Merge remote-tracking branch 'origin/dev' into feature/organic-extraction

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.19"
+__version__ = "0.11.1"

unilabos/app/main.py

@@ -12,6 +12,15 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
+# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
+# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
+if sys.platform == "win32":
+    for _stream in (sys.stdout, sys.stderr):
+        try:
+            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
+        except (AttributeError, OSError):
+            pass
+
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -233,7 +242,7 @@ def parse_args():
     parser.add_argument(
         "--addr",
         type=str,
-        default="https://uni-lab.bohrium.com/api/v1",
+        default="https://leap-lab.bohrium.com/api/v1",
         help="Laboratory backend address",
     )
     parser.add_argument(
@@ -438,10 +447,10 @@ def main():
     if args.addr != parser.get_default("addr"):
         if args.addr == "test":
             print_status("使用测试环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
+            HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
         elif args.addr == "uat":
             print_status("使用uat环境地址", "info")
-            HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
+            HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
         elif args.addr == "local":
             print_status("使用本地环境地址", "info")
             HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
@@ -553,7 +562,7 @@ def main():
         os._exit(0)
 
     if not BasicConfig.ak or not BasicConfig.sk:
-        print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
+        print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
         os._exit(1)
     graph: nx.Graph
     resource_tree_set: ResourceTreeSet

unilabos/app/web/client.py

@@ -36,6 +36,9 @@ class HTTPClient:
             auth_secret = BasicConfig.auth_secret()
             self.auth = auth_secret
             info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
+        # 复用 TCP/TLS 连接，避免每次请求重新握手
+        self._session = requests.Session()
+        self._session.headers.update({"Authorization": f"Lab {self.auth}"})
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
     def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
@@ -48,7 +51,7 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/edge/material/edge",
             json={
                 "edges": resources,
@@ -75,25 +78,28 @@ class HTTPClient:
         Returns:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
-        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
-            payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
-            f.write(json.dumps(payload, indent=4))
-        # 从序列化数据中提取所有节点的UUID（保存旧UUID）
+        # dump() 只调用一次，复用给文件保存和 HTTP 请求
+        nodes_info = [x for xs in resources.dump() for x in xs]
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
+        payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
+        body_bytes = _fast_dumps(payload)
+        with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
+            f.write(_fast_dumps_pretty(payload))
+        http_headers = {"Content-Type": "application/json"}
         if not self.initialized or first_add:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
-                headers={"Authorization": f"Lab {self.auth}"},
+                data=body_bytes,
+                headers=http_headers,
                 timeout=60,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
-                headers={"Authorization": f"Lab {self.auth}"},
+                data=body_bytes,
+                headers=http_headers,
                 timeout=10,
             )
 
@@ -111,6 +117,7 @@ class HTTPClient:
                     uuid_mapping[i["uuid"]] = i["cloud_uuid"]
         else:
             logger.error(f"添加物料失败: {response.text}")
+            logger.trace(f"添加物料失败: {nodes_info}")
         for u, n in old_uuids.items():
             if u in uuid_mapping:
                 n.res_content.uuid = uuid_mapping[u]
@@ -131,7 +138,7 @@ class HTTPClient:
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/edge/material/query",
             json={"uuids": uuid_list, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
@@ -145,6 +152,7 @@ class HTTPClient:
                 logger.error(f"查询物料失败: {response.text}")
             else:
                 data = res["data"]["nodes"]
+                logger.trace(f"resource_tree_get查询到物料: {data}")
                 return data
         else:
             logger.error(f"查询物料失败: {response.text}")
@@ -162,14 +170,14 @@ class HTTPClient:
         if not self.initialized:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=100,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -196,7 +204,7 @@ class HTTPClient:
         """
         with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
-        response = requests.get(
+        response = self._session.get(
             f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
             headers={"Authorization": f"Lab {self.auth}"},
@@ -237,14 +245,14 @@ class HTTPClient:
         if not self.initialized:
             self.initialized = True
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=100,
             )
         else:
-            response = requests.put(
+            response = self._session.put(
                 f"{self.remote_addr}/lab/material",
                 json={"nodes": resources},
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -274,7 +282,7 @@ class HTTPClient:
         with open(file_path, "rb") as file:
             files = {"files": file}
             logger.info(f"上传文件: {file_path} 到 {scene}")
-            response = requests.post(
+            response = self._session.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
                 headers={"Authorization": f"Lab {self.auth}"},
@@ -314,7 +322,7 @@ class HTTPClient:
             "Content-Type": "application/json",
             "Content-Encoding": "gzip",
         }
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/lab/resource",
             data=compressed_body,
             headers=headers,
@@ -348,7 +356,7 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        response = requests.get(
+        response = self._session.get(
             f"{self.remote_addr}/edge/material/download",
             headers={"Authorization": f"Lab {self.auth}"},
             timeout=(3, 30),
@@ -409,7 +417,7 @@ class HTTPClient:
         with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
             f.write(json.dumps(payload, indent=4, ensure_ascii=False))
 
-        response = requests.post(
+        response = self._session.post(
             f"{self.remote_addr}/lab/workflow/owner/import",
             json=payload,
             headers={"Authorization": f"Lab {self.auth}"},

unilabos/app/ws_client.py

@@ -1113,7 +1113,7 @@ class MessageProcessor:
                 "task_id": task_id,
                 "job_id": job_id,
                 "free": free,
-                "need_more": need_more,
+                "need_more": need_more + 1,
             },
         }
 
@@ -1253,7 +1253,7 @@ class QueueProcessor:
                     "task_id": job_info.task_id,
                     "job_id": job_info.job_id,
                     "free": False,
-                    "need_more": 10,
+                    "need_more": 10 + 1,
                 },
             }
             self.message_processor.send_message(message)
@@ -1269,7 +1269,13 @@ class QueueProcessor:
         if not queued_jobs:
             return
 
-        logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
+        queue_summary = {}
+        for j in queued_jobs:
+            key = f"{j.device_id}/{j.action_name}"
+            queue_summary[key] = queue_summary.get(key, 0) + 1
+        logger.debug(
+            f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
+        )
 
         for job_info in queued_jobs:
             # 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
@@ -1286,7 +1292,7 @@ class QueueProcessor:
                     "task_id": job_info.task_id,
                     "job_id": job_info.job_id,
                     "free": False,
-                    "need_more": 10,
+                    "need_more": 10 + 1,
                 },
             }
             success = self.message_processor.send_message(message)
@@ -1369,6 +1375,10 @@ class WebSocketClient(BaseCommunicationClient):
         self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
         self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
 
+        # running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
+        self._job_running_last_sent: Dict[str, tuple] = {}
+        self._job_running_debounce_interval: float = 10.0  # 秒
+
         # 设置相互引用
         self.message_processor.set_queue_processor(self.queue_processor)
         self.message_processor.set_websocket_client(self)
@@ -1468,22 +1478,32 @@ class WebSocketClient(BaseCommunicationClient):
             logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
             return
 
+        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
+
         # 拦截最终结果状态，与原版本逻辑一致
         if status in ["success", "failed"]:
+            self._job_running_last_sent.pop(item.job_id, None)
+
             host_node = HostNode.get_instance(0)
             if host_node:
-                # 从HostNode的device_action_status中移除job_id
                 try:
                     host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
                 except (KeyError, AttributeError):
                     logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
 
-            # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
-
-            # 通知队列处理器job完成（包括timeout的job）
             self.queue_processor.handle_job_completed(item.job_id, status)
 
-        # 发送job状态消息
+        # running状态按job_id做debounce，内容变化时仍然上报
+        if status == "running":
+            now = time.time()
+            cached = self._job_running_last_sent.get(item.job_id)
+            if cached is not None:
+                last_ts, last_data = cached
+                if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
+                    logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
+                    return
+            self._job_running_last_sent[item.job_id] = (now, feedback_data)
+
         message = {
             "action": "job_status",
             "data": {
@@ -1499,7 +1519,6 @@ class WebSocketClient(BaseCommunicationClient):
         }
         self.message_processor.send_message(message)
 
-        job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
         logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
 
     def send_ping(self, ping_id: str, timestamp: float) -> None:

unilabos/config/config.py

@@ -46,7 +46,7 @@ class WSConfig:
 
 # HTTP配置
 class HTTPConfig:
-    remote_addr = "https://uni-lab.bohrium.com/api/v1"
+    remote_addr = "https://leap-lab.bohrium.com/api/v1"
 
 
 # ROS配置

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,6 +2,8 @@ import time
 import logging
 from typing import Union, Dict, Optional
 
+from unilabos.registry.decorators import topic_config
+
 
 class VirtualMultiwayValve:
     """
@@ -41,13 +43,11 @@ class VirtualMultiwayValve:
     def target_position(self) -> int:
         return self._target_position
 
-    def get_current_position(self) -> int:
-        """获取当前阀门位置 📍"""
-        return self._current_position
-
-    def get_current_port(self) -> str:
-        """获取当前连接的端口名称 🔌"""
-        return self._current_position
+    @property
+    @topic_config()
+    def current_port(self) -> str:
+        """当前连接的端口名称 🔌"""
+        return self.port
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,12 +169,14 @@ class VirtualMultiwayValve:
         self._status = "Idle"
         self._valve_state = "Closed"
         
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
         self.logger.info(close_msg)
         return close_msg
 
-    def get_valve_position(self) -> int:
-        """获取阀门位置 - 兼容性方法 📍"""
+    @property
+    @topic_config()
+    def valve_position(self) -> int:
+        """阀门位置 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -229,19 +231,16 @@ class VirtualMultiwayValve:
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    def get_flow_path(self) -> str:
-        """获取当前流路路径描述 🌊"""
-        current_port = self.get_current_port()
+    @property
+    @topic_config()
+    def flow_path(self) -> str:
+        """当前流路路径描述 🌊"""
         if self._current_position == 0:
-            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
-        else:
-            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
-        
-        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
-        return flow_path
+            return f"🚰 转移泵已连接 (位置 {self._current_position})"
+        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
 
     def __str__(self):
-        current_port = self.get_current_port()
+        current_port = self.current_port
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -253,7 +252,7 @@ if __name__ == "__main__":
     
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.get_flow_path()}")
+    print(f"🌊 当前流路: {valve.flow_path}")
     
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,6 +3,7 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -314,9 +315,11 @@ class VirtualStirrer:
     def min_speed(self) -> float:
         return self._min_speed
     
-    def get_device_info(self) -> Dict[str, Any]:
-        """获取设备状态信息 📊"""
-        info = {
+    @property
+    @topic_config()
+    def device_info(self) -> Dict[str, Any]:
+        """设备状态快照信息 📊"""
+        return {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -325,12 +328,9 @@ class VirtualStirrer:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed
+            "min_speed": self._min_speed,
         }
-        
-        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
-        return info
-    
+
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,6 +4,7 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
+from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -385,8 +386,10 @@ class VirtualTransferPump:
         """获取当前体积"""
         return self._current_volume
 
-    def get_remaining_capacity(self) -> float:
-        """获取剩余容量"""
+    @property
+    @topic_config()
+    def remaining_capacity(self) -> float:
+        """剩余容量 (ml)"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/devices/virtual/workbench.py

@@ -22,10 +22,11 @@ from threading import Lock, RLock
 from typing_extensions import TypedDict
 
 from unilabos.registry.decorators import (
-    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
+    device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
 )
-from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
-from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
+from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
+from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
 
 
 # ============ TypedDict 返回类型定义 ============
@@ -290,6 +291,126 @@ class VirtualWorkbench:
         self._update_data_status(f"机械臂已释放 (完成: {task})")
         self.logger.info(f"机械臂已释放 (完成: {task})")
 
+    @action(
+        always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
+            "assignee_user_ids": "unilabos_manual_confirm"
+        }, goal_default={
+            "timeout_seconds": 3600,
+            "assignee_user_ids": []
+        }, feedback_interval=300,
+        handles=[
+            ActionInputHandle(key="target_device", data_type="device_id",
+                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+
+            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+            # transfer使用
+            ActionOutputHandle(key="target_device", data_type="device_id",
+                               label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
+            # test使用
+            ActionOutputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
+            ActionOutputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
+        ]
+    )
+    def manual_confirm(
+        self,
+        resource: List[ResourceSlot],
+        target_device: DeviceSlot,
+        mount_resource: List[ResourceSlot],
+        collector_mass: List[float],
+        active_material: List[float],
+        capacity: List[float],
+        battery_system: List[str],
+        timeout_seconds: int,
+        assignee_user_ids: list[str],
+        **kwargs
+    ) -> dict:
+        """
+        timeout_seconds: 超时时间（秒），默认3600秒
+        collector_mass: 极流体质量
+        active_material: 活性物质含量
+        capacity: 克容量（mAh/g）
+        battery_system: 电池体系
+        修改的结果无效，是只读的
+        """
+        resource = ResourceTreeSet.from_plr_resources(resource).dump()
+        mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
+        kwargs.update(locals())
+        kwargs.pop("kwargs")
+        kwargs.pop("self")
+        return kwargs
+
+    @action(
+        description="转移物料",
+        handles=[
+            ActionInputHandle(key="target_device", data_type="device_id",
+                              label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="resource", data_type="resource",
+                               label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                               label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+        ]
+    )
+    async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
+        future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
+            **{
+                "plr_resources": resource,
+                "target_device_id": target_device,
+                "target_resources": mount_resource,
+                "sites": [None] * len(mount_resource),
+            })
+        result = await future
+        return result
+
+
+    @action(
+        description="扣电测试启动",
+        handles=[
+            ActionInputHandle(key="resource", data_type="resource",
+                              label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="mount_resource", data_type="resource",
+                              label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
+
+            ActionInputHandle(key="collector_mass", data_type="collector_mass",
+                              label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="active_material", data_type="active_material",
+                              label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="capacity", data_type="capacity",
+                              label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
+            ActionInputHandle(key="battery_system", data_type="battery_system",
+                              label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
+        ]
+    )
+    async def test(
+        self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot],  collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
+    ):
+        print(resource)
+        print(mount_resource)
+        print(collector_mass)
+        print(active_material)
+        print(capacity)
+        print(battery_system)
+
     @action(
         auto_prefix=True,
         description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",

unilabos/registry/ast_registry_scanner.py

@@ -825,6 +825,7 @@ def _extract_class_body(
             action_args.setdefault("placeholder_keys", {})
             action_args.setdefault("always_free", False)
             action_args.setdefault("is_protocol", False)
+            action_args.setdefault("feedback_interval", 1.0)
             action_args.setdefault("description", "")
             action_args.setdefault("auto_prefix", False)
             action_args.setdefault("parent", False)

unilabos/registry/decorators.py

@@ -343,6 +343,7 @@ def action(
     auto_prefix: bool = False,
     parent: bool = False,
     node_type: Optional["NodeType"] = None,
+    feedback_interval: Optional[float] = None,
 ):
     """
     动作方法装饰器
@@ -378,9 +379,16 @@ def action(
     """
 
     def decorator(func: F) -> F:
-        @wraps(func)
-        def wrapper(*args, **kwargs):
-            return func(*args, **kwargs)
+        import asyncio as _asyncio
+
+        if _asyncio.iscoroutinefunction(func):
+            @wraps(func)
+            async def wrapper(*args, **kwargs):
+                return await func(*args, **kwargs)
+        else:
+            @wraps(func)
+            def wrapper(*args, **kwargs):
+                return func(*args, **kwargs)
 
         # action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
         resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
@@ -399,6 +407,8 @@ def action(
             "auto_prefix": auto_prefix,
             "parent": parent,
         }
+        if feedback_interval is not None:
+            meta["feedback_interval"] = feedback_interval
         if node_type is not None:
             meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
         wrapper._action_registry_meta = meta  # type: ignore[attr-defined]

unilabos/registry/devices/hotel.yaml

@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
       type: object
   model:
     mesh: thermo_orbitor_rs2_hotel
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/devices/robot_arm.yaml

@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
       type: object
   model:
     mesh: arm_slider
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
     type: device
   version: 1.0.0
 robotic_arm.UR:

unilabos/registry/devices/virtual_device.yaml

@@ -3960,6 +3960,14 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
+  - data_key: top_outlet
+    data_source: executor
+    data_type: fluid
+    description: 上相（轻相）液体输出口
+    handler_key: topphaseout
+    io_type: source
+    label: top_phase_out
+    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical

unilabos/registry/registry.py

@@ -238,6 +238,7 @@ class Registry:
                             "class_name": "unilabos_class",
                         },
                         "always_free": True,
+                        "feedback_interval": 300.0,
                     },
                     "test_latency": test_latency_action,
                     "auto-test_resource": test_resource_action,
@@ -829,8 +830,9 @@ class Registry:
             raw_handles = (action_args or {}).get("handles")
             handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
 
-            # placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
-            pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
+            # placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
+            pk = detect_placeholder_keys(params)
+            pk.update((action_args or {}).get("placeholder_keys") or {})
 
             # 从方法返回值类型生成 result schema
             result_schema = None
@@ -852,6 +854,8 @@ class Registry:
             }
             if (action_args or {}).get("always_free") or method_info.get("always_free"):
                 entry["always_free"] = True
+            _fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            entry["feedback_interval"] = _fb_iv
             nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
             if nt:
                 entry["node_type"] = nt
@@ -975,10 +979,12 @@ class Registry:
                 "schema": schema,
                 "goal_default": goal_default,
                 "handles": handles,
-                "placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
+                "placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
             }
             if action_args.get("always_free") or method_info.get("always_free"):
                 action_entry["always_free"] = True
+            _fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
+            action_entry["feedback_interval"] = _fb_iv
             nt = normalize_enum_value(action_args.get("node_type"), NodeType)
             if nt:
                 action_entry["node_type"] = nt

unilabos/registry/resources/common/resource_container.yaml

@@ -17,7 +17,7 @@ hplc_plate:
     - 0
     - 0
     - 3.1416
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     type: resource
   version: 1.0.0
 plate_96:
@@ -39,7 +39,7 @@ plate_96:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
     type: resource
   version: 1.0.0
 plate_96_high:
@@ -61,7 +61,7 @@ plate_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_96_high:
@@ -76,7 +76,7 @@ tiprack_96_high:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -92,7 +92,7 @@ tiprack_96_high:
     - 1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     type: resource
   version: 1.0.0
 tiprack_box:
@@ -107,7 +107,7 @@ tiprack_box:
   init_param_schema: {}
   model:
     children_mesh: tip/meshes/tip.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
     children_mesh_tf:
     - 0.0045
     - 0.0045
@@ -123,6 +123,6 @@ tiprack_box:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/container.yaml

@@ -11,7 +11,7 @@ bottle_container:
   init_param_schema: {}
   model:
     children_mesh: bottle/meshes/bottle.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
     children_mesh_tf:
     - 0.04
     - 0.04
@@ -27,7 +27,7 @@ bottle_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
     type: resource
   version: 1.0.0
 tube_container:
@@ -43,7 +43,7 @@ tube_container:
   init_param_schema: {}
   model:
     children_mesh: tube/meshes/tube.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
     children_mesh_tf:
     - 0.017
     - 0.017
@@ -59,6 +59,6 @@ tube_container:
     - 0
     - 0
     - 0
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
     type: resource
   version: 1.0.0

unilabos/registry/resources/laiyu/deck.yaml

@@ -10,6 +10,6 @@ TransformXYZDeck:
   init_param_schema: {}
   model:
     mesh: liquid_transform_xyz
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -10,7 +10,7 @@ OTDeck:
   init_param_schema: {}
   model:
     mesh: opentrons_liquid_handler
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
     type: device
   version: 1.0.0
 hplc_station:
@@ -25,6 +25,6 @@ hplc_station:
   init_param_schema: {}
   model:
     mesh: hplc_station
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
     type: device
   version: 1.0.0

unilabos/registry/resources/opentrons/plates.yaml

@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
-    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
+    children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 nest_96_wellplate_200ul_flat:
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 thermoscientificnunc_96_wellplate_1300ul:

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
     - -1.5708
     - 0
     - 1.5708
-    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
+    path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
     type: resource
   version: 1.0.0
 opentrons_96_filtertiprack_10ul:

unilabos/resources/graphio.py

@@ -1034,7 +1034,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                     logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
 
                     # 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
-                    # tracker.liquids 格式: [(物料名称, 数量), ...]
+                    # tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
                     material_name = bottle_type_info[0]  # 默认使用类型名称（如"样品瓶"）
                     if hasattr(bottle, "tracker") and bottle.tracker.liquids:
                         # 如果有液体，使用液体的名称
@@ -1052,7 +1052,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                         "typeId": bottle_type_info[1],
                         "code": bottle.code if hasattr(bottle, "code") else "",
                         "name": material_name,  # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
-                        "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                        "quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                         "x": bioyond_x,
                         "y": bioyond_y,
                         "z": 1,
@@ -1125,7 +1125,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
                 "barCode": "",
                 "name": material_name,  # 使用物料名称而不是资源名称
                 "unit": default_unit,  # 使用配置的单位或默认单位
-                "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
+                "quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
                 "Parameters": parameters_json  # API 实际要求的字段（必需）
             }
 

unilabos/ros/main_slave_run.py

@@ -1,4 +1,5 @@
 import json
+import os
 
 # from nt import device_encoding
 import threading
@@ -61,7 +62,7 @@ def main(
         rclpy.init(args=rclpy_init_args)
     else:
         logger.info("[ROS] rclpy already initialized, reusing context")
-    executor = rclpy.__executor = MultiThreadedExecutor()
+    executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
     # 创建主机节点
     host_node = HostNode(
         "host_node",
@@ -122,7 +123,7 @@ def slave(
         rclpy.init(args=rclpy_init_args)
     executor = rclpy.__executor
     if not executor:
-        executor = rclpy.__executor = MultiThreadedExecutor()
+        executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
 
     # 1.5 启动 executor 线程
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")

unilabos/ros/nodes/base_device_node.py

@@ -4,6 +4,8 @@ import json
 import threading
 import time
 import traceback
+
+from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
 from typing import (
     get_type_hints,
     TypeVar,
@@ -78,6 +80,67 @@ if TYPE_CHECKING:
 T = TypeVar("T")
 
 
+class RclpyAsyncMutex:
+    """rclpy executor 兼容的异步互斥锁
+
+    通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
+    """
+
+    def __init__(self, name: str = ""):
+        self._lock = threading.Lock()
+        self._acquired = False
+        self._queue: List[Future] = []
+        self._name = name
+        self._holder: Optional[str] = None
+
+    async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
+        """获取锁。如果已被占用，则异步等待直到锁释放。"""
+        # t0 = time.time()
+        with self._lock:
+            # qlen = len(self._queue)
+            if not self._acquired:
+                self._acquired = True
+                self._holder = tag
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
+                # )
+                return
+            waiter = Future()
+            self._queue.append(waiter)
+            # node.lab_logger().info(
+            #     f"[Mutex:{self._name}] 等待锁 tag={tag} "
+            #     f"(holder={self._holder}, queue={qlen + 1})"
+            # )
+        await waiter
+        # wait_ms = (time.time() - t0) * 1000
+        self._holder = tag
+        # node.lab_logger().info(
+        #     f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
+        # )
+
+    def release(self, node: "BaseROS2DeviceNode"):
+        """释放锁，通过 executor task 唤醒下一个等待者。"""
+        with self._lock:
+            # old_holder = self._holder
+            if self._queue:
+                next_waiter = self._queue.pop(0)
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
+                # )
+
+                async def _wake():
+                    if not next_waiter.done():
+                        next_waiter.set_result(None)
+
+                rclpy.get_global_executor().create_task(_wake())
+            else:
+                self._acquired = False
+                self._holder = None
+                # node.lab_logger().debug(
+                #     f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
+                # )
+
+
 # 在线设备注册表
 registered_devices: Dict[str, "DeviceInfoType"] = {}
 
@@ -355,6 +418,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
         )
 
+        self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
+
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
             "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
@@ -378,15 +443,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             return res
 
         async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
+            _cmd = _fast_loads(req.command)
+            _res_name = _cmd.get("resource", [{}])
+            _res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
+                         else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
+            _ar_tag = f"{_res_name}"
+            # _t_enter = time.time()
+            # self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
+            await self._append_resource_lock.acquire(self, tag=_ar_tag)
+            # _t_locked = time.time()
+            try:
+                return await _append_resource_inner(req, res, _ar_tag)
+                # _t_done = time.time()
+                # self.lab_logger().info(
+                #     f"[AR:{_ar_tag}] 完成 "
+                #     f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
+                #     f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
+                #     f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
+                # )
+            except Exception as _ex:
+                self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
+                raise
+            finally:
+                self._append_resource_lock.release(self)
+
+        async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate
 
-            # 物料传输到对应的node节点
+            # _t0 = time.time()
             client = self._resource_clients["c2s_update_resource_tree"]
             request = SerialCommand.Request()
             request2 = SerialCommand.Request()
-            command_json = json.loads(req.command)
+            command_json = _fast_loads(req.command)
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
             edge_device_id = command_json["edge_device_id"]
@@ -439,7 +529,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
                         )
             # noinspection PyUnresolvedReferences
-            request.command = json.dumps(
+            # _t1 = time.time()
+            # self.lab_logger().debug(
+            #     f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
+            # )
+            request.command = _fast_dumps_str(
                 {
                     "action": "add",
                     "data": {
@@ -450,7 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 }
             )
             tree_response: SerialCommand.Response = await client.call_async(request)
-            uuid_maps = json.loads(tree_response.response)
+            # _t2 = time.time()
+            # self.lab_logger().debug(
+            #     f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
+            # )
+            uuid_maps = _fast_loads(tree_response.response)
             plr_instances = rts.to_plr_resources()
             for plr_instance in plr_instances:
                 self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
@@ -486,18 +584,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 if len(rts.root_nodes) == 1 and parent_resource is not None:
                     plr_instance = plr_instances[0]
                     if isinstance(plr_instance, Plate):
-                        empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
                         if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
                             ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
                             LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
                             self.lab_logger().warning(
                                 f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
                             )
-                        for liquid_type, liquid_volume, liquid_input_slot in zip(
-                            ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
-                        ):
-                            empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
-                        plr_instance.set_well_liquids(empty_liquid_info_in)
                         try:
                             # noinspection PyProtectedMember
                             keys = list(plr_instance._ordering.keys())
@@ -511,6 +603,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             input_wells = []
                             for r in LIQUID_INPUT_SLOT:
                                 input_wells.append(plr_instance.children[r])
+                        for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
+                            input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
+                        ):
+                            input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
                         final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
                             input_wells
                         ).dump()
@@ -529,12 +625,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             Coordinate(location["x"], location["y"], location["z"]),
                             **other_calling_param,
                         )
-                    # 调整了液体以及Deck之后要重新Assign
                     # noinspection PyUnresolvedReferences
+                    # _t3 = time.time()
                     rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
+                    # _n_parent = len(rts_with_parent.all_nodes)
                     if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
                         rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
-                    request.command = json.dumps(
+                    request.command = _fast_dumps_str(
                         {
                             "action": "add",
                             "data": {
@@ -544,11 +641,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             },
                         }
                     )
+                    # _t4 = time.time()
+                    # self.lab_logger().debug(
+                    #     f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
+                    # )
                     tree_response: SerialCommand.Response = await client.call_async(request)
-                    uuid_maps = json.loads(tree_response.response)
+                    # _t5 = time.time()
+                    uuid_maps = _fast_loads(tree_response.response)
                     self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
-                    self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
-                    # 这里created_resources不包含parent_resource
+                    # self._lab_logger.info(
+                    #     f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
+                    #     f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
+                    # )
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
                     self,
@@ -685,7 +789,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
         # 发送请求并等待响应
         response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
+        if not response.response:
+            raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
         raw_data = json.loads(response.response)
+        if not raw_data:
+            raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1134,7 +1242,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if uid is None:
                 raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
             target_uids.append(uid)
-        srv_address = f"/srv{target_device_id}/s2c_resource_tree"
+        _ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
+        srv_address = f"/srv{_ns}/s2c_resource_tree"
         sclient = self.create_client(SerialCommand, srv_address)
         # 等待服务可用（设置超时）
         if not sclient.wait_for_service(timeout_sec=5.0):
@@ -1184,7 +1293,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     return False
                 time.sleep(0.05)
             self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
-        return None
+        return "转运完成"
 
     def register_device(self):
         """向注册表中注册设备信息"""
@@ -1256,9 +1365,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         return self._lab_logger
 
     def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
-        """创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
-        # 检测 @topic_config 装饰器配置
-        topic_config = {}
+        """创建ROS发布者。已在 status_types 中声明的属性直接创建；@topic_config 用于覆盖默认参数。"""
+        topic_cfg = {}
         driver_class = type(self.driver_instance)
 
         # 区分 @property 和普通方法两种情况
@@ -1267,23 +1375,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
 
         if is_prop:
-            # @property: 检测 fget 上的 @topic_config
             class_attr = getattr(driver_class, attr_name)
             if class_attr.fget is not None:
-                topic_config = get_topic_config(class_attr.fget)
+                topic_cfg = get_topic_config(class_attr.fget)
         else:
-            # 普通方法: 直接检测 attr_name 方法上的 @topic_config
             if hasattr(self.driver_instance, attr_name):
                 method = getattr(self.driver_instance, attr_name)
                 if callable(method):
-                    topic_config = get_topic_config(method)
-
-        # 没有 @topic_config 装饰器则跳过发布
-        if not topic_config:
-            return
+                    topic_cfg = get_topic_config(method)
 
         # 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
-        cfg_name = topic_config.get("name")
+        cfg_name = topic_cfg.get("name")
         if cfg_name:
             publish_name = cfg_name
         elif attr_name.startswith("get_"):
@@ -1291,10 +1393,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         else:
             publish_name = attr_name
 
-        # 使用装饰器配置或默认值
-        cfg_period = topic_config.get("period")
-        cfg_print = topic_config.get("print_publish")
-        cfg_qos = topic_config.get("qos")
+        # @topic_config 参数覆盖默认值
+        cfg_period = topic_cfg.get("period")
+        cfg_print = topic_cfg.get("print_publish")
+        cfg_qos = topic_cfg.get("qos")
         period: float = cfg_period if cfg_period is not None else initial_period
         print_publish: bool = cfg_print if cfg_print is not None else self._print_publish
         qos: int = cfg_qos if cfg_qos is not None else 10
@@ -1576,37 +1678,75 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
             result_msg_types = action_type.Result.get_fields_and_field_types()
 
-            while future is not None and not future.done():
-                if goal_handle.is_cancel_requested:
-                    self.lab_logger().info(f"取消动作: {action_name}")
-                    future.cancel()  # 尝试取消线程池中的任务
-                    goal_handle.canceled()
-                    return action_type.Result()
+            # 低频 feedback timer（10s），不阻塞完成检测
+            _feedback_timer = None
 
-                self._time_spent = time.time() - time_start
-                self._time_remaining = time_overall - self._time_spent
+            def _publish_feedback():
+                if future is not None and not future.done():
+                    self._time_spent = time.time() - time_start
+                    self._time_remaining = time_overall - self._time_spent
+                    feedback_values = {}
+                    for msg_name, attr_name in action_value_mapping["feedback"].items():
+                        if hasattr(self.driver_instance, f"get_{attr_name}"):
+                            method = getattr(self.driver_instance, f"get_{attr_name}")
+                            if not asyncio.iscoroutinefunction(method):
+                                feedback_values[msg_name] = method()
+                        elif hasattr(self.driver_instance, attr_name):
+                            feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
+                    if self._print_publish:
+                        self.lab_logger().info(f"反馈: {feedback_values}")
+                    feedback_msg = convert_to_ros_msg_with_mapping(
+                        ros_msg_type=action_type.Feedback(),
+                        obj=feedback_values,
+                        value_mapping=action_value_mapping["feedback"],
+                    )
+                    goal_handle.publish_feedback(feedback_msg)
 
-                # 发布反馈
-                feedback_values = {}
-                for msg_name, attr_name in action_value_mapping["feedback"].items():
-                    if hasattr(self.driver_instance, f"get_{attr_name}"):
-                        method = getattr(self.driver_instance, f"get_{attr_name}")
-                        if not asyncio.iscoroutinefunction(method):
-                            feedback_values[msg_name] = method()
-                    elif hasattr(self.driver_instance, attr_name):
-                        feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
-
-                if self._print_publish:
-                    self.lab_logger().info(f"反馈: {feedback_values}")
-
-                feedback_msg = convert_to_ros_msg_with_mapping(
-                    ros_msg_type=action_type.Feedback(),
-                    obj=feedback_values,
-                    value_mapping=action_value_mapping["feedback"],
+            if action_value_mapping.get("feedback"):
+                _fb_interval = action_value_mapping.get("feedback_interval", 0.5)
+                _feedback_timer = self.create_timer(
+                    _fb_interval, _publish_feedback, callback_group=self.callback_group
                 )
 
-                goal_handle.publish_feedback(feedback_msg)
-                time.sleep(0.5)
+            # 等待 action 完成
+            if future is not None:
+                if isinstance(future, Task):
+                    # rclpy Task：直接 await，完成瞬间唤醒
+                    try:
+                        _raw_result = await future
+                    except Exception as e:
+                        _raw_result = e
+                else:
+                    # concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
+                    _poll_future = Future()
+
+                    def _on_sync_done(fut):
+                        if not _poll_future.done():
+                            _poll_future.set_result(None)
+
+                    future.add_done_callback(_on_sync_done)
+                    await _poll_future
+                    try:
+                        _raw_result = future.result()
+                    except Exception as e:
+                        _raw_result = e
+
+                # 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
+                if isinstance(_raw_result, BaseException):
+                    if not execution_error:
+                        execution_error = traceback.format_exception(
+                            type(_raw_result), _raw_result, _raw_result.__traceback__
+                        )
+                        execution_error = "".join(execution_error)
+                    execution_success = False
+                    action_return_value = _raw_result
+                elif not execution_error:
+                    execution_success = True
+                    action_return_value = _raw_result
+
+            # 清理 feedback timer
+            if _feedback_timer is not None:
+                _feedback_timer.cancel()
 
             if future is not None and future.cancelled():
                 self.lab_logger().info(f"动作 {action_name} 已取消")
@@ -1615,8 +1755,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # self.lab_logger().info(f"动作执行完成: {action_name}")
             del future
 
+            # 执行失败时跳过物料状态更新
+            if execution_error:
+                execution_success = False
+
             # 向Host更新物料当前状态
-            if action_name not in ["create_resource_detailed", "create_resource"]:
+            if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
@@ -1672,7 +1816,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             for attr_name in result_msg_types.keys():
                 if attr_name in ["success", "reached_goal"]:
-                    setattr(result_msg, attr_name, True)
+                    setattr(result_msg, attr_name, execution_success)
                 elif attr_name == "return_info":
                     setattr(
                         result_msg,
@@ -1778,7 +1922,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise ValueError("至少需要提供一个 UUID")
 
         uuids_list = list(uuids)
-        future = self._resource_clients["c2s_update_resource_tree"].call_async(
+        future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
             SerialCommand.Request(
                 command=json.dumps(
                     {
@@ -1804,6 +1948,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             raise Exception(f"资源查询返回空结果: {uuids_list}")
 
         raw_data = json.loads(response.response)
+        if not raw_data:
+            raise Exception(f"资源原始查询返回空结果: {raw_data}")
 
         # 转换为 PLR 资源
         tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1825,10 +1971,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         mapped_plr_resources = []
         for uuid in uuids_list:
+            found = None
             for plr_resource in figured_resources:
                 r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
-                mapped_plr_resources.append(r)
-                break
+                if r is not None:
+                    found = r
+                    break
+            if found is None:
+                raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
+            mapped_plr_resources.append(found)
 
         return mapped_plr_resources
 
@@ -1921,16 +2072,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
             )
 
-    async def _convert_resource_async(self, resource_data: Dict[str, Any]):
-        """异步转换资源数据为实例"""
-        # 使用封装的get_resource_with_dir方法获取PLR资源
-        plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
+    async def _convert_resource_async(self, resource_data: "ResourceDictType"):
+        """异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
+        unilabos_uuid = resource_data.get("uuid")
+
+        if unilabos_uuid:
+            resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
+            plr_resources = resource_tree.to_plr_resources()
+            if plr_resources:
+                plr_resource = plr_resources[0]
+            else:
+                raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
+        else:
+            res_id = resource_data.get("id") or resource_data.get("name", "")
+            if not res_id:
+                raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
+            plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
 
         # 通过资源跟踪器获取本地实例
         res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
         if len(res) == 0:
-            # todo: 后续通过decoration来区分，减少warning
-            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
+            self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
             return plr_resource
         elif len(res) == 1:
             return res[0]

unilabos/ros/nodes/presets/host_node.py

@@ -4,6 +4,8 @@ import threading
 import time
 import traceback
 import uuid
+
+from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
 
@@ -618,22 +620,17 @@ class HostNode(BaseROS2DeviceNode):
                 }
             )
         ]
-
         response: List[str] = await self.create_resource_detailed(
             resources, device_ids, bind_parent_id, bind_location, other_calling_param
         )
 
-        try:
-            assert len(response) == 1, "Create Resource应当只返回一个结果"
-            for i in response:
-                res = json.loads(i)
-                if "suc" in res:
-                    raise ValueError(res.get("error"))
-                return res
-        except Exception as ex:
-            pass
-        _n = "\n"
-        raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
+        assert len(response) == 1, "Create Resource应当只返回一个结果"
+        for i in response:
+            res = json.loads(i)
+            if "suc" in res and not res["suc"]:
+                raise ValueError(res.get("error", "未知错误"))
+            return res
+        raise ValueError(f"创建资源时失败！响应为空")
 
     def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
         """
@@ -1168,7 +1165,7 @@ class HostNode(BaseROS2DeviceNode):
                 else:
                     physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
 
-        response.response = json.dumps(uuid_mapping) if success else "FAILED"
+        response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
         self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
 
     async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response):  # OK
@@ -1178,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
 
         resource_response = http_client.resource_tree_get(uuid_list, with_children)
         response.response = json.dumps(resource_response)
+        self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
 
     async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
         """
@@ -1230,9 +1228,26 @@ class HostNode(BaseROS2DeviceNode):
         """
         try:
             # 解析请求数据
-            data = json.loads(request.command)
+            data = _fast_loads(request.command)
             action = data["action"]
-            self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
+            inner = data.get("data", {})
+            if action == "add":
+                mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"mount={mount_uuid}.. nodes≈{node_count}"
+            elif action in ("get", "remove"):
+                uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
+                source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
+            elif action == "update":
+                tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
+                node_count = len(tree_data) if isinstance(tree_data, list) else "?"
+                source = f"nodes≈{node_count}"
+            else:
+                source = ""
+            self.lab_logger().info(
+                f"[Host Node-Resource] Resource tree {action} request received ({source})"
+            )
             data = data["data"]
             if action == "add":
                 await self._resource_tree_action_add_callback(data, response)
@@ -1632,6 +1647,7 @@ class HostNode(BaseROS2DeviceNode):
     def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
         """
         timeout_seconds: 超时时间（秒），默认3600秒
+        修改的结果无效，是只读的
         """
         return kwargs
 

unilabos/test/experiments/virtual_bench.json

@@ -22,6 +22,447 @@
                 "arm_state": "idle",
                 "message": "工作台就绪"
             }
+        },
+        {
+            "id": "PRCXI",
+            "name": "PRCXI",
+            "type": "device",
+            "class": "liquid_handler.prcxi",
+            "parent": "",
+            "pose": {
+                "size": {
+                    "width": 562,
+                    "height": 394,
+                    "depth": 0
+                }
+            },
+            "config": {
+                "axis": "Left",
+                "deck": {
+                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    "_resource_child_name": "PRCXI_Deck"
+                },
+                "host": "10.20.30.184",
+                "port": 9999,
+                "debug": true,
+                "setup": true,
+                "is_9320": true,
+                "timeout": 10,
+                "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
+                "simulator": true,
+                "channel_num": 2
+            },
+            "data": {
+                "reset_ok": true
+            },
+            "schema": {},
+            "description": "",
+            "model": null,
+            "position": {
+                "x": 0,
+                "y": 240,
+                "z": 0
+            }
+        },
+        {
+            "id": "PRCXI_Deck",
+            "name": "PRCXI_Deck",
+            "children": [],
+            "parent": "PRCXI",
+            "type": "deck",
+            "class": "",
+            "position": {
+                "x": 10,
+                "y": 10,
+                "z": 0
+            },
+            "config": {
+                "type": "PRCXI9300Deck",
+                "size_x": 542,
+                "size_y": 374,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "deck",
+                "barcode": null,
+                "preferred_pickup_location": null,
+                "sites": [
+                    {
+                        "label": "T1",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "container",
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T2",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T3",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T4",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T5",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T6",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T7",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T8",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T9",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T10",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T11",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T12",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 192,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T13",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T14",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 138,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T15",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 276,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    },
+                    {
+                        "label": "T16",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 414,
+                            "y": 288,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor"
+                        ]
+                    }
+                ]
+            },
+            "data": {}
         }
     ],
     "links": []

unilabos/utils/environment_check.py

@@ -188,7 +188,13 @@ class EnvironmentChecker:
             "crcmod": "crcmod-plus",
         }
 
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
+        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
+        pylabrobot_url = (
+            "git+https://gitee.com/xuwznln/pylabrobot.git"
+            if _is_chinese_locale()
+            else "git+https://github.com/Xuwznln/pylabrobot.git"
+        )
+        self.special_packages = {"pylabrobot": pylabrobot_url}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",

unilabos/utils/tools.py

@@ -17,6 +17,14 @@ try:
             default=json_default,
         )
 
+    def fast_loads(data) -> dict:
+        """JSON 反序列化，优先使用 orjson。接受 str / bytes。"""
+        return orjson.loads(data)
+
+    def fast_dumps_str(obj, **kwargs) -> str:
+        """JSON 序列化为 str，优先使用 orjson。用于需要 str 而非 bytes 的场景（如 ROS msg）。"""
+        return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default).decode("utf-8")
+
     def normalize_json(info: dict) -> dict:
         """经 JSON 序列化/反序列化一轮来清理非标准类型。"""
         return orjson.loads(orjson.dumps(info, default=json_default))
@@ -29,6 +37,14 @@ except ImportError:
     def fast_dumps_pretty(obj, **kwargs) -> bytes:  # type: ignore[misc]
         return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
 
+    def fast_loads(data) -> dict:  # type: ignore[misc]
+        if isinstance(data, bytes):
+            data = data.decode("utf-8")
+        return json.loads(data)
+
+    def fast_dumps_str(obj, **kwargs) -> str:  # type: ignore[misc]
+        return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder)
+
     def normalize_json(info: dict) -> dict:  # type: ignore[misc]
         return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
 

unilabos/workflow/common.py

@@ -346,7 +346,7 @@ def refactor_data(
             "template_name": template_name,
             "resource_name": resource_name,
             "description": step.get("description", step.get("purpose", f"{operation} operation")),
-            "lab_node_type": "Device",
+            "lab_node_type": "ILab",
             "param": step.get("parameters", step.get("action_args", {})),
             "footer": f"{template_name}-{resource_name}",
         }