print(f"  {time_input} → {result}s ({result/60:.1f}min)")
     
     # 测试体积解析
@@ -206,7 +197,7 @@ def test_unit_parser():
     
     print("\n体积解析测试:")
     for volume_input in volume_tests:
-        result = parse_volume_input(volume_input)
+        result = parse_volume_with_units(volume_input)
         print(f"  {volume_input} → {result}mL")
     
     print("\n✅ 测试完成")

unilabos/compile/utils/vessel_parser.py

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

unilabos/compile/wash_solid_protocol.py

@@ -3,14 +3,118 @@ import networkx as nx
 import logging
 import re
 
-from .utils.unit_parser import parse_time_input, parse_volume_input
-
 logger = logging.getLogger(__name__)
 
 def debug_print(message):
     """调试输出"""
+    print(f"🧼 [WASH_SOLID] {message}", flush=True)
     logger.info(f"[WASH_SOLID] {message}")
 
+def parse_time_input(time_input: Union[str, float, int]) -> float:
+    """统一时间解析函数（精简版）"""
+    if not time_input:
+        return 0.0
+    
+    # 🔢 处理数值输入
+    if isinstance(time_input, (int, float)):
+        result = float(time_input)
+        debug_print(f"⏰ 数值时间: {time_input} → {result}s")
+        return result
+    
+    # 📝 处理字符串输入
+    time_str = str(time_input).lower().strip()
+    
+    # ❓ 特殊值快速处理
+    special_times = {
+        '?': 60.0, 'unknown': 60.0, 'briefly': 30.0, 
+        'quickly': 45.0, 'slowly': 120.0
+    }
+    
+    if time_str in special_times:
+        result = special_times[time_str]
+        debug_print(f"🎯 特殊时间: '{time_str}' → {result}s")
+        return result
+    
+    # 🔢 数字提取（简化正则）
+    try:
+        # 提取数字
+        numbers = re.findall(r'\d+\.?\d*', time_str)
+        if numbers:
+            value = float(numbers[0])
+            
+            # 简化单位判断
+            if any(unit in time_str for unit in ['min', 'm']):
+                result = value * 60.0
+            elif any(unit in time_str for unit in ['h', 'hour']):
+                result = value * 3600.0
+            else:
+                result = value  # 默认秒
+            
+            debug_print(f"✅ 时间解析: '{time_str}' → {result}s")
+            return result
+    except:
+        pass
+    
+    debug_print(f"⚠️ 时间解析失败: '{time_str}'，使用默认60s")
+    return 60.0
+
+def parse_volume_input(volume: Union[float, str], volume_spec: str = "", mass: str = "") -> float:
+    """统一体积解析函数（精简版）"""
+    debug_print(f"💧 解析体积: volume={volume}, spec='{volume_spec}', mass='{mass}'")
+    
+    # 🎯 优先级1：volume_spec（快速映射）
+    if volume_spec:
+        spec_map = {
+            'small': 20.0, 'medium': 50.0, 'large': 100.0,
+            'minimal': 10.0, 'normal': 50.0, 'generous': 150.0
+        }
+        for key, val in spec_map.items():
+            if key in volume_spec.lower():
+                debug_print(f"🎯 规格匹配: '{volume_spec}' → {val}mL")
+                return val
+    
+    # 🧮 优先级2：mass转体积（简化：1g=1mL）
+    if mass:
+        try:
+            numbers = re.findall(r'\d+\.?\d*', mass)
+            if numbers:
+                value = float(numbers[0])
+                if 'mg' in mass.lower():
+                    result = value / 1000.0
+                elif 'kg' in mass.lower():
+                    result = value * 1000.0
+                else:
+                    result = value  # 默认g
+                debug_print(f"⚖️ 质量转换: {mass} → {result}mL")
+                return result
+        except:
+            pass
+    
+    # 📦 优先级3：volume
+    if volume:
+        if isinstance(volume, (int, float)):
+            result = float(volume)
+            debug_print(f"💧 数值体积: {volume} → {result}mL")
+            return result
+        elif isinstance(volume, str):
+            try:
+                # 提取数字
+                numbers = re.findall(r'\d+\.?\d*', volume)
+                if numbers:
+                    value = float(numbers[0])
+                    # 简化单位判断
+                    if 'l' in volume.lower() and 'ml' not in volume.lower():
+                        result = value * 1000.0  # L转mL
+                    else:
+                        result = value  # 默认mL
+                    debug_print(f"💧 字符串体积: '{volume}' → {result}mL")
+                    return result
+            except:
+                pass
+    
+    # 默认值
+    debug_print(f"⚠️ 体积解析失败，使用默认50mL")
+    return 50.0
 
 def find_solvent_source(G: nx.DiGraph, solvent: str) -> str:
     """查找溶剂源（精简版）"""
@@ -361,7 +465,7 @@ def generate_wash_solid_protocol(
                 "device_id": "stirrer_1",
                 "action_name": "stir",
                 "action_kwargs": {
-                    "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                    "vessel": vessel_id,  # 🔧 使用 vessel_id
                     "time": str(time),
                     "stir_time": final_time,
                     "stir_speed": stir_speed,
@@ -377,7 +481,7 @@ def generate_wash_solid_protocol(
             "device_id": "filter_1",
             "action_name": "filter",
             "action_kwargs": {
-                "vessel": {"id": vessel_id},  # 🔧 使用 vessel_id
+                "vessel": vessel_id,  # 🔧 使用 vessel_id
                 "filtrate_vessel": actual_filtrate_vessel,
                 "temp": temp,
                 "volume": final_volume

unilabos/config/config.py

@@ -1,38 +1,39 @@
-import base64
+#!/usr/bin/env python
+# coding=utf-8
+# 定义配置变量和加载函数
 import traceback
 import os
 import importlib.util
-from typing import Optional
 from unilabos.utils import logger
 
 
 class BasicConfig:
-    ak = ""
-    sk = ""
-    working_dir = ""
+    ENV = "pro"  # 'test'
     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
 
 
-# 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）
+# 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
 
 
 # OSS上传配置
@@ -69,15 +70,47 @@ 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
@@ -121,15 +154,16 @@ 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:
-        env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
-        config_path = env_config_path if env_config_path else config_path
+        _update_config_from_env()  # 允许config_path被env设定后读取
         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)
@@ -140,7 +174,6 @@ 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

@@ -1,12 +0,0 @@
-# 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

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

unilabos/controllers/eis_model.py

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

unilabos/device_comms/coin_cell_assembly_workstation.py

@@ -1,454 +0,0 @@
-"""
-纽扣电池组装工作站
-Coin Cell Assembly Workstation
-
-继承工作站基类，实现纽扣电池特定功能
-"""
-from typing import Dict, Any, List, Optional, Union
-
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
-from unilabos.device_comms.workstation_communication import (
-    WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
-)
-from unilabos.device_comms.workstation_material_management import (
-    MaterialManagementBase, CoinCellMaterialManagement
-)
-from unilabos.utils.log import logger
-
-
-class CoinCellAssemblyWorkstation(WorkstationBase):
-    """纽扣电池组装工作站
-    
-    基于工作站基类，实现纽扣电池制造的特定功能：
-    1. 纽扣电池特定的通信协议
-    2. 纽扣电池物料管理（料板、极片、电池等）
-    3. 电池制造工作流
-    4. 质量检查工作流
-    """
-
-    def __init__(
-        self,
-        device_id: str,
-        children: Dict[str, Dict[str, Any]],
-        protocol_type: Union[str, List[str]] = "BatteryManufacturingProtocol",
-        resource_tracker: Optional[DeviceNodeResourceTracker] = None,
-        modbus_config: Optional[Dict[str, Any]] = None,
-        deck_config: Optional[Dict[str, Any]] = None,
-        csv_path: str = "./coin_cell_assembly.csv",
-        *args,
-        **kwargs,
-    ):
-        # 设置通信配置
-        modbus_config = modbus_config or {"host": "127.0.0.1", "port": 5021}
-        self.communication_config = CommunicationConfig(
-            protocol=CommunicationProtocol.MODBUS_TCP,
-            host=modbus_config["host"],
-            port=modbus_config["port"],
-            timeout=modbus_config.get("timeout", 5.0),
-            retry_count=modbus_config.get("retry_count", 3)
-        )
-        
-        # 设置台面配置
-        self.deck_config = deck_config or {
-            "size_x": 1620.0,
-            "size_y": 1270.0,
-            "size_z": 500.0
-        }
-        
-        # CSV地址映射文件路径
-        self.csv_path = csv_path
-        
-        # 创建资源跟踪器（如果没有提供）
-        if resource_tracker is None:
-            from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
-            resource_tracker = DeviceNodeResourceTracker()
-        
-        # 初始化基类
-        super().__init__(
-            device_id=device_id,
-            children=children,
-            protocol_type=protocol_type,
-            resource_tracker=resource_tracker,
-            communication_config=self.communication_config,
-            deck_config=self.deck_config,
-            *args,
-            **kwargs
-        )
-        
-        logger.info(f"纽扣电池组装工作站 {device_id} 初始化完成")
-
-    def _create_communication_module(self) -> WorkstationCommunicationBase:
-        """创建纽扣电池通信模块"""
-        return CoinCellCommunication(
-            communication_config=self.communication_config,
-            csv_path=self.csv_path
-        )
-
-    def _create_material_management_module(self) -> MaterialManagementBase:
-        """创建纽扣电池物料管理模块"""
-        return CoinCellMaterialManagement(
-            device_id=self.device_id,
-            deck_config=self.deck_config,
-            resource_tracker=self.resource_tracker,
-            children_config=self.children
-        )
-
-    def _register_supported_workflows(self):
-        """注册纽扣电池工作流"""
-        # 电池制造工作流
-        self.supported_workflows["battery_manufacturing"] = WorkflowInfo(
-            name="battery_manufacturing",
-            description="纽扣电池制造工作流",
-            estimated_duration=300.0,  # 5分钟
-            required_materials=["cathode_sheet", "anode_sheet", "separator", "electrolyte"],
-            output_product="coin_cell_battery",
-            parameters_schema={
-                "type": "object",
-                "properties": {
-                    "electrolyte_num": {
-                        "type": "integer",
-                        "description": "电解液瓶数",
-                        "minimum": 1,
-                        "maximum": 32
-                    },
-                    "electrolyte_volume": {
-                        "type": "number",
-                        "description": "电解液体积 (μL)",
-                        "minimum": 0.1,
-                        "maximum": 100.0
-                    },
-                    "assembly_pressure": {
-                        "type": "number",
-                        "description": "组装压力 (N)",
-                        "minimum": 100.0,
-                        "maximum": 5000.0
-                    },
-                    "cathode_material": {
-                        "type": "string",
-                        "description": "正极材料类型",
-                        "enum": ["LiFePO4", "LiCoO2", "NCM", "LMO"]
-                    },
-                    "anode_material": {
-                        "type": "string", 
-                        "description": "负极材料类型",
-                        "enum": ["Graphite", "LTO", "Silicon"]
-                    }
-                },
-                "required": ["electrolyte_num", "electrolyte_volume", "assembly_pressure"]
-            }
-        )
-        
-        # 质量检查工作流
-        self.supported_workflows["quality_inspection"] = WorkflowInfo(
-            name="quality_inspection",
-            description="产品质量检查工作流",
-            estimated_duration=60.0,  # 1分钟
-            required_materials=["finished_battery"],
-            output_product="quality_report",
-            parameters_schema={
-                "type": "object",
-                "properties": {
-                    "test_voltage": {
-                        "type": "boolean",
-                        "description": "是否测试电压",
-                        "default": True
-                    },
-                    "test_capacity": {
-                        "type": "boolean",
-                        "description": "是否测试容量",
-                        "default": False
-                    },
-                    "voltage_threshold": {
-                        "type": "number",
-                        "description": "电压阈值 (V)",
-                        "minimum": 2.0,
-                        "maximum": 4.5,
-                        "default": 3.0
-                    }
-                }
-            }
-        )
-        
-        # 设备初始化工作流
-        self.supported_workflows["device_initialization"] = WorkflowInfo(
-            name="device_initialization", 
-            description="设备初始化工作流",
-            estimated_duration=30.0,  # 30秒
-            required_materials=[],
-            output_product="ready_status",
-            parameters_schema={
-                "type": "object",
-                "properties": {
-                    "auto_mode": {
-                        "type": "boolean",
-                        "description": "是否启用自动模式",
-                        "default": True
-                    }
-                }
-            }
-        )
-
-    # ============ 纽扣电池特定方法 ============
-    
-    def get_electrode_sheet_inventory(self) -> Dict[str, int]:
-        """获取极片库存统计"""
-        try:
-            sheets = self.material_management.find_electrode_sheets()
-            inventory = {}
-            
-            for sheet in sheets:
-                material_type = getattr(sheet, 'material_type', 'unknown')
-                inventory[material_type] = inventory.get(material_type, 0) + 1
-            
-            return inventory
-            
-        except Exception as e:
-            logger.error(f"获取极片库存失败: {e}")
-            return {}
-
-    def get_battery_production_statistics(self) -> Dict[str, Any]:
-        """获取电池生产统计"""
-        try:
-            production_data = self.communication.get_production_data()
-            
-            # 添加物料统计
-            electrode_inventory = self.get_electrode_sheet_inventory()
-            battery_count = len(self.material_management.find_batteries())
-            
-            return {
-                **production_data,
-                "electrode_inventory": electrode_inventory,
-                "finished_battery_count": battery_count,
-                "material_plates": len(self.material_management.find_material_plates()),
-                "press_slots": len(self.material_management.find_press_slots())
-            }
-            
-        except Exception as e:
-            logger.error(f"获取生产统计失败: {e}")
-            return {"error": str(e)}
-
-    def create_new_battery(self, battery_spec: Dict[str, Any]) -> Optional[str]:
-        """创建新电池资源"""
-        try:
-            from unilabos.device_comms.button_battery_station import Battery
-            import uuid
-            
-            battery_id = f"battery_{uuid.uuid4().hex[:8]}"
-            
-            battery = Battery(
-                name=battery_id,
-                diameter=battery_spec.get("diameter", 20.0),
-                height=battery_spec.get("height", 3.2),
-                max_volume=battery_spec.get("max_volume", 100.0),
-                barcode=battery_spec.get("barcode", "")
-            )
-            
-            # 添加到物料管理系统
-            self.material_management.plr_resources[battery_id] = battery
-            self.material_management.resource_tracker.add_resource(battery)
-            
-            logger.info(f"创建新电池资源: {battery_id}")
-            return battery_id
-            
-        except Exception as e:
-            logger.error(f"创建电池资源失败: {e}")
-            return None
-
-    def find_available_press_slot(self) -> Optional[str]:
-        """查找可用的压制槽"""
-        try:
-            press_slots = self.material_management.find_press_slots()
-            
-            for slot in press_slots:
-                if hasattr(slot, 'has_battery') and not slot.has_battery():
-                    return slot.name
-            
-            return None
-            
-        except Exception as e:
-            logger.error(f"查找可用压制槽失败: {e}")
-            return None
-
-    def get_glove_box_environment(self) -> Dict[str, Any]:
-        """获取手套箱环境数据"""
-        try:
-            device_status = self.communication.get_device_status()
-            environment = device_status.get("environment", {})
-            
-            return {
-                "pressure": environment.get("glove_box_pressure", 0.0),
-                "o2_content": environment.get("o2_content", 0.0),
-                "water_content": environment.get("water_content", 0.0),
-                "is_safe": (
-                    environment.get("o2_content", 0.0) < 10.0 and  # 氧气含量 < 10ppm
-                    environment.get("water_content", 0.0) < 1.0      # 水分含量 < 1ppm
-                )
-            }
-            
-        except Exception as e:
-            logger.error(f"获取手套箱环境失败: {e}")
-            return {"error": str(e)}
-
-    def start_data_export(self, file_path: str) -> bool:
-        """开始生产数据导出"""
-        try:
-            return self.communication.start_data_export(file_path, export_interval=5.0)
-        except Exception as e:
-            logger.error(f"启动数据导出失败: {e}")
-            return False
-
-    def stop_data_export(self) -> bool:
-        """停止生产数据导出"""
-        try:
-            return self.communication.stop_data_export()
-        except Exception as e:
-            logger.error(f"停止数据导出失败: {e}")
-            return False
-
-    # ============ 重写基类方法以支持纽扣电池特定功能 ============
-    
-    def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
-        """启动工作流（重写以支持纽扣电池特定预处理）"""
-        try:
-            # 进行纽扣电池特定的预检查
-            if workflow_type == "battery_manufacturing":
-                # 检查手套箱环境
-                env = self.get_glove_box_environment()
-                if not env.get("is_safe", False):
-                    logger.error("手套箱环境不安全，无法启动电池制造工作流")
-                    return False
-                
-                # 检查是否有可用的压制槽
-                available_slot = self.find_available_press_slot()
-                if not available_slot:
-                    logger.error("没有可用的压制槽，无法启动电池制造工作流")
-                    return False
-                
-                # 检查极片库存
-                electrode_inventory = self.get_electrode_sheet_inventory()
-                if not electrode_inventory.get("cathode", 0) > 0 or not electrode_inventory.get("anode", 0) > 0:
-                    logger.error("极片库存不足，无法启动电池制造工作流")
-                    return False
-            
-            # 调用基类方法
-            return super().start_workflow(workflow_type, parameters)
-            
-        except Exception as e:
-            logger.error(f"启动纽扣电池工作流失败: {e}")
-            return False
-
-    # ============ 纽扣电池特定状态属性 ============
-    
-    @property
-    def electrode_sheet_count(self) -> int:
-        """极片总数"""
-        try:
-            return len(self.material_management.find_electrode_sheets())
-        except:
-            return 0
-
-    @property
-    def battery_count(self) -> int:
-        """电池总数"""
-        try:
-            return len(self.material_management.find_batteries())
-        except:
-            return 0
-
-    @property
-    def available_press_slots(self) -> int:
-        """可用压制槽数"""
-        try:
-            press_slots = self.material_management.find_press_slots()
-            available = 0
-            for slot in press_slots:
-                if hasattr(slot, 'has_battery') and not slot.has_battery():
-                    available += 1
-            return available
-        except:
-            return 0
-
-    @property
-    def environment_status(self) -> Dict[str, Any]:
-        """环境状态"""
-        return self.get_glove_box_environment()
-
-
-# ============ 工厂函数 ============
-
-def create_coin_cell_workstation(
-    device_id: str,
-    config_file: str,
-    modbus_host: str = "127.0.0.1",
-    modbus_port: int = 5021,
-    csv_path: str = "./coin_cell_assembly.csv"
-) -> CoinCellAssemblyWorkstation:
-    """工厂函数：创建纽扣电池组装工作站
-    
-    Args:
-        device_id: 设备ID
-        config_file: 配置文件路径（JSON格式）
-        modbus_host: Modbus主机地址
-        modbus_port: Modbus端口
-        csv_path: 地址映射CSV文件路径
-    
-    Returns:
-        CoinCellAssemblyWorkstation: 工作站实例
-    """
-    import json
-    
-    try:
-        # 加载配置文件
-        with open(config_file, 'r', encoding='utf-8') as f:
-            config = json.load(f)
-        
-        # 提取配置
-        children = config.get("children", {})
-        deck_config = config.get("deck_config", {})
-        
-        # 创建工作站
-        workstation = CoinCellAssemblyWorkstation(
-            device_id=device_id,
-            children=children,
-            modbus_config={
-                "host": modbus_host,
-                "port": modbus_port
-            },
-            deck_config=deck_config,
-            csv_path=csv_path
-        )
-        
-        logger.info(f"纽扣电池工作站创建成功: {device_id}")
-        return workstation
-        
-    except Exception as e:
-        logger.error(f"创建纽扣电池工作站失败: {e}")
-        raise
-
-
-if __name__ == "__main__":
-    # 示例用法
-    workstation = create_coin_cell_workstation(
-        device_id="coin_cell_station_01",
-        config_file="./button_battery_workstation.json",
-        modbus_host="127.0.0.1",
-        modbus_port=5021
-    )
-    
-    # 启动电池制造工作流
-    success = workstation.start_workflow(
-        "battery_manufacturing",
-        {
-            "electrolyte_num": 16,
-            "electrolyte_volume": 50.0,
-            "assembly_pressure": 2000.0,
-            "cathode_material": "LiFePO4",
-            "anode_material": "Graphite"
-        }
-    )
-    
-    if success:
-        print("电池制造工作流启动成功")
-    else:
-        print("电池制造工作流启动失败")

unilabos/device_comms/modbus_plc/client.py

@@ -8,8 +8,8 @@ from pymodbus.client import ModbusSerialClient, ModbusTcpClient
 from pymodbus.framer import FramerType
 from typing import TypedDict
 
-from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
-from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.node.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
+from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
 from unilabos.device_comms.universal_driver import UniversalDriver
 from unilabos.utils.log import logger
 import pandas as pd

unilabos/device_comms/modbus_plc/test/client.py

@@ -1,6 +1,6 @@
 import time
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.modbus import Coil, HoldRegister
+from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
 from pymodbus.payload import BinaryPayloadDecoder
 from pymodbus.constants import Endian
 

unilabos/device_comms/modbus_plc/test/node_test.py

@@ -1,6 +1,6 @@
 # coding=utf-8
 from pymodbus.client import ModbusTcpClient
-from unilabos.device_comms.modbus_plc.modbus import Coil
+from unilabos.device_comms.modbus_plc.node.modbus import Coil
 import time
 
 

unilabos/device_comms/modbus_plc/test/test_workflow.py

@@ -1,7 +1,7 @@
 import time
 from typing import Callable
 from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
-from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
+from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
 
 ############ 第一种写法 ##############
 

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

@@ -0,0 +1,9 @@
+# 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

@@ -0,0 +1,40 @@
+# 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

@@ -0,0 +1,4 @@
+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

@@ -0,0 +1,56 @@
+<?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

@@ -0,0 +1,46 @@
+<?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

@@ -0,0 +1,14 @@
+{
+    "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"
+    }
+}