adjust with_children param

modify devices to use correct executor (sleep, create_task)
support sleep and create_task in node
2025-12-17 21:11:12 +00:00 · 2025-11-03 16:31:37 +08:00 · 2025-11-03 15:49:11 +08:00 · 2025-11-03 15:42:12 +08:00 · 2025-10-31 21:43:25 +08:00 · 2025-10-30 17:29:47 +08:00
41 changed files with 2112 additions and 2049 deletions
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -24,6 +24,7 @@ extensions = [
    "sphinx.ext.autodoc",
    "sphinx.ext.napoleon",  # 如果您使用 Google 或 NumPy 风格的 docstrings
    "sphinx_rtd_theme",
    "sphinxcontrib.mermaid"
 ]
 source_suffix = {
@@ -42,6 +43,8 @@ myst_enable_extensions = [
    "substitution",
 ]
 myst_fence_as_directive = ["mermaid"]
 templates_path = ["_templates"]
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
@@ -203,3 +206,5 @@ def generate_action_includes(app):
 def setup(app):
    app.connect("builder-inited", generate_action_includes)
    app.add_js_file("https://cdn.jsdelivr.net/npm/mermaid/dist/mermaid.min.js")
    app.add_js_file(None, body="mermaid.initialize({startOnLoad:true});")
--- a/docs/developer_guide/action_includes.md
+++ b/docs/developer_guide/action_includes.md
@@ -1,88 +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`
 ```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
 :language: yaml
 ```
 ---
 ### `Evaporate`
 ```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
 :language: yaml
 ```
 ---
 ### `HeatChill`
 ```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
 :language: yaml
 ```
 ---
 ### `HeatChillStart`
@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
---
+----
 ### `HeatChillStop`
@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
---
+----
 ### `PumpTransfer`
@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
 :language: yaml
 ```
---
+----
 ### `Separate`
 ```{literalinclude} ../../unilabos_msgs/action/Separate.action
 :language: yaml
 ```
 ---
 ### `Stir`
 ```{literalinclude} ../../unilabos_msgs/action/Stir.action
 :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`
@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerDispense`
 ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
 :language: yaml
 ```
 ---
 ### `LiquidHandlerDropTips`
@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerDropTips96`
@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerMoveLid`
@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerMovePlate`
@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerMoveResource`
@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerPickUpTips`
@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerPickUpTips96`
@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerReturnTips`
@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerReturnTips96`
@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerStamp`
@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
 :language: yaml
 ```
---
+----
 ### `LiquidHandlerTransfer`
 ```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
 :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 +155,12 @@ 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 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
 ```
---
+----
 ### `GripperCommand`
 ```yaml
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
 ```
---
+----
 ### `JointTrajectory`
 ```yaml
 trajectory_msgs/JointTrajectory trajectory
 ---
 ---
 ```
---
+----
 ### `ParallelGripperCommand`
 ```yaml
 # Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
 sensor_msgs/JointState command
 # name: the name(s) of the joint this command is requesting
 # position: desired position of each gripper joint (radians or meters)
 # velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
 # effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
 ---
 sensor_msgs/JointState state # The current gripper state.
 # position of each joint (radians or meters)
 # optional: velocity of each joint (radians or meters / second)
 # optional: effort of each joint (Newtons or Newton-meters)
 bool stalled      # True if the gripper is exerting max effort and not moving
 bool reached_goal # True if the gripper position has reached the commanded setpoint
 ---
 sensor_msgs/JointState state # The current gripper state.
 # position of each joint (radians or meters)
 # optional: velocity of each joint (radians or meters / second)
 # optional: effort of each joint (Newtons or Newton-meters)
 ```
 ----
 ### `PointHead`
 ```yaml
@@ -686,13 +291,12 @@ string pointing_frame
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
 ---
 float64 pointing_angle_error
 ```
---
+----
 ### `SingleJointPosition`
 ```yaml
@@ -700,16 +304,15 @@ float64 position
 builtin_interfaces/Duration min_duration
 float64 max_velocity
 ---
 ---
 std_msgs/Header header
 float64 position
 float64 velocity
 float64 error
 ```
---
+----
 ### `AssistedTeleop`
 ```yaml
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback
 builtin_interfaces/Duration current_teleop_duration
 ```
---
+----
 ### `BackUp`
 ```yaml
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
 ```
---
+----
 ### `ComputePathThroughPoses`
 ```yaml
@@ -756,10 +359,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
 ```
---
+----
 ### `ComputePathToPose`
 ```yaml
@@ -774,10 +377,10 @@ nav_msgs/Path path
 builtin_interfaces/Duration planning_time
 ---
 #feedback definition
 ```
---
+----
 ### `DriveOnHeading`
 ```yaml
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 distance_traveled
 ```
---
+----
 ### `DummyBehavior`
 ```yaml
@@ -805,10 +408,10 @@ std_msgs/String command
 builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 ```
---
+----
 ### `FollowPath`
 ```yaml
@@ -823,10 +426,10 @@ std_msgs/Empty result
 #feedback definition
 float32 distance_to_goal
 float32 speed
 ```
---
+----
 ### `FollowWaypoints`
 ```yaml
@@ -838,10 +441,10 @@ int32[] missed_waypoints
 ---
 #feedback definition
 uint32 current_waypoint
 ```
---
+----
 ### `NavigateThroughPoses`
 ```yaml
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 int16 number_of_poses_remaining
 ```
---
+----
 ### `NavigateToPose`
 ```yaml
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
 builtin_interfaces/Duration estimated_time_remaining
 int16 number_of_recoveries
 float32 distance_remaining
 ```
---
+----
 ### `SmoothPath`
 ```yaml
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
 bool was_completed
 ---
 #feedback definition
 ```
---
+----
 ### `Spin`
 ```yaml
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 float32 angular_distance_traveled
 ```
---
+----
 ### `Wait`
 ```yaml
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
 ---
 #feedback definition
 builtin_interfaces/Duration time_left
 ```
---
+----
--- a/docs/developer_guide/image/workstation_architecture/workstation_by_supplier.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_by_supplier.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_liquid_handler.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_liquid_handler.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_organic.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_organic.png
--- a/docs/developer_guide/image/workstation_architecture/workstation_organic_yed.png
+++ b/docs/developer_guide/image/workstation_architecture/workstation_organic_yed.png
--- a/docs/developer_guide/workstation_architecture.md
+++ b/docs/developer_guide/workstation_architecture.md
--- a/docs/intro.md
+++ b/docs/intro.md
@@ -32,9 +32,8 @@ developer_guide/device_driver
 developer_guide/add_device
 developer_guide/add_action
 developer_guide/actions
 developer_guide/workstation_architecture
 developer_guide/add_protocol
 developer_guide/add_batteryPLC
 developer_guide/materials_tutorial.md
 ```
 ## 接口文档
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -2,6 +2,7 @@
 sphinx>=7.0.0
 sphinx-rtd-theme>=2.0.0
 myst-parser>=2.0.0
 sphinxcontrib-mermaid
 # 用于支持Jupyter notebook文档
 myst-nb>=1.0.0
--- a/test/experiments/reaction_station_bioyond.json
+++ b/test/experiments/reaction_station_bioyond.json
@@ -24,13 +24,42 @@
                        "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
                    },
                    "material_type_mappings": {
-                        "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"],
+                        "烧杯": [
-                        "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""],
+                            "BIOYOND_PolymerStation_1FlaskCarrier",
-                        "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"],
+                            "3a14196b-24f2-ca49-9081-0cab8021bf1a"
-                        "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"],
+                        ],
-                        "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"],
+                        "试剂瓶": [
-                        "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"],
+                            "BIOYOND_PolymerStation_1BottleCarrier",
-                        "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"]
+                            ""
                        ],
                        "样品板": [
                            "BIOYOND_PolymerStation_6StockCarrier",
                            "3a14196e-b7a0-a5da-1931-35f3000281e9"
                        ],
                        "分装板": [
                            "BIOYOND_PolymerStation_6VialCarrier",
                            "3a14196e-5dfe-6e21-0c79-fe2036d052c4"
                        ],
                        "样品瓶": [
                            "BIOYOND_PolymerStation_Solid_Stock",
                            "3a14196a-cf7d-8aea-48d8-b9662c7dba94"
                        ],
                        "90%分装小瓶": [
                            "BIOYOND_PolymerStation_Solid_Vial",
                            "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
                        ],
                        "10%分装小瓶": [
                            "BIOYOND_PolymerStation_Liquid_Vial",
                            "3a14196c-76be-2279-4e22-7310d69aed68"
                        ],
                        "枪头盒": [
                            "BIOYOND_PolymerStation_TipBox",
                            ""
                        ],
                        "反应器": [
                            "BIOYOND_PolymerStation_Reactor",
                            ""
                        ]
                    }
                },
                "deck": {
@@ -46,8 +75,7 @@
        {
            "id": "Bioyond_Deck",
            "name": "Bioyond_Deck",
-            "children": [
+            "children": [],
            ],
            "parent": "reaction_station_bioyond",
            "type": "deck",
            "class": "BIOYOND_PolymerReactionStation_Deck",
--- a/test/registry/example_devices.py
+++ b/test/registry/example_devices.py
@@ -3,7 +3,8 @@
 """
 import asyncio
-from typing import Dict, Any, Optional, List
+from typing import Dict, Any, List
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
    适用于实验室自动化系统中的液体处理任务。
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
        """
        初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
        self.calibration_factor = 1.0
        self.pump_mode = "continuous"  # continuous, volume, rate
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def connect_device(self, timeout: int = 10) -> bool:
        """
        连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
        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
+        await self._ros_node.sleep(min(pump_time, 3.0))  # 模拟泵送过程
        self.total_volume_pumped += volume
        self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
    适用于需要精确温度控制的化学反应和材料处理过程。
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, controller_id: str = "temp_controller_01"):
        """
        初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
        self.pid_enabled = True
        self.temperature_history: List[Dict] = []
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
        """
        设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
                }
            )
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
            # 保持历史记录不超过100条
            if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
    常用于光谱分析、电化学测量等应用场景。
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
        """
        初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
        self.is_measuring = False
        self.sample_rate = 1000  # Hz
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
        """
        配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
        # 模拟数据采集
        measurements = []
-        for second in range(duration):
+        for _ in range(duration):
            timestamp = asyncio.get_event_loop().time()
            frame_data = {}
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
            measurements.append({"timestamp": timestamp, "data": frame_data})
-            await asyncio.sleep(1.0)  # 每秒采集一次
+            await self._ros_node.sleep(1.0)  # 每秒采集一次
        self.is_measuring = False
@@ -465,6 +481,8 @@ class AutomatedDispenser:
    集成称重功能，确保分配精度和重现性。
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, dispenser_id: str = "dispenser_01"):
        """
        初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
        self.container_capacity = 1000.0  # mL
        self.precision_mode = True
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def move_to_position(self, x: float, y: float, z: float) -> bool:
        """
        移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
        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
+        await self._ros_node.sleep(min(dispense_time, 5.0))  # 最多等待5秒
        self.dispensed_total += volume
--- a/unilabos/devices/cnc/grbl_async.py
+++ b/unilabos/devices/cnc/grbl_async.py
@@ -12,6 +12,7 @@ from serial import Serial
 from serial.serialutil import SerialException
 from unilabos.messages import Point3D
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
 class GrblCNCAsync:
    _status: str = "Offline"
    _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
    _ros_node: BaseROS2DeviceNode
    def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
        self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
        self._run_future: Optional[Future[Any]] = None
        self._run_lock = Lock()
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def _read_all(self):
        data = self._serial.read_until(b"\n")
        data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
            try:
                await self._query(command)
                while True:
-                    await asyncio.sleep(0.2)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.2)  # Wait for 0.5 seconds before polling again
                    status = await self.get_status()
                    if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
            self._pose_number = i
            self.pose_number_remaining = len(points) - i
            await self.set_position(point)
-            await asyncio.sleep(0.5)
+            await self._ros_node.sleep(0.5)
        self._step_number = -1
    async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
    async def open(self):
        if self._read_task:
            raise GrblCNCConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
        try:
            await self.get_status()
--- a/unilabos/devices/cnc/mock.py
+++ b/unilabos/devices/cnc/mock.py
@@ -2,6 +2,8 @@ import time
 import asyncio
 from pydantic import BaseModel
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class Point3D(BaseModel):
    x: float
@@ -14,10 +16,15 @@ def d(a: Point3D, b: Point3D) -> float:
 class MockCNCAsync:
    _ros_node: BaseROS2DeviceNode["MockCNCAsync"]
    def __init__(self):
        self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
        self._status = "Idle"
    def post_create(self, ros_node):
        self._ros_node = ros_node
    @property
    def position(self) -> Point3D:
        return self._position
@@ -38,5 +45,5 @@ class MockCNCAsync:
            self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
            self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
            self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
-            await asyncio.sleep(move_time / 20)
+            await self._ros_node.sleep(move_time / 20)
        self._status = "Idle"
--- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
+++ b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
@@ -15,9 +15,12 @@ from typing import List, Optional, Dict, Any, Union, Tuple
 from dataclasses import dataclass
 from abc import ABC, abstractmethod
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 # 基础导入
 try:
    from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
    PYLABROBOT_AVAILABLE = True
 except ImportError:
    # 如果 pylabrobot 不可用，创建基础的模拟类
@@ -42,17 +45,16 @@ except ImportError:
    class Well(Resource):
        pass
 # LaiYu_Liquid 控制器导入
 try:
-    from .controllers.pipette_controller import (
+    from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
-        PipetteController, TipStatus, LiquidClass, LiquidParameters
+    from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
-    )
+
    from .controllers.xyz_controller import (
        XYZController, MachineConfig, CoordinateOrigin, MotorAxis
    )
    CONTROLLERS_AVAILABLE = True
 except ImportError:
    CONTROLLERS_AVAILABLE = False
    # 创建模拟的控制器类
    class PipetteController:
        def __init__(self, *args, **kwargs):
@@ -71,17 +73,20 @@ except ImportError:
        def connect_device(self):
            return True
 logger = logging.getLogger(__name__)
 class LaiYuLiquidError(RuntimeError):
    """LaiYu_Liquid 设备异常"""
    pass
@dataclass
 class LaiYuLiquidConfig:
    """LaiYu_Liquid 设备配置"""
    port: str = "/dev/cu.usbserial-3130"  # RS485转USB端口
    address: int = 1  # 设备地址
    baudrate: int = 9600  # 波特率
@@ -155,7 +160,17 @@ class LaiYuLiquidDeck:
 class LaiYuLiquidContainer:
    """LaiYu_Liquid 容器类"""
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
+    def __init__(
        self,
        name: str,
        size_x: float = 0,
        size_y: float = 0,
        size_z: float = 0,
        container_type: str = "",
        volume: float = 0.0,
        max_volume: float = 1000.0,
        lid_height: float = 0.0,
    ):
        self.name = name
        self.size_x = size_x
        self.size_y = size_y
@@ -197,17 +212,22 @@ class LaiYuLiquidContainer:
    def assign_child_resource(self, resource, location=None):
        """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
-        if hasattr(resource, 'name'):
+        if hasattr(resource, "name"):
-            self.child_resources[resource.name] = {
+            self.child_resources[resource.name] = {"resource": resource, "location": location}
                'resource': resource,
                'location': location
            }
 class LaiYuLiquidTipRack:
    """LaiYu_Liquid 吸头架类"""
-    def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
+    def __init__(
        self,
        name: str,
        size_x: float = 0,
        size_y: float = 0,
        size_z: float = 0,
        tip_count: int = 96,
        tip_volume: float = 1000.0,
    ):
        self.name = name
        self.size_x = size_x
        self.size_y = size_y
@@ -240,10 +260,7 @@ class LaiYuLiquidTipRack:
    def assign_child_resource(self, resource, location=None):
        """分配子资源到指定位置"""
-        self.child_resources[resource.name] = {
+        self.child_resources[resource.name] = {"resource": resource, "location": location}
            'resource': resource,
            'location': location
        }
 def get_module_info():
@@ -253,24 +270,17 @@ def get_module_info():
        "version": "1.0.0",
        "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
        "author": "UniLabOS Team",
-        "capabilities": [
+        "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
-            "移液器控制",
+        "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
            "XYZ轴运动控制", 
            "吸头架管理",
            "板和容器管理",
            "资源位置管理"
        ],
        "dependencies": {
            "required": ["serial"],
            "optional": ["pylabrobot"]
        }
    }
 class LaiYuLiquidBackend:
    """LaiYu_Liquid 硬件通信后端"""
-    def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
+    _ros_node: BaseROS2DeviceNode
    def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
        self.config = config
        self.deck = deck  # 工作台引用，用于获取资源位置信息
        self.pipette_controller = None
@@ -283,6 +293,9 @@ class LaiYuLiquidBackend:
        self.tip_attached = False
        self.current_volume = 0.0
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def _validate_position(self, x: float, y: float, z: float) -> bool:
        """验证位置是否在安全范围内"""
        try:
@@ -348,7 +361,7 @@ class LaiYuLiquidBackend:
            safe_position = (
                self.config.deck_width / 2,  # 工作台中心X
                self.config.deck_height / 2,  # 工作台中心Y
-                self.config.safe_height  # 安全高度Z
+                self.config.safe_height,  # 安全高度Z
            )
            if not self._validate_position(*safe_position):
@@ -375,17 +388,12 @@ class LaiYuLiquidBackend:
        try:
            if CONTROLLERS_AVAILABLE:
                # 初始化移液器控制器
-                self.pipette_controller = PipetteController(
+                self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
                    port=self.config.port,
                    address=self.config.address
                )
                # 初始化XYZ控制器
                machine_config = MachineConfig()
                self.xyz_controller = XYZController(
-                    port=self.config.port,
+                    port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
                    baudrate=self.config.baudrate,
                    machine_config=machine_config
                )
                # 连接设备
@@ -412,10 +420,10 @@ class LaiYuLiquidBackend:
    async def stop(self):
        """停止设备"""
        try:
-            if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
+            if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
                await asyncio.to_thread(self.pipette_controller.disconnect)
-            if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
+            if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
                await asyncio.to_thread(self.xyz_controller.disconnect)
            self.is_connected = False
@@ -432,7 +440,7 @@ class LaiYuLiquidBackend:
                raise LaiYuLiquidError("设备未连接")
            # 模拟移动
-            await asyncio.sleep(0.1)  # 模拟移动时间
+            await self._ros_node.sleep(0.1)  # 模拟移动时间
            self.current_position = (x, y, z)
            logger.debug(f"移动到位置: ({x}, {y}, {z})")
            return True
@@ -472,9 +480,11 @@ class LaiYuLiquidBackend:
            pickup_z = tip_z - self.config.tip_pickup_force_depth
            retract_z = tip_z + self.config.tip_pickup_retract_height
-            if not (self._validate_position(tip_x, tip_y, safe_z) and 
+            if not (
-                    self._validate_position(tip_x, tip_y, pickup_z) and 
+                self._validate_position(tip_x, tip_y, safe_z)
-                    self._validate_position(tip_x, tip_y, retract_z)):
+                and self._validate_position(tip_x, tip_y, pickup_z)
                and self._validate_position(tip_x, tip_y, retract_z)
            ):
                logger.error("枪头拾取位置超出安全范围")
                return False
@@ -487,8 +497,7 @@ class LaiYuLiquidBackend:
                    safe_z = tip_z + self.config.tip_approach_height
                    logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
                    move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord, 
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
                        tip_x, tip_y, safe_z
                    )
                    if not move_success:
                        logger.error("移动到枪头上方失败")
@@ -498,22 +507,20 @@ class LaiYuLiquidBackend:
                    pickup_z = tip_z - self.config.tip_pickup_force_depth
                    logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
                    z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
                        tip_x, tip_y, pickup_z
                    )
                    if not z_down_success:
                        logger.error("Z轴下降到枪头位置失败")
                        return False
                    # 3. 等待一小段时间确保枪头牢固附着
-                    await asyncio.sleep(0.2)
+                    await self._ros_node.sleep(0.2)
                    # 4. Z轴上升到回退高度
                    retract_z = tip_z + self.config.tip_pickup_retract_height
                    logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
                    z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
+                        self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
                        tip_x, tip_y, retract_z
                    )
                    if not z_up_success:
                        logger.error("Z轴上升失败")
@@ -533,7 +540,7 @@ class LaiYuLiquidBackend:
            else:
                # 模拟模式
                logger.info("模拟模式：执行枪头拾取动作")
-                await asyncio.sleep(1.0)  # 模拟整个拾取过程的时间
+                await self._ros_node.sleep(1.0)  # 模拟整个拾取过程的时间
                self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
            # 6. 标记枪头已附着
@@ -578,8 +585,10 @@ class LaiYuLiquidBackend:
            safe_z = drop_z + self.config.safe_height
            drop_height_z = drop_z + self.config.tip_drop_height
-            if not (self._validate_position(drop_x, drop_y, safe_z) and 
+            if not (
-                    self._validate_position(drop_x, drop_y, drop_height_z)):
+                self._validate_position(drop_x, drop_y, safe_z)
                and self._validate_position(drop_x, drop_y, drop_height_z)
            ):
                logger.error("枪头丢弃位置超出安全范围")
                return False
@@ -592,8 +601,7 @@ class LaiYuLiquidBackend:
                    safe_z = drop_z + self.config.tip_drop_height
                    logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
                    move_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                        drop_x, drop_y, safe_z
                    )
                    if not move_success:
                        logger.error("移动到丢弃位置上方失败")
@@ -602,8 +610,7 @@ class LaiYuLiquidBackend:
                    # 2. Z轴下降到丢弃高度
                    logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
                    z_down_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
                        drop_x, drop_y, drop_z
                    )
                    if not z_down_success:
                        logger.error("Z轴下降到丢弃位置失败")
@@ -619,13 +626,12 @@ class LaiYuLiquidBackend:
                            logger.warning(f"枪头弹出命令失败: {e}")
                    # 4. 等待一小段时间确保枪头完全脱离
-                    await asyncio.sleep(0.3)
+                    await self._ros_node.sleep(0.3)
                    # 5. Z轴上升到安全高度
                    logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
                    z_up_success = await asyncio.to_thread(
-                        self.xyz_controller.move_to_work_coord,
+                        self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
                        drop_x, drop_y, safe_z
                    )
                    if not z_up_success:
                        logger.error("Z轴上升失败")
@@ -645,7 +651,7 @@ class LaiYuLiquidBackend:
            else:
                # 模拟模式
                logger.info("模拟模式：执行枪头丢弃动作")
-                await asyncio.sleep(0.8)  # 模拟整个丢弃过程的时间
+                await self._ros_node.sleep(0.8)  # 模拟整个丢弃过程的时间
                self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
            # 7. 标记枪头已脱离，清空体积
@@ -671,7 +677,7 @@ class LaiYuLiquidBackend:
                raise LaiYuLiquidError(f"体积超出范围: {volume}")
            # 模拟吸取
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
            self.current_volume += volume
            logger.debug(f"从 {location} 吸取 {volume} μL")
            return True
@@ -693,7 +699,7 @@ class LaiYuLiquidBackend:
                raise LaiYuLiquidError(f"分配体积无效: {volume}")
            # 模拟分配
-            await asyncio.sleep(0.3)
+            await self._ros_node.sleep(0.3)
            self.current_volume -= volume
            logger.debug(f"向 {location} 分配 {volume} μL")
            return True
@@ -765,8 +771,9 @@ class LaiYuLiquid:
        await self.backend.stop()
        self.is_setup = False
-    async def transfer(self, source: str, target: str, volume: float, 
+    async def transfer(
-                      tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
+        self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
    ) -> bool:
        """液体转移"""
        try:
            if not self.is_setup:
@@ -788,7 +795,7 @@ class LaiYuLiquid:
                ("吸取液体", self.backend.aspirate(volume, source)),
                ("移动到目标位置", self.backend.move_to(*target_pos)),
                ("分配液体", self.backend.dispense(volume, target)),
-                ("丢弃吸头", self.backend.drop_tip())
+                ("丢弃吸头", self.backend.drop_tip()),
            ]
            for step_name, step_coro in steps:
@@ -823,7 +830,7 @@ class LaiYuLiquid:
            "current_position": self.backend.current_position,
            "tip_attached": self.backend.tip_attached,
            "current_volume": self.backend.current_volume,
-            "resources": self.deck.list_resources()
+            "resources": self.deck.list_resources(),
        }
@@ -846,7 +853,7 @@ def create_quick_setup() -> LaiYuLiquidDeck:
            create_tip_rack_1000ul,
            create_tip_rack_200ul,
            create_96_well_plate,
-            create_waste_container
+            create_waste_container,
        )
        # 添加基本资源
@@ -877,5 +884,5 @@ __all__ = [
    "LaiYuLiquidTipRack",
    "LaiYuLiquidError",
    "create_quick_setup",
-    "get_module_info"
+    "get_module_info",
 ]
--- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py
+++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py
@@ -25,6 +25,8 @@ from pylabrobot.resources import (
    Tip,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class LiquidHandlerMiddleware(LiquidHandler):
    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
 class LiquidHandlerAbstract(LiquidHandlerMiddleware):
    """Extended LiquidHandler with additional operations."""
    support_touch_tip = True
    _ros_node: BaseROS2DeviceNode
    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
        """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
        self.group_info = dict()
        super().__init__(backend, deck, simulator, channel_num)
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    @classmethod
-    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
+    def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        """Set the liquid in a well."""
        for well, liquid_name, volume in zip(wells, liquid_names, volumes):
            well.set_liquids([(liquid_name, volume)])  # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                print(f"Waiting time: {msg}")
                print(f"Current time: {time.strftime('%H:%M:%S')}")
                print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
-            await asyncio.sleep(seconds)
+            await self._ros_node.sleep(seconds)
            if msg:
                print(f"Done: {msg}")
                print(f"Current time: {time.strftime('%H:%M:%S')}")
--- a/unilabos/devices/liquid_handling/prcxi/prcxi.py
+++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py
@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
 from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
 from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
        )
        super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
    def post_init(self, ros_node: BaseROS2DeviceNode):
        super().post_init(ros_node)
        self._unilabos_backend.post_init(ros_node)
    def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
        return super().set_liquid(wells, liquid_names, volumes)
@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
    _num_channels = 8  # 默认通道数为 8
    _is_reset_ok = False
    _ros_node: BaseROS2DeviceNode
    @property
    def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
        self._execute_setup = setup
        self.debug = debug
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def create_protocol(self, protocol_name):
        self.protocol_name = protocol_name
        self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                self.api_client.call("IAutomation", "Reset")
                while not self.is_reset_ok:
                    print("Waiting for PRCXI9300 to reset...")
-                    await asyncio.sleep(1)
+                    await self._ros_node.sleep(1)
                print("PRCXI9300 reset successfully.")
        except ConnectionRefusedError as e:
            raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
            tipspot_index = tipspot.parent.children.index(tipspot)
            tip_columns.append(tipspot_index // 8)
        if len(set(tip_columns)) != 1:
-            raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
+            raise ValueError(
                "All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
            )
        PlateNo = plate_indexes[0] + 1
        hole_col = tip_columns[0] + 1
        hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
            "LiquidDispensingMethod": liquid_method,
        }
 class DefaultLayout:
    def __init__(self, product_name: str = "PRCXI9300"):
        self.labresource = {}
        if product_name not in ["PRCXI9300", "PRCXI9320"]:
-            raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
+            raise ValueError(
                f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
            )
        if product_name == "PRCXI9300":
            self.rows = 2
@@ -1129,24 +1143,92 @@ class DefaultLayout:
            self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
            self.trash_slot = 16
            self.waste_liquid_slot = 12
-            self.default_layout =  {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
+            self.default_layout = {
-            [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                "MatrixId": f"{time.time()}",
-  {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                "MatrixName": f"{time.time()}",
-  {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                "MatrixCount": 16,
-  {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                "WorkTablets": [
-  {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                    {
-  {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                        "Number": 1,
-  {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                        "Code": "T1",
-  {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
-  {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                    },
-  {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                    {
-  {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                        "Number": 2,
-  {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}},  # 这个设置成废液槽，用储液槽表示
+                        "Code": "T2",
-  {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
-  {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                    },
-  {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
+                    {
-  {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
+                        "Number": 3,
-]
+                        "Code": "T3",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 4,
                        "Code": "T4",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 5,
                        "Code": "T5",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 6,
                        "Code": "T6",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 7,
                        "Code": "T7",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 8,
                        "Code": "T8",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 9,
                        "Code": "T9",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 10,
                        "Code": "T10",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 11,
                        "Code": "T11",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 12,
                        "Code": "T12",
                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
                    },  # 这个设置成废液槽，用储液槽表示
                    {
                        "Number": 13,
                        "Code": "T13",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 14,
                        "Code": "T14",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 15,
                        "Code": "T15",
                        "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
                    },
                    {
                        "Number": 16,
                        "Code": "T16",
                        "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
                    },  # 这个设置成垃圾桶，用储液槽表示
                ],
            }
    def get_layout(self) -> Dict[str, Any]:
@@ -1155,7 +1237,7 @@ class DefaultLayout:
            "columns": self.columns,
            "layout": self.layout,
            "trash_slot": self.trash_slot,
-            "waste_liquid_slot": self.waste_liquid_slot
+            "waste_liquid_slot": self.waste_liquid_slot,
        }
    def get_trash_slot(self) -> int:
@@ -1181,14 +1263,16 @@ class DefaultLayout:
        # 计算总需求
        total_needed = sum(count for _, _, count in needs)
        if total_needed > len(available_positions):
-            raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
+            raise ValueError(
                f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
            )
            # 依次分配位置
        current_pos = 0
        for reagent_name, material_name, count in needs:
-            material_uuid = self.labresource[material_name]['uuid']
+            material_uuid = self.labresource[material_name]["uuid"]
-            material_enum = self.labresource[material_name]['materialEnum']
+            material_enum = self.labresource[material_name]["materialEnum"]
            for _ in range(count):
                if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:
                position = available_positions[current_pos]
                # 找到对应的tablet并更新
-                for tablet in self.default_layout['WorkTablets']:
+                for tablet in self.default_layout["WorkTablets"]:
-                    if tablet['Number'] == position:
+                    if tablet["Number"] == position:
-                        tablet['Material']['uuid'] = material_uuid
+                        tablet["Material"]["uuid"] = material_uuid
-                        tablet['Material']['materialEnum'] = material_enum
+                        tablet["Material"]["materialEnum"] = material_enum
-                        layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
+                        layout_list.append(
                            dict(reagent_name=reagent_name, material_name=material_name, positions=position)
                        )
                        break
                current_pos += 1
        return self.default_layout, layout_list
 if __name__ == "__main__":
    # Example usage
    # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,9 +1387,6 @@ if __name__ == "__main__":
    # # # plate2.set_well_liquids(plate_2_liquids)
    # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
    #                            timeout=10.0, setup=False, debug=False,
    #                            simulator=True,
@@ -1391,11 +1473,8 @@ if __name__ == "__main__":
    # # input("Press Enter to continue...")  # Wait for user input before proceeding
    # # print("PRCXI9300Handler initialized with deck and host settings.")
    ### 9320 ###
    deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
    from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul
@@ -1415,9 +1494,12 @@ if __name__ == "__main__":
    def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
        tip_racks = opentrons_96_tiprack_10ul(name).serialize()
        tip_rack = PRCXI9300Container(
-            name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
+            name=name,
-                k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
+            size_x=50,
-            })
+            size_y=50,
            size_z=10,
            category="tip_rack",
            ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
        )
        tip_rack_serialized = tip_rack.serialize()
        tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
    )
    backend: PRCXI9300Backend = handler.backend
    from pylabrobot.resources import set_volume_tracking
    set_volume_tracking(enabled=True)
    # res = backend.api_client.get_all_materials()
    asyncio.run(handler.setup())  # Initialize the handler and setup the connection
@@ -1671,7 +1754,6 @@ if __name__ == "__main__":
    # Initialize the backend and setup the connection
    asyncio.run(handler.transfer_group("water", "master_mix", 10))  # Reset tip tracking
    # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
    # print(plate8.children[8])
    # asyncio.run(handler.run_protocol())
@@ -1703,9 +1785,6 @@ if __name__ == "__main__":
    # asyncio.run(handler.run_protocol())  # Run the protocol
    # # #     asyncio.run(handler.transfer_liquid(
    # # #     asp_vols=[10]*2,
    # # #     dis_vols=[10]*2,
@@ -1740,7 +1819,6 @@ if __name__ == "__main__":
    # #     # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
    # #     #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2))  # Print matrix info
    # #     # asyncio.run(handler.remove_liquid(
    # #     #     vols=[100]*16,
    # #     #     sources=well_containers.children[-16:],
@@ -1775,31 +1853,32 @@ if __name__ == "__main__":
    # #     # input("Press Enter to continue...")  # Wait for user input before proceeding
    # #     # print("PRCXI9300Handler initialized with deck and host settings.")
    # 一些推荐版位组合的测试样例：
    # 一些推荐版位组合的测试样例：
    with open("prcxi_material.json", "r") as f:
        material_info = json.load(f)
    layout = DefaultLayout("PRCXI9320")
    layout.add_lab_resource(material_info)
-    MatrixLayout_1, dict_1 = layout.recommend_layout([
+    MatrixLayout_1, dict_1 = layout.recommend_layout(
        [
            ("reagent_1", "96 细胞培养皿", 3),
            ("reagent_2", "12道储液槽", 1),
            ("reagent_3", "200μL Tip头", 7),
            ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+        ]
    )
    print(dict_1)
-    MatrixLayout_2, dict_2 = layout.recommend_layout([
+    MatrixLayout_2, dict_2 = layout.recommend_layout(
        [
            ("reagent_1", "96深孔板", 4),
            ("reagent_2", "12道储液槽", 1),
            ("reagent_3", "200μL Tip头", 1),
            ("reagent_4", "10μL加长 Tip头", 1),
-    ])
+        ]
    )
 # with open("prcxi_material.json", "r") as f:
 #     material_info = json.load(f)
--- a/unilabos/devices/pump_and_valve/runze_async.py
+++ b/unilabos/devices/pump_and_valve/runze_async.py
@@ -8,6 +8,8 @@ import serial.tools.list_ports
 from serial import Serial
 from serial.serialutil import SerialException
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class RunzeSyringePumpMode(Enum):
    Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
 class RunzeSyringePumpAsync:
    _ros_node: BaseROS2DeviceNode
    def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
        self.port = port
        self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
        self._run_future: Optional[Future[Any]] = None
        self._run_lock = Lock()
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    def _adjust_total_steps(self):
        self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
        self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
            try:
                await self._query(command)
                while True:
-                    await asyncio.sleep(0.5)  # Wait for 0.5 seconds before polling again
+                    await self._ros_node.sleep(0.5)  # Wait for 0.5 seconds before polling again
                    status = await self.query_device_status()
                    if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
        if self._read_task:
            raise RunzeSyringePumpConnectionError
-        self._read_task = asyncio.create_task(self._read_loop())
+        self._read_task = self._ros_node.create_task(self._read_loop())
        try:
            await self.query_device_status()
--- a/unilabos/devices/virtual/virtual_centrifuge.py
+++ b/unilabos/devices/virtual/virtual_centrifuge.py
@@ -3,10 +3,14 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualCentrifuge:
    """Virtual centrifuge device - 简化版，只保留核心功能"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and "id" in kwargs:
@@ -33,6 +37,9 @@ class VirtualCentrifuge:
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual centrifuge"""
        self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
                    break
                # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            # 离心完成
            self.data.update({
--- a/unilabos/devices/virtual/virtual_column.py
+++ b/unilabos/devices/virtual/virtual_column.py
@@ -2,9 +2,13 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualColumn:
    """Virtual column device for RunColumn protocol 🏛️"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
        print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
        print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual column 🚀"""
        self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
        step_time = separation_time / steps
        for i in range(steps):
-            await asyncio.sleep(step_time)
+            await self._ros_node.sleep(step_time)
            progress = (i + 1) / steps * 100
            volume_processed = (i + 1) * 5.0  # 假设每步处理5mL
--- a/unilabos/devices/virtual/virtual_filter.py
+++ b/unilabos/devices/virtual/virtual_filter.py
@@ -4,16 +4,19 @@ import time as time_module
 from typing import Dict, Any, Optional
 from unilabos.compile.utils.vessel_parser import get_vessel
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualFilter:
    """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
-        if device_id is None and 'id' in kwargs:
+        if device_id is None and "id" in kwargs:
-            device_id = kwargs.pop('id')
+            device_id = kwargs.pop("id")
-        if config is None and 'config' in kwargs:
+        if config is None and "config" in kwargs:
-            config = kwargs.pop('config')
+            config = kwargs.pop("config")
        self.device_id = device_id or "unknown_filter"
        self.config = config or {}
@@ -21,29 +24,34 @@ class VirtualFilter:
        self.data = {}
        # 从config或kwargs中获取配置参数
-        self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
+        self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
-        self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
+        self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
-        self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
+        self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
-        self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0)
+        self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
        # 处理其他kwargs参数
-        skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'}
+        skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
        for key, value in kwargs.items():
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual filter 🚀"""
        self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
        # 按照 Filter.action 的 feedback 字段初始化
-        self.data.update({
+        self.data.update(
            {
                "status": "Idle",
                "progress": 0.0,  # Filter.action feedback
                "current_temp": 25.0,  # Filter.action feedback
                "filtered_volume": 0.0,  # Filter.action feedback
-            "message": "Ready for filtration"
+                "message": "Ready for filtration",
-        })
+            }
        )
        self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
        return True
@@ -52,9 +60,7 @@ class VirtualFilter:
        """Cleanup virtual filter 🧹"""
        self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
-        self.data.update({
+        self.data.update({"status": "Offline"})
            "status": "Offline"
        })
        self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
        return True
@@ -67,7 +73,7 @@ class VirtualFilter:
        stir_speed: float = 300.0,
        temp: float = 25.0,
        continue_heatchill: bool = False,
-        volume: float = 0.0
+        volume: float = 0.0,
    ) -> bool:
        """Execute filter action - 完全按照 Filter.action 参数 🌊"""
        vessel_id, _ = get_vessel(vessel)
@@ -92,41 +98,34 @@ class VirtualFilter:
        if temp > self._max_temp or temp < 4.0:
            error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
                "status": f"Error: 温度超出范围 ⚠️",
                "message": error_msg
            })
            return False
        if stir and stir_speed > self._max_stir_speed:
            error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
                "status": f"Error: 搅拌速度超出范围 ⚠️",
                "message": error_msg
            })
            return False
        if volume > self._max_volume:
            error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update({"status": f"Error", "message": error_msg})
                "status": f"Error",
                "message": error_msg
            })
            return False
        # 开始过滤
        filter_volume = volume if volume > 0 else 50.0
        self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
-        self.data.update({
+        self.data.update(
            {
                "status": f"Running",
                "current_temp": temp,
                "filtered_volume": 0.0,
                "progress": 0.0,
-            "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}"
+                "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
-        })
+            }
        )
        try:
            # 过滤过程 - 实时更新进度
@@ -157,13 +156,15 @@ class VirtualFilter:
                    status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
                status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
-                self.data.update({
+                self.data.update(
                    {
                        "progress": progress,  # Filter.action feedback
                        "current_temp": temp,  # Filter.action feedback
                        "filtered_volume": current_filtered,  # Filter.action feedback
                        "status": "Running",
-                    "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered"
+                        "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
-                })
+                    }
                )
                # 进度日志（每25%打印一次）
                if progress >= 25 and progress % 25 < 1:
@@ -172,7 +173,7 @@ class VirtualFilter:
                if remaining <= 0:
                    break
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            # 过滤完成
            final_temp = temp if continue_heatchill else 25.0
@@ -181,13 +182,15 @@ class VirtualFilter:
                final_status += " | 🔥 继续加热搅拌"
                self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
-            self.data.update({
+            self.data.update(
                {
                    "status": final_status,
                    "progress": 100.0,  # Filter.action feedback
                    "current_temp": final_temp,  # Filter.action feedback
                    "filtered_volume": filter_volume,  # Filter.action feedback
-                "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}"
+                    "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
-            })
+                }
            )
            self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
            self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
@@ -196,10 +199,7 @@ class VirtualFilter:
        except Exception as e:
            error_msg = f"过滤过程中发生错误: {str(e)} 💥"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
                "status": f"Error",
                "message": f"❌ Filtration failed: {str(e)}"
            })
            return False
    # === 核心状态属性 - 按照 Filter.action feedback 字段 ===
--- a/unilabos/devices/virtual/virtual_heatchill.py
+++ b/unilabos/devices/virtual/virtual_heatchill.py
@@ -3,9 +3,13 @@ import logging
 import time as time_module  # 重命名time模块，避免与参数冲突
 from typing import Dict, Any
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualHeatChill:
    """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
        print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
        print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual heat chill 🚀"""
        self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
                break
            # 等待1秒后再次检查
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
        # 操作完成
        final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""
--- a/unilabos/devices/virtual/virtual_rotavap.py
+++ b/unilabos/devices/virtual/virtual_rotavap.py
@@ -3,13 +3,19 @@ import logging
 import time as time_module
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 def debug_print(message):
    """调试输出 🔍"""
    print(f"🌪️ [ROTAVAP] {message}", flush=True)
 class VirtualRotavap:
    """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and "id" in kwargs:
@@ -38,12 +44,16 @@ class VirtualRotavap:
        print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
        print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual rotary evaporator 🚀"""
        self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
        # 只保留核心状态
-        self.data.update({
+        self.data.update(
            {
                "status": "🏠 待机中",
                "rotavap_state": "Ready",  # Ready, Evaporating, Completed, Error
                "current_temp": 25.0,
@@ -53,25 +63,30 @@ class VirtualRotavap:
                "evaporated_volume": 0.0,
                "progress": 0.0,
                "remaining_time": 0.0,
-            "message": "🌪️ Ready for evaporation"
+                "message": "🌪️ Ready for evaporation",
-        })
+            }
        )
        self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
-        self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM")
+        self.logger.info(
            f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
        )
        return True
    async def cleanup(self) -> bool:
        """Cleanup virtual rotary evaporator 🧹"""
        self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
-        self.data.update({
+        self.data.update(
            {
                "status": "💤 离线",
                "rotavap_state": "Offline",
                "current_temp": 25.0,
                "rotation_speed": 0.0,
                "vacuum_pressure": 1.0,
-            "message": "💤 System offline"
+                "message": "💤 System offline",
-        })
+            }
        )
        self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
        return True
@@ -84,7 +99,7 @@ class VirtualRotavap:
        time: float = 180.0,
        stir_speed: float = 100.0,
        solvent: str = "",
-        **kwargs
+        **kwargs,
    ) -> bool:
        """Execute evaporate action - 简化版 🌪️"""
@@ -114,11 +129,11 @@ class VirtualRotavap:
            self.logger.info(f"🧪 识别到溶剂: {solvent}")
            # 根据溶剂调整参数
            solvent_lower = solvent.lower()
-            if any(s in solvent_lower for s in ['water', 'aqueous']):
+            if any(s in solvent_lower for s in ["water", "aqueous"]):
                temp = max(temp, 80.0)
                pressure = max(pressure, 0.2)
                self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
-            elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']):
+            elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
                temp = min(temp, 50.0)
                pressure = min(pressure, 0.05)
                self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
@@ -136,46 +151,53 @@ class VirtualRotavap:
        if temp > self._max_temp or temp < 10.0:
            error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
                {
                    "status": f"❌ 错误: 温度超出范围",
                    "rotavap_state": "Error",
                    "current_temp": 25.0,
                    "progress": 0.0,
                    "evaporated_volume": 0.0,
-                "message": error_msg
+                    "message": error_msg,
-            })
+                }
            )
            return False
        if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
            error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
                {
                    "status": f"❌ 错误: 转速超出范围",
                    "rotavap_state": "Error",
                    "current_temp": 25.0,
                    "progress": 0.0,
                    "evaporated_volume": 0.0,
-                "message": error_msg
+                    "message": error_msg,
-            })
+                }
            )
            return False
        if pressure < 0.01 or pressure > 1.0:
            error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
                {
                    "status": f"❌ 错误: 压力超出范围",
                    "rotavap_state": "Error",
                    "current_temp": 25.0,
                    "progress": 0.0,
                    "evaporated_volume": 0.0,
-                "message": error_msg
+                    "message": error_msg,
-            })
+                }
            )
            return False
        # 开始蒸发 - 🔧 现在time已经确保是float类型
        self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
-        self.data.update({
+        self.data.update(
            {
                "status": f"🌪️ 蒸发中: {actual_vessel}",
                "rotavap_state": "Evaporating",
                "current_temp": temp,
@@ -185,8 +207,9 @@ class VirtualRotavap:
                "remaining_time": time,
                "progress": 0.0,
                "evaporated_volume": 0.0,
-            "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM"
+                "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
-        })
+            }
        )
        try:
            # 蒸发过程 - 实时更新进度
@@ -201,9 +224,9 @@ class VirtualRotavap:
                progress = min(100.0, (elapsed / total_time) * 100)
                # 模拟蒸发体积 - 根据溶剂类型调整
-                if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+                if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                    evaporated_vol = progress * 0.6  # 水系溶剂蒸发慢
-                elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+                elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                    evaporated_vol = progress * 1.0  # 易挥发溶剂蒸发快
                else:
                    evaporated_vol = progress * 0.8  # 默认蒸发量
@@ -211,18 +234,22 @@ class VirtualRotavap:
                # 🔧 更新状态 - 确保包含所有必需字段
                status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
-                self.data.update({
+                self.data.update(
                    {
                        "remaining_time": remaining,
                        "progress": progress,
                        "evaporated_volume": evaporated_vol,
                        "current_temp": temp,
                        "status": status_msg,
-                    "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining"
+                        "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
-                })
+                    }
                )
                # 进度日志（每25%打印一次）
                if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
-                    self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨")
+                    self.logger.info(
                        f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
                    )
                    last_logged_progress = int(progress)
                # 时间到了，退出循环
@@ -230,17 +257,18 @@ class VirtualRotavap:
                    break
                # 每秒更新一次
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            # 蒸发完成
-            if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']):
+            if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
                final_evaporated = 60.0  # 水系溶剂
-            elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']):
+            elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
                final_evaporated = 100.0  # 易挥发溶剂
            else:
                final_evaporated = 80.0  # 默认
-            self.data.update({
+            self.data.update(
                {
                    "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
                    "rotavap_state": "Completed",
                    "evaporated_volume": final_evaporated,
@@ -249,8 +277,9 @@ class VirtualRotavap:
                    "remaining_time": 0.0,
                    "rotation_speed": 0.0,
                    "vacuum_pressure": 1.0,
-                "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}"
+                    "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
-            })
+                }
            )
            self.logger.info(f"🎉 蒸发操作完成! ✨")
            self.logger.info(f"📊 蒸发结果:")
@@ -270,7 +299,8 @@ class VirtualRotavap:
            error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
            self.logger.error(f"❌ {error_msg}")
-            self.data.update({
+            self.data.update(
                {
                    "status": f"❌ 蒸发错误: {str(e)}",
                    "rotavap_state": "Error",
                    "current_temp": 25.0,
@@ -278,8 +308,9 @@ class VirtualRotavap:
                    "evaporated_volume": 0.0,
                    "rotation_speed": 0.0,
                    "vacuum_pressure": 1.0,
-                "message": f"❌ Evaporation failed: {str(e)}"
+                    "message": f"❌ Evaporation failed: {str(e)}",
-            })
+                }
            )
            return False
    # === 核心状态属性 ===
--- a/unilabos/devices/virtual/virtual_separator.py
+++ b/unilabos/devices/virtual/virtual_separator.py
@@ -2,10 +2,14 @@ import asyncio
 import logging
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualSeparator:
    """Virtual separator device for SeparateProtocol testing"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and "id" in kwargs:
@@ -36,6 +40,9 @@ class VirtualSeparator:
            if key not in skip_keys and not hasattr(self, key):
                setattr(self, key, value)
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual separator"""
        print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
@@ -119,14 +126,14 @@ class VirtualSeparator:
        for repeat in range(repeats):
            # 搅拌阶段
            for progress in range(0, 51, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                self.data["progress"] = overall_progress
                self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
            # 静置分相阶段
            for progress in range(50, 101, 10):
-                await asyncio.sleep(simulation_time / (repeats * 10))
+                await self._ros_node.sleep(simulation_time / (repeats * 10))
                overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
                self.data["progress"] = overall_progress
                self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"
--- a/unilabos/devices/virtual/virtual_solenoid_valve.py
+++ b/unilabos/devices/virtual/virtual_solenoid_valve.py
@@ -2,11 +2,16 @@ import time
 import asyncio
 from typing import Union
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualSolenoidValve:
    """
    虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
        # 从配置中获取参数，提供默认值
        if config is None:
@@ -22,6 +27,9 @@ class VirtualSolenoidValve:
        self._valve_state = "Closed"  # "Open" or "Closed"
        self._is_open = False
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """初始化设备"""
        self._status = "Idle"
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
        self._status = "Busy"
        # 模拟阀门响应时间
-        await asyncio.sleep(self.response_time)
+        await self._ros_node.sleep(self.response_time)
        # 处理不同的命令格式
        if isinstance(command, str):
--- a/unilabos/devices/virtual/virtual_solid_dispenser.py
+++ b/unilabos/devices/virtual/virtual_solid_dispenser.py
@@ -3,6 +3,8 @@ import logging
 import re
 from typing import Dict, Any, Optional
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualSolidDispenser:
    """
    虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
    - 简单反馈：成功/失败 + 消息 📊
    """
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        self.device_id = device_id or "virtual_solid_dispenser"
        self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
        print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
        print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """初始化固体加样器 🚀"""
        self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
            for i in range(steps):
                progress = (i + 1) / steps * 100
-                await asyncio.sleep(step_time)
+                await self._ros_node.sleep(step_time)
                if i % 2 == 0:  # 每隔一步显示进度
                    self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")
--- a/unilabos/devices/virtual/virtual_stirrer.py
+++ b/unilabos/devices/virtual/virtual_stirrer.py
@@ -3,9 +3,13 @@ import logging
 import time as time_module
 from typing import Dict, Any
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualStirrer:
    """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
        # 处理可能的不同调用方式
        if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
        print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
        print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """Initialize virtual stirrer 🚀"""
        self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
            if remaining <= 0:
                break
-            await asyncio.sleep(1.0)
+            await self._ros_node.sleep(1.0)
        self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
@@ -176,7 +183,7 @@ class VirtualStirrer:
                if remaining <= 0:
                    break
-                await asyncio.sleep(1.0)
+                await self._ros_node.sleep(1.0)
            self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")
--- a/unilabos/devices/virtual/virtual_transferpump.py
+++ b/unilabos/devices/virtual/virtual_transferpump.py
@@ -4,6 +4,8 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 class VirtualPumpMode(Enum):
    Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
 class VirtualTransferPump:
    """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
    _ros_node: BaseROS2DeviceNode
    def __init__(self, device_id: str = None, config: dict = None, **kwargs):
        """
        初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
        print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
        print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
    def post_init(self, ros_node: BaseROS2DeviceNode):
        self._ros_node = ros_node
    async def initialize(self) -> bool:
        """初始化虚拟泵 🚀"""
        self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
    async def _simulate_operation(self, duration: float):
        """模拟操作延时 ⏱️"""
        self._status = "Busy"
-        await asyncio.sleep(duration)
+        await self._ros_node.sleep(duration)
        self._status = "Idle"
    def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
                    # 等待一小步时间
                    if i < steps and step_duration > 0:
-                        await asyncio.sleep(step_duration)
+                        await self._ros_node.sleep(step_duration)
            else:
                # 移动距离很小，直接完成
                self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
        # 短暂停顿
        self.logger.debug("⏸️ 短暂停顿...")
-        await asyncio.sleep(0.1)
+        await self._ros_node.sleep(0.1)
        # 排液
        await self.dispense(volume, dispense_velocity)
--- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
+++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
@@ -233,7 +233,7 @@ class BioyondV1RPC(BaseRequest):
        return response.get("data", {})
    def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict:
-        """指定库位出库物料"""
+        """指定库位出库物料（通过库位名称）"""
        location_id = LOCATION_MAPPING.get(location_name, location_name)
        params = {
@@ -251,7 +251,36 @@ class BioyondV1RPC(BaseRequest):
            })
        if not response or response['code'] != 1:
-            return {}
+            return None
        return response
    def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict:
        """指定库位出库物料（直接使用location_id）
        Args:
            material_id: 物料ID
            location_id: 库位ID（不是库位名称，是UUID）
            quantity: 数量
        Returns:
            dict: API响应，失败返回None
        """
        params = {
            "materialId": material_id,
            "locationId": location_id,
            "quantity": quantity
        }
        response = self.post(
            url=f'{self.host}/api/lims/storage/outbound',
            params={
                "apiKey": self.api_key,
                "requestTime": self.get_current_time_iso8601(),
                "data": params
            })
        if not response or response['code'] != 1:
            return None
        return response
    # ==================== 工作流查询相关接口 ====================
--- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py
+++ b/unilabos/devices/workstation/bioyond_studio/reaction_station.py
@@ -232,7 +232,7 @@ class BioyondReactionStation(BioyondWorkstation):
            temperature: 温度设定(°C)
        """
        # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取
-        if volume is None and solvents is not None:
+        if not volume and solvents is not None:
            # 参数类型转换:如果是字符串则解析为字典
            if isinstance(solvents, str):
                try:
--- a/unilabos/devices/workstation/bioyond_studio/station.py
+++ b/unilabos/devices/workstation/bioyond_studio/station.py
@@ -85,8 +85,90 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
    def sync_to_external(self, resource: Any) -> bool:
        """将本地物料数据变更同步到Bioyond系统"""
        try:
-            if self.bioyond_api_client is None:
+            # ✅ 跳过仓库类型的资源 - 仓库是容器，不是物料
-                logger.error("Bioyond API客户端未初始化")
+            resource_category = getattr(resource, "category", None)
            if resource_category == "warehouse":
                logger.debug(f"[同步→Bioyond] 跳过仓库类型资源: {resource.name} (仓库是容器，不需要同步为物料)")
                return True
            logger.info(f"[同步→Bioyond] 收到物料变更: {resource.name}")
            # 获取物料的 Bioyond ID
            extra_info = getattr(resource, "unilabos_extra", {})
            material_bioyond_id = extra_info.get("material_bioyond_id")
            # ⭐ 如果没有 Bioyond ID，尝试从 Bioyond 系统中按名称查询
            if not material_bioyond_id:
                logger.warning(f"[同步→Bioyond] 物料 {resource.name} 没有 Bioyond ID，尝试按名称查询...")
                try:
                    # 查询所有类型的物料：0=耗材, 1=样品, 2=试剂
                    import json
                    all_materials = []
                    for type_mode in [0, 1, 2]:
                        query_params = json.dumps({
                            "typeMode": type_mode,
                            "filter": "",   # 空字符串表示查询所有
                            "includeDetail": True
                        })
                        materials = self.bioyond_api_client.stock_material(query_params)
                        if materials:
                            all_materials.extend(materials)
                    logger.info(f"[同步→Bioyond] 查询到 {len(all_materials)} 个物料")
                    # 按名称匹配
                    for mat in all_materials:
                        if mat.get("name") == resource.name:
                            material_bioyond_id = mat.get("id")
                            mat_type = mat.get("typeName", "未知")
                            logger.info(f"✅ 找到物料 {resource.name} ({mat_type}) 的 Bioyond ID: {material_bioyond_id[:8]}...")
                            # 保存 ID 到资源对象
                            extra_info["material_bioyond_id"] = material_bioyond_id
                            setattr(resource, "unilabos_extra", extra_info)
                            break
                    if not material_bioyond_id:
                        logger.warning(f"⚠️ 在 Bioyond 系统中未找到名为 {resource.name} 的物料")
                        logger.info(f"[同步→Bioyond] 这是一个新物料，将创建并入库到 Bioyond 系统")
                        # 不返回，继续执行后续的创建+入库流程
                except Exception as e:
                    logger.error(f"查询 Bioyond 物料失败: {e}")
                    import traceback
                    traceback.print_exc()
                    return False
            # 检查是否有位置更新请求
            update_site = extra_info.get("update_resource_site")
            if not update_site:
                logger.debug(f"[同步→Bioyond] 无位置更新请求")
                return True
            # ===== 物料移动/创建流程 =====
            if material_bioyond_id:
                logger.info(f"[同步→Bioyond] 🔄 开始移动物料 {resource.name} 到 {update_site}")
            else:
                logger.info(f"[同步→Bioyond] ➕ 开始创建新物料 {resource.name} 并入库到 {update_site}")            # 第1步：获取仓库配置
            from .config import WAREHOUSE_MAPPING
            warehouse_mapping = WAREHOUSE_MAPPING
            # 确定目标仓库名称（通过遍历所有仓库的库位配置）
            parent_name = None
            target_location_uuid = None
            for warehouse_name, warehouse_info in warehouse_mapping.items():
                site_uuids = warehouse_info.get("site_uuids", {})
                if update_site in site_uuids:
                    parent_name = warehouse_name
                    target_location_uuid = site_uuids[update_site]
                    logger.info(f"[同步] 目标仓库: {parent_name}/{update_site}")
                    logger.info(f"[同步] 目标库位UUID: {target_location_uuid[:8]}...")
                    break
            if not parent_name or not target_location_uuid:
                logger.error(f"❌ 库位 {update_site} 没有在 WAREHOUSE_MAPPING 中配置")
                logger.debug(f"可用仓库: {list(warehouse_mapping.keys())}")
                return False
            bioyond_material = resource_plr_to_bioyond(
@@ -171,11 +253,22 @@ class BioyondWorkstation(WorkstationBase):
    def post_init(self, ros_node: ROS2WorkstationNode):
        self._ros_node = ros_node
        # ⭐ 上传 deck（包括所有 warehouses 及其中的物料）
        # 注意：如果有从 Bioyond 同步的物料，它们已经被放置到 warehouse 中了
        # 所以只需要上传 deck，物料会作为 warehouse 的 children 一起上传
        logger.info("正在上传 deck（包括 warehouses 和物料）到云端...")
        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
            "resources": [self.deck]
        })
        # 清理临时变量（物料已经在 deck 的 warehouse children 中，不需要单独上传）
        if hasattr(self, "_synced_resources"):
            logger.info(f"✅ {len(self._synced_resources)} 个从Bioyond同步的物料已包含在 deck 中")
            self._synced_resources = []
    def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
        time.sleep(3)
        ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
            "plr_resources": resource,
            "target_device_id": mount_device_id,
--- a/unilabos/devices/workstation/workstation_material_management.py
+++ b/unilabos/devices/workstation/workstation_material_management.py
@@ -1,583 +0,0 @@
 """
 工作站物料管理基类
 Workstation Material Management Base Class
 基于PyLabRobot的物料管理系统
 """
 from typing import Dict, Any, List, Optional, Union, Type
 from abc import ABC, abstractmethod
 import json
 from pylabrobot.resources import (
    Resource as PLRResource,
    Container,
    Deck,
    Coordinate as PLRCoordinate,
 )
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 from unilabos.utils.log import logger
 from unilabos.resources.graphio import resource_plr_to_ulab, resource_ulab_to_plr
 class MaterialManagementBase(ABC):
    """物料管理基类
    定义工作站物料管理的标准接口：
    1. 物料初始化 - 根据配置创建物料资源
    2. 物料追踪 - 实时跟踪物料位置和状态
    3. 物料查找 - 按类型、位置、状态查找物料
    4. 物料转换 - PyLabRobot与UniLab资源格式转换
    """
    def __init__(
        self,
        device_id: str,
        deck_config: Dict[str, Any],
        resource_tracker: DeviceNodeResourceTracker,
        children_config: Dict[str, Dict[str, Any]] = None
    ):
        self.device_id = device_id
        self.deck_config = deck_config
        self.resource_tracker = resource_tracker
        self.children_config = children_config or {}
        # 创建主台面
        self.plr_deck = self._create_deck()
        # 扩展ResourceTracker
        self._extend_resource_tracker()
        # 注册deck到resource tracker
        self.resource_tracker.add_resource(self.plr_deck)
        # 初始化子资源
        self.plr_resources = {}
        self._initialize_materials()
    def _create_deck(self) -> Deck:
        """创建主台面"""
        return Deck(
            name=f"{self.device_id}_deck",
            size_x=self.deck_config.get("size_x", 1000.0),
            size_y=self.deck_config.get("size_y", 1000.0),
            size_z=self.deck_config.get("size_z", 500.0),
            origin=PLRCoordinate(0, 0, 0)
        )
    def _extend_resource_tracker(self):
        """扩展ResourceTracker以支持PyLabRobot特定功能"""
        def find_by_type(resource_type):
            """按类型查找资源"""
            return self._find_resources_by_type_recursive(self.plr_deck, resource_type)
        def find_by_category(category: str):
            """按类别查找资源"""
            found = []
            for resource in self._get_all_resources():
                if hasattr(resource, 'category') and resource.category == category:
                    found.append(resource)
            return found
        def find_by_name_pattern(pattern: str):
            """按名称模式查找资源"""
            import re
            found = []
            for resource in self._get_all_resources():
                if re.search(pattern, resource.name):
                    found.append(resource)
            return found
        # 动态添加方法到resource_tracker
        self.resource_tracker.find_by_type = find_by_type
        self.resource_tracker.find_by_category = find_by_category
        self.resource_tracker.find_by_name_pattern = find_by_name_pattern
    def _find_resources_by_type_recursive(self, resource, target_type):
        """递归查找指定类型的资源"""
        found = []
        if isinstance(resource, target_type):
            found.append(resource)
        # 递归查找子资源
        children = getattr(resource, "children", [])
        for child in children:
            found.extend(self._find_resources_by_type_recursive(child, target_type))
        return found
    def _get_all_resources(self) -> List[PLRResource]:
        """获取所有资源"""
        all_resources = []
        def collect_resources(resource):
            all_resources.append(resource)
            children = getattr(resource, "children", [])
            for child in children:
                collect_resources(child)
        collect_resources(self.plr_deck)
        return all_resources
    def _initialize_materials(self):
        """初始化物料"""
        try:
            # 确定创建顺序，确保父资源先于子资源创建
            creation_order = self._determine_creation_order()
            # 按顺序创建资源
            for resource_id in creation_order:
                config = self.children_config[resource_id]
                self._create_plr_resource(resource_id, config)
            logger.info(f"物料管理系统初始化完成，共创建 {len(self.plr_resources)} 个资源")
        except Exception as e:
            logger.error(f"物料初始化失败: {e}")
    def _determine_creation_order(self) -> List[str]:
        """确定资源创建顺序"""
        order = []
        visited = set()
        def visit(resource_id: str):
            if resource_id in visited:
                return
            visited.add(resource_id)
            config = self.children_config.get(resource_id, {})
            parent_id = config.get("parent")
            # 如果有父资源，先访问父资源
            if parent_id and parent_id in self.children_config:
                visit(parent_id)
            order.append(resource_id)
        for resource_id in self.children_config:
            visit(resource_id)
        return order
    def _create_plr_resource(self, resource_id: str, config: Dict[str, Any]):
        """创建PyLabRobot资源"""
        try:
            resource_type = config.get("type", "unknown")
            data = config.get("data", {})
            location_config = config.get("location", {})
            # 创建位置坐标
            location = PLRCoordinate(
                x=location_config.get("x", 0.0),
                y=location_config.get("y", 0.0),
                z=location_config.get("z", 0.0)
            )
            # 根据类型创建资源
            resource = self._create_resource_by_type(resource_id, resource_type, config, data, location)
            if resource:
                # 设置父子关系
                parent_id = config.get("parent")
                if parent_id and parent_id in self.plr_resources:
                    parent_resource = self.plr_resources[parent_id]
                    parent_resource.assign_child_resource(resource, location)
                else:
                    # 直接放在deck上
                    self.plr_deck.assign_child_resource(resource, location)
                # 保存资源引用
                self.plr_resources[resource_id] = resource
                # 注册到resource tracker
                self.resource_tracker.add_resource(resource)
                logger.debug(f"创建资源成功: {resource_id} ({resource_type})")
        except Exception as e:
            logger.error(f"创建资源失败 {resource_id}: {e}")
    @abstractmethod
    def _create_resource_by_type(
        self, 
        resource_id: str, 
        resource_type: str, 
        config: Dict[str, Any], 
        data: Dict[str, Any], 
        location: PLRCoordinate
    ) -> Optional[PLRResource]:
        """根据类型创建资源 - 子类必须实现"""
        pass
    # ============ 物料查找接口 ============
    def find_materials_by_type(self, material_type: str) -> List[PLRResource]:
        """按材料类型查找物料"""
        return self.resource_tracker.find_by_category(material_type)
    def find_material_by_id(self, resource_id: str) -> Optional[PLRResource]:
        """按ID查找物料"""
        return self.plr_resources.get(resource_id)
    def find_available_positions(self, position_type: str) -> List[PLRResource]:
        """查找可用位置"""
        positions = self.resource_tracker.find_by_category(position_type)
        available = []
        for pos in positions:
            if hasattr(pos, 'is_available') and pos.is_available():
                available.append(pos)
            elif hasattr(pos, 'children') and len(pos.children) == 0:
                available.append(pos)
        return available
    def get_material_inventory(self) -> Dict[str, int]:
        """获取物料库存统计"""
        inventory = {}
        for resource in self._get_all_resources():
            if hasattr(resource, 'category'):
                category = resource.category
                inventory[category] = inventory.get(category, 0) + 1
        return inventory
    # ============ 物料状态更新接口 ============
    def update_material_location(self, material_id: str, new_location: PLRCoordinate) -> bool:
        """更新物料位置"""
        try:
            material = self.find_material_by_id(material_id)
            if material:
                material.location = new_location
                return True
            return False
        except Exception as e:
            logger.error(f"更新物料位置失败: {e}")
            return False
    def move_material(self, material_id: str, target_container_id: str) -> bool:
        """移动物料到目标容器"""
        try:
            material = self.find_material_by_id(material_id)
            target = self.find_material_by_id(target_container_id)
            if material and target:
                # 从原位置移除
                if material.parent:
                    material.parent.unassign_child_resource(material)
                # 添加到新位置
                target.assign_child_resource(material)
                return True
            return False
        except Exception as e:
            logger.error(f"移动物料失败: {e}")
            return False
    # ============ 资源转换接口 ============
    def convert_to_unilab_format(self, plr_resource: PLRResource) -> Dict[str, Any]:
        """将PyLabRobot资源转换为UniLab格式"""
        return resource_plr_to_ulab(plr_resource)
    def convert_from_unilab_format(self, unilab_resource: Dict[str, Any]) -> PLRResource:
        """将UniLab格式转换为PyLabRobot资源"""
        return resource_ulab_to_plr(unilab_resource)
    def get_deck_state(self) -> Dict[str, Any]:
        """获取Deck状态"""
        try:
            return {
                "deck_info": {
                    "name": self.plr_deck.name,
                    "size": {
                        "x": self.plr_deck.size_x,
                        "y": self.plr_deck.size_y,
                        "z": self.plr_deck.size_z
                    },
                    "children_count": len(self.plr_deck.children)
                },
                "resources": {
                    resource_id: self.convert_to_unilab_format(resource)
                    for resource_id, resource in self.plr_resources.items()
                },
                "inventory": self.get_material_inventory()
            }
        except Exception as e:
            logger.error(f"获取Deck状态失败: {e}")
            return {"error": str(e)}
    # ============ 数据持久化接口 ============
    def save_state_to_file(self, file_path: str) -> bool:
        """保存状态到文件"""
        try:
            state = self.get_deck_state()
            with open(file_path, 'w', encoding='utf-8') as f:
                json.dump(state, f, indent=2, ensure_ascii=False)
            logger.info(f"状态已保存到: {file_path}")
            return True
        except Exception as e:
            logger.error(f"保存状态失败: {e}")
            return False
    def load_state_from_file(self, file_path: str) -> bool:
        """从文件加载状态"""
        try:
            with open(file_path, 'r', encoding='utf-8') as f:
                state = json.load(f)
            # 重新创建资源
            self._recreate_resources_from_state(state)
            logger.info(f"状态已从文件加载: {file_path}")
            return True
        except Exception as e:
            logger.error(f"加载状态失败: {e}")
            return False
    def _recreate_resources_from_state(self, state: Dict[str, Any]):
        """从状态重新创建资源"""
        # 清除现有资源
        self.plr_resources.clear()
        self.plr_deck.children.clear()
        # 从状态重新创建
        resources_data = state.get("resources", {})
        for resource_id, resource_data in resources_data.items():
            try:
                plr_resource = self.convert_from_unilab_format(resource_data)
                self.plr_resources[resource_id] = plr_resource
                self.plr_deck.assign_child_resource(plr_resource)
            except Exception as e:
                logger.error(f"重新创建资源失败 {resource_id}: {e}")
 class CoinCellMaterialManagement(MaterialManagementBase):
    """纽扣电池物料管理类
    从 button_battery_station 抽取的物料管理功能
    """
    def _create_resource_by_type(
        self, 
        resource_id: str, 
        resource_type: str, 
        config: Dict[str, Any], 
        data: Dict[str, Any], 
        location: PLRCoordinate
    ) -> Optional[PLRResource]:
        """根据类型创建纽扣电池相关资源"""
        # 导入纽扣电池资源类
        from unilabos.device_comms.button_battery_station import (
            MaterialPlate, PlateSlot, ClipMagazine, BatteryPressSlot,
            TipBox64, WasteTipBox, BottleRack, Battery, ElectrodeSheet
        )
        try:
            if resource_type == "material_plate":
                return self._create_material_plate(resource_id, config, data, location)
            elif resource_type == "plate_slot":
                return self._create_plate_slot(resource_id, config, data, location)
            elif resource_type == "clip_magazine":
                return self._create_clip_magazine(resource_id, config, data, location)
            elif resource_type == "battery_press_slot":
                return self._create_battery_press_slot(resource_id, config, data, location)
            elif resource_type == "tip_box":
                return self._create_tip_box(resource_id, config, data, location)
            elif resource_type == "waste_tip_box":
                return self._create_waste_tip_box(resource_id, config, data, location)
            elif resource_type == "bottle_rack":
                return self._create_bottle_rack(resource_id, config, data, location)
            elif resource_type == "battery":
                return self._create_battery(resource_id, config, data, location)
            else:
                logger.warning(f"未知的资源类型: {resource_type}")
                return None
        except Exception as e:
            logger.error(f"创建资源失败 {resource_id} ({resource_type}): {e}")
            return None
    def _create_material_plate(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建料板"""
        from unilabos.device_comms.button_battery_station import MaterialPlate, ElectrodeSheet
        plate = MaterialPlate(
            name=resource_id,
            size_x=config.get("size_x", 80.0),
            size_y=config.get("size_y", 80.0),
            size_z=config.get("size_z", 10.0),
            hole_diameter=config.get("hole_diameter", 15.0),
            hole_depth=config.get("hole_depth", 8.0),
            hole_spacing_x=config.get("hole_spacing_x", 20.0),
            hole_spacing_y=config.get("hole_spacing_y", 20.0),
            number=data.get("number", "")
        )
        plate.location = location
        # 如果有预填充的极片数据，创建极片
        electrode_sheets = data.get("electrode_sheets", [])
        for i, sheet_data in enumerate(electrode_sheets):
            if i < len(plate.children):  # 确保不超过洞位数量
                hole = plate.children[i]
                sheet = ElectrodeSheet(
                    name=f"{resource_id}_sheet_{i}",
                    diameter=sheet_data.get("diameter", 14.0),
                    thickness=sheet_data.get("thickness", 0.1),
                    mass=sheet_data.get("mass", 0.01),
                    material_type=sheet_data.get("material_type", "cathode"),
                    info=sheet_data.get("info", "")
                )
                hole.place_electrode_sheet(sheet)
        return plate
    def _create_plate_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建板槽位"""
        from unilabos.device_comms.button_battery_station import PlateSlot
        slot = PlateSlot(
            name=resource_id,
            max_plates=config.get("max_plates", 8)
        )
        slot.location = location
        return slot
    def _create_clip_magazine(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建子弹夹"""
        from unilabos.device_comms.button_battery_station import ClipMagazine
        magazine = ClipMagazine(
            name=resource_id,
            size_x=config.get("size_x", 150.0),
            size_y=config.get("size_y", 100.0),
            size_z=config.get("size_z", 50.0),
            hole_diameter=config.get("hole_diameter", 15.0),
            hole_depth=config.get("hole_depth", 40.0),
            hole_spacing=config.get("hole_spacing", 25.0),
            max_sheets_per_hole=config.get("max_sheets_per_hole", 100)
        )
        magazine.location = location
        return magazine
    def _create_battery_press_slot(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建电池压制槽"""
        from unilabos.device_comms.button_battery_station import BatteryPressSlot
        slot = BatteryPressSlot(
            name=resource_id,
            diameter=config.get("diameter", 20.0),
            depth=config.get("depth", 15.0)
        )
        slot.location = location
        return slot
    def _create_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建枪头盒"""
        from unilabos.device_comms.button_battery_station import TipBox64
        tip_box = TipBox64(
            name=resource_id,
            size_x=config.get("size_x", 127.8),
            size_y=config.get("size_y", 85.5),
            size_z=config.get("size_z", 60.0),
            with_tips=data.get("with_tips", True)
        )
        tip_box.location = location
        return tip_box
    def _create_waste_tip_box(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建废枪头盒"""
        from unilabos.device_comms.button_battery_station import WasteTipBox
        waste_box = WasteTipBox(
            name=resource_id,
            size_x=config.get("size_x", 127.8),
            size_y=config.get("size_y", 85.5),
            size_z=config.get("size_z", 60.0),
            max_tips=config.get("max_tips", 100)
        )
        waste_box.location = location
        return waste_box
    def _create_bottle_rack(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建瓶架"""
        from unilabos.device_comms.button_battery_station import BottleRack
        rack = BottleRack(
            name=resource_id,
            size_x=config.get("size_x", 210.0),
            size_y=config.get("size_y", 140.0),
            size_z=config.get("size_z", 100.0),
            bottle_diameter=config.get("bottle_diameter", 30.0),
            bottle_height=config.get("bottle_height", 100.0),
            position_spacing=config.get("position_spacing", 35.0)
        )
        rack.location = location
        return rack
    def _create_battery(self, resource_id: str, config: Dict[str, Any], data: Dict[str, Any], location: PLRCoordinate):
        """创建电池"""
        from unilabos.device_comms.button_battery_station import Battery
        battery = Battery(
            name=resource_id,
            diameter=config.get("diameter", 20.0),
            height=config.get("height", 3.2),
            max_volume=config.get("max_volume", 100.0),
            barcode=data.get("barcode", "")
        )
        battery.location = location
        return battery
    # ============ 纽扣电池特定查找方法 ============
    def find_material_plates(self):
        """查找所有料板"""
        from unilabos.device_comms.button_battery_station import MaterialPlate
        return self.resource_tracker.find_by_type(MaterialPlate)
    def find_batteries(self):
        """查找所有电池"""
        from unilabos.device_comms.button_battery_station import Battery
        return self.resource_tracker.find_by_type(Battery)
    def find_electrode_sheets(self):
        """查找所有极片"""
        found = []
        plates = self.find_material_plates()
        for plate in plates:
            for hole in plate.children:
                if hasattr(hole, 'has_electrode_sheet') and hole.has_electrode_sheet():
                    found.append(hole._electrode_sheet)
        return found
    def find_plate_slots(self):
        """查找所有板槽位"""
        from unilabos.device_comms.button_battery_station import PlateSlot
        return self.resource_tracker.find_by_type(PlateSlot)
    def find_clip_magazines(self):
        """查找所有子弹夹"""
        from unilabos.device_comms.button_battery_station import ClipMagazine
        return self.resource_tracker.find_by_type(ClipMagazine)
    def find_press_slots(self):
        """查找所有压制槽"""
        from unilabos.device_comms.button_battery_station import BatteryPressSlot
        return self.resource_tracker.find_by_type(BatteryPressSlot)
--- a/unilabos/registry/resources/bioyond/bottles.yaml
+++ b/unilabos/registry/resources/bioyond/bottles.yaml
@@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker:
  icon: ''
  init_param_schema: {}
  version: 1.0.0
 BIOYOND_PolymerStation_TipBox:
  category:
  - bottles
  - tip_boxes
  class:
    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox
    type: pylabrobot
  handles: []
  icon: ''
  init_param_schema: {}
  version: 1.0.0
 BIOYOND_PolymerStation_Reactor:
  category:
  - bottles
  - reactors
  class:
    module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
    type: pylabrobot
  handles: []
  icon: ''
  init_param_schema: {}
  version: 1.0.0
--- a/unilabos/resources/bioyond/bottles.py
+++ b/unilabos/resources/bioyond/bottles.py
@@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle(
        barcode=barcode,
        model="BIOYOND_PolymerStation_Reagent_Bottle",
    )
 def BIOYOND_PolymerStation_Reactor(
    name: str,
    diameter: float = 30.0,
    height: float = 80.0,
    max_volume: float = 50000.0,  # 50mL
    barcode: str = None,
 ) -> Bottle:
    """创建反应器"""
    return Bottle(
        name=name,
        diameter=diameter,
        height=height,
        max_volume=max_volume,
        barcode=barcode,
        model="BIOYOND_PolymerStation_Reactor",
    )
 def BIOYOND_PolymerStation_TipBox(
    name: str,
    size_x: float = 127.76,  # 枪头盒宽度
    size_y: float = 85.48,   # 枪头盒长度
    size_z: float = 100.0,   # 枪头盒高度
    barcode: str = None,
 ):
    """创建4×6枪头盒 (24个枪头)
    Args:
        name: 枪头盒名称
        size_x: 枪头盒宽度 (mm)
        size_y: 枪头盒长度 (mm)
        size_z: 枪头盒高度 (mm)
        barcode: 条形码
    Returns:
        TipBoxCarrier: 包含24个枪头孔位的枪头盒
    """
    from pylabrobot.resources import Container, Coordinate
    # 创建枪头盒容器
    tip_box = Container(
        name=name,
        size_x=size_x,
        size_y=size_y,
        size_z=size_z,
        category="tip_rack",
        model="BIOYOND_PolymerStation_TipBox_4x6",
    )
    # 设置自定义属性
    tip_box.barcode = barcode
    tip_box.tip_count = 24  # 4行×6列
    tip_box.num_items_x = 6  # 6列
    tip_box.num_items_y = 4  # 4行
    # 创建24个枪头孔位 (4行×6列)
    # 假设孔位间距为 9mm
    tip_spacing_x = 9.0  # 列间距
    tip_spacing_y = 9.0  # 行间距
    start_x = 14.38  # 第一个孔位的x偏移
    start_y = 11.24  # 第一个孔位的y偏移
    for row in range(4):  # A, B, C, D
        for col in range(6):  # 1-6
            spot_name = f"{chr(65 + row)}{col + 1}"  # A1, A2, ..., D6
            x = start_x + col * tip_spacing_x
            y = start_y + row * tip_spacing_y
            # 创建枪头孔位容器
            tip_spot = Container(
                name=spot_name,
                size_x=8.0,  # 单个枪头孔位大小
                size_y=8.0,
                size_z=size_z - 10.0,  # 略低于盒子高度
                category="tip_spot",
            )
            # 添加到枪头盒
            tip_box.assign_child_resource(
                tip_spot,
                location=Coordinate(x=x, y=y, z=0)
            )
    return tip_box
--- a/unilabos/resources/bioyond/decks.py
+++ b/unilabos/resources/bioyond/decks.py
@@ -1,7 +1,22 @@
 from os import name
 from pylabrobot.resources import Deck, Coordinate, Rotation
-from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1
+from unilabos.resources.bioyond.warehouses import (
    bioyond_warehouse_1x4x4,
    bioyond_warehouse_1x4x4_right,  # 新增：右侧仓库 (A05～D08)
    bioyond_warehouse_1x4x2,
    bioyond_warehouse_liquid_and_lid_handling,
    bioyond_warehouse_1x2x2,
    bioyond_warehouse_1x3x3,
    bioyond_warehouse_10x1x1,
    bioyond_warehouse_3x3x1,
    bioyond_warehouse_3x3x1_2,
    bioyond_warehouse_5x1x1,
    bioyond_warehouse_1x8x4,
    bioyond_warehouse_reagent_storage,
    bioyond_warehouse_liquid_preparation,
    bioyond_warehouse_tipbox_storage,  # 新增：Tip盒堆栈
 )
 class BIOYOND_PolymerReactionStation_Deck(Deck):
@@ -20,15 +35,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
    def setup(self) -> None:
        # 添加仓库
        # 说明: 堆栈1物理上分为左右两部分
        #   - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧)
        #   - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧)
        self.warehouses = {
-            "堆栈1": bioyond_warehouse_1x4x4("堆栈1"),
+            "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"),  # 左侧堆栈: A01～D04
-            "堆栈2": bioyond_warehouse_1x4x4("堆栈2"),
+            "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"),  # 右侧堆栈: A05～D08
-            "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"),
+            "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"),  # A01～A02
            "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"),  # A01～B04
            "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"),  # A01～B03, 存放枪头盒
        }
        self.warehouse_locations = {
-            "堆栈1": Coordinate(0.0, 430.0, 0.0),
+            "堆栈1左": Coordinate(0.0, 430.0, 0.0),  # 左侧位置
-            "堆栈2": Coordinate(2550.0, 430.0, 0.0),
+            "堆栈1右": Coordinate(2500.0, 430.0, 0.0),  # 右侧位置
-            "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0),
+            "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
            "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
            "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0),  # TODO: 根据实际位置调整坐标
        }
        self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
--- a/unilabos/resources/bioyond/warehouses.py
+++ b/unilabos/resources/bioyond/warehouses.py
@@ -2,7 +2,7 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
 def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
-    """创建BioYond 4x1x4仓库"""
+    """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
    return warehouse_factory(
        name=name,
        num_items_x=4,
@@ -15,6 +15,25 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
        item_dy=106.0,
        item_dz=130.0,
        category="warehouse",
        col_offset=0,  # 从01开始: A01, A02, A03, A04
    )
 def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
    """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)"""
    return warehouse_factory(
        name=name,
        num_items_x=4,
        num_items_y=4,
        num_items_z=1,
        dx=10.0,
        dy=10.0,
        dz=10.0,
        item_dx=147.0,
        item_dy=106.0,
        item_dz=130.0,
        category="warehouse",
        col_offset=4,  # 从05开始: A05, A06, A07, A08
    )
@@ -159,3 +178,71 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse:
        category="warehouse",
        removed_positions=None
    )
 def bioyond_warehouse_1x8x4(name: str) -> WareHouse:
    """创建BioYond 8x4x1反应站堆栈（A01～D08）"""
    return warehouse_factory(
        name=name,
        num_items_x=8,  # 8列（01-08）
        num_items_y=4,  # 4行（A-D）
        num_items_z=1,  # 1层
        dx=10.0,
        dy=10.0,
        dz=10.0,
        item_dx=147.0,
        item_dy=106.0,
        item_dz=130.0,
        category="warehouse",
    )
 def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
    """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）"""
    return warehouse_factory(
        name=name,
        num_items_x=2,  # 2列（01-02）
        num_items_y=1,  # 1行（A）
        num_items_z=1,  # 1层
        dx=10.0,
        dy=10.0,
        dz=10.0,
        item_dx=137.0,
        item_dy=96.0,
        item_dz=120.0,
        category="warehouse",
    )
 def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
    """创建BioYond移液站内10%分装液体准备仓库（A01～B04）"""
    return warehouse_factory(
        name=name,
        num_items_x=4,  # 4列（01-04）
        num_items_y=2,  # 2行（A-B）
        num_items_z=1,  # 1层
        dx=10.0,
        dy=10.0,
        dz=10.0,
        item_dx=137.0,
        item_dy=96.0,
        item_dz=120.0,
        category="warehouse",
    )
 def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
    """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒"""
    return warehouse_factory(
        name=name,
        num_items_x=3,  # 3列（01-03）
        num_items_y=2,  # 2行（A-B）
        num_items_z=1,  # 1层
        dx=10.0,
        dy=10.0,
        dz=10.0,
        item_dx=137.0,
        item_dy=96.0,
        item_dz=120.0,
        category="warehouse",
    )
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -580,6 +580,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
            "trash": "trash",
            "deck": "deck",
            "tip_rack": "tip_rack",
            "warehouse": "warehouse",
            "container": "container",
        }
        if source in replace_info:
            return replace_info[source]
@@ -632,9 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
            type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
        )
-        plr_material: ResourcePLR = initialize_resource(
+        plr_material_result = initialize_resource(
            {"name": material["name"], "class": className}, resource_type=ResourcePLR
        )
        # initialize_resource 可能返回列表或单个对象
        if isinstance(plr_material_result, list):
            if len(plr_material_result) == 0:
                logger.warning(f"物料 {material['name']} 初始化失败，跳过")
                continue
            plr_material = plr_material_result[0]
        else:
            plr_material = plr_material_result
        # 确保 plr_material 是 ResourcePLR 实例
        if not isinstance(plr_material, ResourcePLR):
            logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
            continue
        plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
        plr_material.unilabos_uuid = str(uuid.uuid4())
@@ -659,6 +676,8 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
                    ]
                    bottle.code = detail.get("code", "")
        else:
            # 只对有 capacity 属性的容器（液体容器）处理液体追踪
            if hasattr(plr_material, 'capacity'):
                bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
                bottle.tracker.liquids = [
                    (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
@@ -668,16 +687,55 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
        if deck and hasattr(deck, "warehouses"):
            for loc in material.get("locations", []):
-                if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses:
+                wh_name = loc.get("whName")
-                    warehouse = deck.warehouses[loc["whName"]]
+
-                    idx = (
+                # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
-                        (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y
+                # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
-                        + (loc.get("x", 0) - 1) * warehouse.num_items_x
+                if wh_name == "堆栈1":
-                        + (loc.get("z", 0) - 1)
+                    x_val = loc.get("x", 1)
-                    )
+                    if 1 <= x_val <= 4:
                        wh_name = "堆栈1左"
                    elif 5 <= x_val <= 8:
                        wh_name = "堆栈1右"
                    else:
                        logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
                        continue
                if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
                    warehouse = deck.warehouses[wh_name]
                    # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
                    # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
                    x = loc.get("x", 1)  # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
                    y = loc.get("y", 1)  # 列号 (1-based: 1=01, 2=02, 3=03...)
                    z = loc.get("z", 1)  # 层号 (1-based, 通常为1)
                    # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4)
                    if wh_name == "堆栈1右":
                        y = y - 4  # 将5-8映射到1-4
                    # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
                    # Bioyond的y坐标表示线性位置序号，而不是列号
                    if warehouse.num_items_y == 1:
                        # 1行warehouse: 直接用y作为线性索引
                        idx = y - 1
                        logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
                    else:
                        # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
                        # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
                        # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
                        row_idx = x - 1  # x表示行: 转为0-based
                        col_idx = y - 1  # y表示列: 转为0-based
                        layer_idx = z - 1  # 转为0-based
                        idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
                        logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
                    if 0 <= idx < warehouse.capacity:
                        if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
                            warehouse[idx] = plr_material
                            logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
                    else:
                        logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
    return plr_materials
@@ -714,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
            bottle = resource[0] if resource.capacity > 0 else resource
            material = {
                "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
-                "name": resource.get("name", ""),
+                "name": resource.name if hasattr(resource, "name") else "",
-                "unit": "",
+                "unit": "个",  # 修复：Bioyond API 要求 unit 字段不能为空
                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                "Parameters": "{}"
            }
@@ -759,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
    elif type(resource_class_config) == str:
        # Allow special resource class names to be used
        if resource_class_config not in lab_registry.resource_type_registry:
            logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置")
            logger.debug(f"   可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...")
            return [resource_config]
        # If the resource class is a string, look up the class in the
        # resource_type_registry and import it
--- a/unilabos/resources/warehouse.py
+++ b/unilabos/resources/warehouse.py
@@ -23,6 +23,7 @@ def warehouse_factory(
    empty: bool = False,
    category: str = "warehouse",
    model: Optional[str] = None,
    col_offset: int = 0,  # 新增：列起始偏移量，用于生成A05-D08等命名
 ):
    # 创建16个板架位 (4层 x 4位置)
    locations = []
@@ -44,7 +45,9 @@ def warehouse_factory(
        name_prefix=name,
    )
    len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
-    keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)]
+    # 应用列偏移量，支持A05-D08等命名
    # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
    keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
    sites = {i: site for i, site in zip(keys, _sites.values())}
    return WareHouse(
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
 )
 from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
-from unilabos.utils.async_util import run_async_func
+from rclpy.task import Task, Future
 from unilabos.utils.import_manager import default_manager
 from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
 from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        rclpy.get_global_executor().add_node(self)
        self.lab_logger().debug(f"ROS节点初始化完成")
    async def sleep(self, rel_time: float, callback_group=None):
        if callback_group is None:
            callback_group = self.callback_group
        await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
    @classmethod
    async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
        return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
    async def update_resource(self, resources: List["ResourcePLR"]):
        r = SerialCommand.Request()
        tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -647,7 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                    ].call_async(
                        SerialCommand.Request(
                            command=json.dumps(
-                                {"data": {"data": resources_uuid, "with_children": False}, "action": "get"}
+                                {"data": {"data": resources_uuid, "with_children": True if action == "add" else "update"}, "action": "get"}
                            )
                        )
                    )  # type: ignore
@@ -1385,18 +1394,27 @@ class ROS2DeviceNode:
    它不继承设备类，而是通过代理模式访问设备类的属性和方法。
    """
-    # 类变量，用于循环管理
+    @classmethod
-    _loop = None
+    def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
-    _loop_running = False
+        def _handle_future_exception(fut):
-    _loop_thread = None
+            try:
                fut.result()
            except Exception as e:
                error(f"异步任务 {func.__name__} 报错了")
                error(traceback.format_exc())
        future = rclpy.get_global_executor().create_task(func(**kwargs))
        if trace_error:
            future.add_done_callback(_handle_future_exception)
        return future
    @classmethod
-    def get_loop(cls):
+    async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
-        return cls._loop
+        future = Future()
-
+        timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
-    @classmethod
+        await future
-    def run_async_func(cls, func, trace_error=True, **kwargs):
+        timer.cancel()
-        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
+        node.destroy_timer(timer)
    @property
    def driver_instance(self):
@@ -1436,11 +1454,6 @@ class ROS2DeviceNode:
            print_publish: 是否打印发布信息
            driver_is_ros:
        """
        # 在初始化时检查循环状态
        if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
            pass
        elif ROS2DeviceNode._loop_thread is None:
            self._start_loop()
        # 保存设备类是否支持异步上下文
        self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1529,17 +1542,6 @@ class ROS2DeviceNode:
            except Exception as e:
                self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
    def _start_loop(self):
        def run_event_loop():
            loop = asyncio.new_event_loop()
            ROS2DeviceNode._loop = loop
            asyncio.set_event_loop(loop)
            loop.run_forever()
        ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
        ROS2DeviceNode._loop_thread.start()
        logger.info(f"循环线程已启动")
 class DeviceInfoType(TypedDict):
    id: str
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
    ResourceDelete,
    ResourceUpdate,
    ResourceList,
-    SerialCommand, ResourceGet,
+    SerialCommand,
    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
--- a/unilabos/ros/nodes/resource_tracker.py
+++ b/unilabos/ros/nodes/resource_tracker.py
@@ -848,9 +848,15 @@ class DeviceNodeResourceTracker(object):
            extra: extra字典值
        """
        if isinstance(resource, dict):
-            resource["extra"] = extra
+            # ⭐ 修复：合并extra而不是覆盖
            current_extra = resource.get("extra", {})
            current_extra.update(extra)
            resource["extra"] = current_extra
        else:
-            setattr(resource, "unilabos_extra", extra)
+            # ⭐ 修复：合并unilabos_extra而不是覆盖
            current_extra = getattr(resource, "unilabos_extra", {})
            current_extra.update(extra)
            setattr(resource, "unilabos_extra", current_extra)
    def _traverse_and_process(self, resource, process_func) -> int:
        """
--- a/unilabos/utils/async_util.py
+++ b/unilabos/utils/async_util.py
@@ -1,22 +0,0 @@
 import asyncio
 import traceback
 from asyncio import get_event_loop
 from unilabos.utils.log import error
 def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
    if loop is None:
        loop = get_event_loop()
    def _handle_future_exception(fut):
        try:
            fut.result()
        except Exception as e:
            error(f"异步任务 {func.__name__} 报错了")
            error(traceback.format_exc())
    future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
    if trace_error:
        future.add_done_callback(_handle_future_exception)
    return future
Author	SHA1	Message	Date
Xuwznln	39bb7dc627	adjust with_children param	2025-11-03 16:31:37 +08:00
Xuwznln	0fda155f55	modify devices to use correct executor (sleep, create_task)	2025-11-03 15:49:11 +08:00
Xuwznln	6e3eacd2f0	support sleep and create_task in node	2025-11-03 15:42:12 +08:00
Xuwznln	062f1a2153	fix run async execution error	2025-10-31 21:43:25 +08:00
Junhan Chang	61e8d67800	modify workstation_architecture docs	2025-10-30 17:29:47 +08:00
ZiWei	d0884cdbd8	bioyond_HR (#133 ) * feat: Enhance Bioyond synchronization and resource management - Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type. - Improved error handling and logging during synchronization processes. - Added functionality to save Bioyond material IDs in UniLab resources for future updates. - Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond. - Updated warehouse configurations to support new storage types and improved layout for better resource management. - Introduced new resource types such as reactors and tip boxes, with detailed specifications. - Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08). - Improved resource tracking by merging extra attributes instead of overwriting them. - Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes. * feat: 添加TipBox和Reactor的配置到bottles.yaml * fix: 修复液体投料方法中的volume参数处理逻辑	2025-10-29 12:10:05 +08:00
ZiWei	545ea45024	修复solid_feeding_vials方法中的volume参数处理逻辑，优化solvents参数的使用条件	2025-10-29 11:24:37 +08:00