初始化完成后上传更新deck

新增 tip_above_rack_length 参数并更新枪头尺寸

.cursor/skills/add-device/SKILL.md

@@ -0,0 +1,160 @@
+---
+name: add-device
+description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
+---
+
+# 添加新设备到 Uni-Lab-OS
+
+**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
+
+该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
+
+---
+
+## 装饰器参考
+
+### @device — 设备类装饰器
+
+```python
+from unilabos.registry.decorators import device
+
+# 单设备
+@device(
+    id="my_device.vendor",           # 注册表唯一标识（必填）
+    category=["temperature"],         # 分类标签列表（必填）
+    description="设备描述",            # 设备描述
+    display_name="显示名称",           # UI 显示名称（默认用 id）
+    icon="DeviceIcon.webp",           # 图标文件名
+    version="1.0.0",                  # 版本号
+    device_type="python",             # "python" 或 "ros2"
+    handles=[...],                    # 端口列表（InputHandle / OutputHandle）
+    model={...},                      # 3D 模型配置
+    hardware_interface=HardwareInterface(...),  # 硬件通信接口
+)
+
+# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
+@device(
+    ids=["pump.vendor.model_A", "pump.vendor.model_B"],
+    id_meta={
+        "pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
+        "pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
+    },
+    category=["pump_and_valve"],
+)
+```
+
+### @action — 动作方法装饰器
+
+```python
+from unilabos.registry.decorators import action
+
+@action                              # 无参：注册为 UniLabJsonCommand 动作
+@action()                            # 同上
+@action(description="执行操作")       # 带描述
+@action(
+    action_type=HeatChill,           # 指定 ROS Action 消息类型
+    goal={"temperature": "temp"},    # Goal 字段映射
+    feedback={},                     # Feedback 字段映射
+    result={},                       # Result 字段映射
+    handles=[...],                   # 动作级别端口
+    goal_default={"temp": 25.0},     # Goal 默认值
+    placeholder_keys={...},          # 参数占位符
+    always_free=True,                # 不受排队限制
+    auto_prefix=True,                # 强制使用 auto- 前缀
+    parent=True,                     # 从父类 MRO 获取参数签名
+)
+```
+
+**自动识别规则：**
+- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
+- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
+- `_` 开头的方法 → 不扫描
+- `@not_action` 标记的方法 → 排除
+
+### @topic_config — 状态属性配置
+
+```python
+from unilabos.registry.decorators import topic_config
+
+@property
+@topic_config(
+    period=5.0,            # 发布周期（秒），默认 5.0
+    print_publish=False,   # 是否打印发布日志
+    qos=10,                # QoS 深度，默认 10
+    name="custom_name",    # 自定义发布名称（默认用属性名）
+)
+def temperature(self) -> float:
+    return self.data.get("temperature", 0.0)
+```
+
+### 辅助装饰器
+
+```python
+from unilabos.registry.decorators import not_action, always_free
+
+@not_action          # 标记为非动作（post_init、辅助方法等）
+@always_free         # 标记为不受排队限制（查询类操作）
+```
+
+---
+
+## 设备模板
+
+```python
+import logging
+from typing import Any, Dict, Optional
+
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.registry.decorators import device, action, topic_config, not_action
+
+@device(id="my_device", category=["my_category"], description="设备描述")
+class MyDevice:
+    _ros_node: BaseROS2DeviceNode
+
+    def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
+        self.device_id = device_id or "my_device"
+        self.config = config or {}
+        self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
+        self.data: Dict[str, Any] = {"status": "Idle"}
+
+    @not_action
+    def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
+        self._ros_node = ros_node
+
+    @action
+    async def initialize(self) -> bool:
+        self.data["status"] = "Ready"
+        return True
+
+    @action
+    async def cleanup(self) -> bool:
+        self.data["status"] = "Offline"
+        return True
+
+    @action(description="执行操作")
+    def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
+        """带 @action 装饰器 → 注册为 'my_action' 动作"""
+        return {"success": True}
+
+    def get_info(self) -> Dict[str, Any]:
+        """无 @action → 自动注册为 'auto-get_info' 动作"""
+        return {"device_id": self.device_id}
+
+    @property
+    @topic_config()
+    def status(self) -> str:
+        return self.data.get("status", "Idle")
+
+    @property
+    @topic_config(period=2.0)
+    def temperature(self) -> float:
+        return self.data.get("temperature", 0.0)
+```
+
+### 要点
+
+- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
+- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
+- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
+- 运行时状态存储在 `self.data` 字典中
+- 设备文件放在 `unilabos/devices/<category>/` 目录下

.cursor/skills/add-resource/SKILL.md

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+---
+name: add-resource
+description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
+---
+
+# 添加新物料资源
+
+Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
+
+---
+
+## 资源类型
+
+| 类型 | 基类 | 用途 | 示例 |
+|------|------|------|------|
+| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
+| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
+| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
+| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
+
+**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
+
+WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
+
+---
+
+## @resource 装饰器
+
+```python
+from unilabos.registry.decorators import resource
+
+@resource(
+    id="my_resource_id",        # 注册表唯一标识（必填）
+    category=["bottles"],       # 分类标签列表（必填）
+    description="资源描述",
+    icon="",                    # 图标
+    version="1.0.0",
+    handles=[...],              # 端口列表（InputHandle / OutputHandle）
+    model={...},                # 3D 模型配置
+    class_type="pylabrobot",    # "python" / "pylabrobot" / "unilabos"
+)
+```
+
+---
+
+## 创建规范
+
+### 命名规则
+
+1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
+2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
+3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
+
+### 子物料命名示例
+
+```python
+# Carrier 内部的 sites 用 name 前缀
+for k, v in sites.items():
+    v.name = f"{name}_{v.name}"     # "堆栈1左_A01", "堆栈1左_B02" ...
+
+# Carrier 中放置 Bottle 时用 name 前缀
+carrier[0] = My_Reagent_Bottle(f"{name}_flask_1")    # "堆栈1左_flask_1"
+carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}")  # "堆栈1左_vial_A1"
+
+# create_homogeneous_resources 使用 name_prefix
+sites=create_homogeneous_resources(
+    klass=ResourceHolder,
+    locations=[...],
+    name_prefix=name,  # 自动生成 "{name}_0", "{name}_1" ...
+)
+
+# Deck setup 中用仓库名称作为 name 传入
+self.warehouses = {
+    "堆栈1左": my_warehouse_4x4("堆栈1左"),   # WareHouse.name = "堆栈1左"
+    "试剂堆栈": my_reagent_stack("试剂堆栈"),  # WareHouse.name = "试剂堆栈"
+}
+```
+
+### 其他规范
+
+- **max_volume 单位为 μL**：500mL = 500000
+- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
+- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
+- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
+- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
+- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
+- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
+
+---
+
+## 资源模板
+
+### Bottle
+
+```python
+from unilabos.registry.decorators import resource
+from unilabos.resources.itemized_carrier import Bottle
+
+
+@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
+def My_Reagent_Bottle(
+    name: str,
+    diameter: float = 70.0,
+    height: float = 120.0,
+    max_volume: float = 500000.0,
+    barcode: str = None,
+) -> Bottle:
+    return Bottle(
+        name=name,
+        diameter=diameter,
+        height=height,
+        max_volume=max_volume,
+        barcode=barcode,
+        model="My_Reagent_Bottle",
+    )
+```
+
+**Bottle 参数：**
+- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
+- `diameter`: 瓶体直径 (mm)
+- `height`: 瓶体高度 (mm)
+- `max_volume`: 最大容积（**μL**，500mL = 500000）
+- `barcode`: 条形码（可选）
+
+### BottleCarrier
+
+```python
+from pylabrobot.resources import ResourceHolder
+from pylabrobot.resources.carrier import create_ordered_items_2d
+from unilabos.resources.itemized_carrier import BottleCarrier
+from unilabos.registry.decorators import resource
+
+
+@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
+def My_6SlotCarrier(name: str) -> BottleCarrier:
+    sites = create_ordered_items_2d(
+        klass=ResourceHolder,
+        num_items_x=3, num_items_y=2,
+        dx=10.0, dy=10.0, dz=5.0,
+        item_dx=42.0, item_dy=35.0,
+        size_x=20.0, size_y=20.0, size_z=50.0,
+    )
+    # 子 site 用 name 作为前缀
+    for k, v in sites.items():
+        v.name = f"{name}_{v.name}"
+
+    carrier = BottleCarrier(
+        name=name, size_x=146.0, size_y=80.0, size_z=55.0,
+        sites=sites, model="My_6SlotCarrier",
+    )
+    carrier.num_items_x = 3
+    carrier.num_items_y = 2
+    carrier.num_items_z = 1
+
+    # 放置 Bottle 时用 name 作为前缀
+    ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
+    for i in range(6):
+        carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
+    return carrier
+```
+
+### WareHouse / Deck 放置位
+
+WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
+
+#### WareHouse（使用 warehouse_factory）
+
+```python
+from unilabos.resources.warehouse import warehouse_factory
+from unilabos.registry.decorators import resource
+
+
+@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
+def my_warehouse_4x4(name: str) -> "WareHouse":
+    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,             # 第一个 slot 的起始偏移
+        item_dx=147.0, item_dy=106.0, item_dz=130.0,  # slot 间距
+        resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0,  # slot 尺寸
+        model="my_warehouse_4x4",
+        col_offset=0,       # 列标签起始偏移（0 → A01, 4 → A05）
+        layout="row-major",  # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
+    )
+```
+
+`warehouse_factory` 参数说明：
+- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
+- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
+- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
+- `layout`：影响 slot 标签和坐标映射
+  - `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
+  - `"col-major"`：A01,B01,...,A02,B02,...（列优先）
+  - `"vertical-col-major"`：竖向排列，y 坐标反向
+
+#### Deck 组装 WareHouse
+
+Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
+
+```python
+from pylabrobot.resources import Deck, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
+class MyStation_Deck(Deck):
+    def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
+                 category="deck", setup=False, **kwargs) -> None:
+        super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
+        if setup:
+            self.setup()
+
+    def setup(self) -> None:
+        self.warehouses = {
+            "堆栈1左": my_warehouse_4x4("堆栈1左"),
+            "堆栈1右": my_warehouse_4x4("堆栈1右"),
+        }
+        self.warehouse_locations = {
+            "堆栈1左": Coordinate(-200.0, 400.0, 0.0),  # 自行测量计算
+            "堆栈1右": Coordinate(2350.0, 400.0, 0.0),
+        }
+        for wh_name, wh in self.warehouses.items():
+            self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
+```
+
+#### Site 模式（前端定向放置）
+
+适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
+
+```python
+import collections
+from typing import Any, Dict, List, Optional
+from pylabrobot.resources import Deck, Resource, Coordinate
+from unilabos.registry.decorators import resource
+
+
+@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
+class MyLabDeck(Deck):
+    # 根据设备台面实测批量计算各 slot 坐标偏移
+    _DEFAULT_SITE_POSITIONS = [
+        (0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0),       # T1-T4
+        (0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0),   # T5-T8
+    ]
+    _DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
+    _DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
+
+    def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
+                 sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
+        super().__init__(size_x, size_y, size_z, name)
+        if sites is not None:
+            self.sites = [dict(s) for s in sites]
+        else:
+            self.sites = []
+            for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
+                self.sites.append({
+                    "label": f"T{i + 1}",          # 前端显示的槽位标签
+                    "visible": True,                # 是否在前端可见
+                    "position": {"x": x, "y": y, "z": z},  # 槽位物理坐标
+                    "size": dict(self._DEFAULT_SITE_SIZE),  # 槽位尺寸
+                    "content_type": list(self._DEFAULT_CONTENT_TYPE),  # 允许放入的物料类型
+                })
+        self._ordering = collections.OrderedDict(
+            (site["label"], None) for site in self.sites
+        )
+
+    def assign_child_resource(self, resource: Resource,
+                              location: Optional[Coordinate] = None,
+                              reassign: bool = True,
+                              spot: Optional[int] = None):
+        idx = spot
+        if spot is None:
+            for i, site in enumerate(self.sites):
+                if site.get("label") == resource.name:
+                    idx = i
+                    break
+        if idx is None:
+            for i in range(len(self.sites)):
+                if self._get_site_resource(i) is None:
+                    idx = i
+                    break
+        if idx is None:
+            raise ValueError(f"No available site for '{resource.name}'")
+        loc = Coordinate(**self.sites[idx]["position"])
+        super().assign_child_resource(resource, location=loc, reassign=reassign)
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        sites_out = []
+        for i, site in enumerate(self.sites):
+            occupied = self._get_site_resource(i)
+            sites_out.append({
+                "label": site["label"],
+                "visible": site.get("visible", True),
+                "occupied_by": occupied.name if occupied else None,
+                "position": site["position"],
+                "size": site["size"],
+                "content_type": site["content_type"],
+            })
+        data["sites"] = sites_out
+        return data
+```
+
+**Site 字段说明：**
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
+| `visible` | bool | 是否在前端可见 |
+| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
+| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
+| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
+
+**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
+
+---
+
+## 文件位置
+
+```
+unilabos/resources/
+├── <project>/              # 按项目分组
+│   ├── bottles.py          # Bottle 工厂函数
+│   ├── bottle_carriers.py  # Carrier 工厂函数
+│   ├── warehouses.py       # WareHouse 工厂函数
+│   └── decks.py            # Deck 类定义
+```
+
+---
+
+## 验证
+
+```bash
+# 资源可导入
+python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
+
+---
+
+## 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
+| 装饰器定义 | `unilabos/registry/decorators.py` |

.cursor/skills/add-resource/reference.md

@@ -0,0 +1,292 @@
+# 资源高级参考
+
+本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 类继承体系
+
+```
+PyLabRobot
+├── Resource (PLR 基类)
+│   ├── Well
+│   │   └── Bottle (unilabos)        → 瓶/小瓶/烧杯/反应器
+│   ├── Deck
+│   │   └── 自定义 Deck 类 (unilabos) → 工作站台面
+│   ├── ResourceHolder               → 槽位占位符
+│   └── Container
+│       └── Battery (unilabos)       → 组装好的电池
+│
+├── ItemizedCarrier (unilabos, 继承 Resource)
+│   ├── BottleCarrier (unilabos)     → 瓶载架
+│   └── WareHouse (unilabos)         → 堆栈仓库
+│
+├── ItemizedResource (PLR)
+│   └── MagazineHolder (unilabos)    → 子弹夹载架
+│
+└── ResourceStack (PLR)
+    └── Magazine (unilabos)          → 子弹夹洞位
+```
+
+### Bottle 类细节
+
+```python
+class Bottle(Well):
+    def __init__(self, name, diameter, height, max_volume,
+                 size_x=0.0, size_y=0.0, size_z=0.0,
+                 barcode=None, category="container", model=None, **kwargs):
+        super().__init__(
+            name=name,
+            size_x=diameter,    # PLR 用 diameter 作为 size_x/size_y
+            size_y=diameter,
+            size_z=height,      # PLR 用 height 作为 size_z
+            max_volume=max_volume,
+            category=category,
+            model=model,
+            bottom_type="flat",
+            cross_section_type="circle"
+        )
+```
+
+注意 `size_x = size_y = diameter`，`size_z = height`。
+
+### ItemizedCarrier 核心方法
+
+| 方法 | 说明 |
+|------|------|
+| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
+| `__setitem__(identifier, resource)` | 向槽位放入资源 |
+| `get_child_identifier(child)` | 获取子资源的标识符 |
+| `capacity` | 总槽位数 |
+| `sites` | 所有槽位字典 |
+
+---
+
+## 2. 序列化与反序列化
+
+### PLR ↔ UniLab 转换
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
+| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
+
+### `from_plr_resources` 流程
+
+```
+PLR Resource
+    ↓ build_uuid_mapping (递归生成 UUID)
+    ↓ resource.serialize() → dict
+    ↓ resource.serialize_all_state() → states
+    ↓ resource_plr_inner (递归构建 ResourceDictInstance)
+ResourceTreeSet
+```
+
+关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
+
+### `to_plr_resources` 流程
+
+```
+ResourceTreeSet
+    ↓ collect_node_data (收集 UUID、状态、扩展数据)
+    ↓ node_to_plr_dict (转为 PLR 字典格式)
+    ↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
+    ↓ sub_cls.deserialize(plr_dict) (反序列化)
+    ↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
+PLR Resource
+```
+
+### Bottle 序列化
+
+```python
+class Bottle(Well):
+    def serialize(self) -> dict:
+        data = super().serialize()
+        return {**data, "diameter": self.diameter, "height": self.height}
+
+    @classmethod
+    def deserialize(cls, data: dict, allow_marshal=False):
+        barcode_data = data.pop("barcode", None)
+        instance = super().deserialize(data, allow_marshal=allow_marshal)
+        if barcode_data and isinstance(barcode_data, str):
+            instance.barcode = barcode_data
+        return instance
+```
+
+---
+
+## 3. Bioyond 物料同步
+
+### 双向转换函数
+
+| 函数 | 位置 | 方向 |
+|------|------|------|
+| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
+| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
+
+### `resource_bioyond_to_plr` 流程
+
+```
+Bioyond 物料列表
+    ↓ reverse_type_mapping: {typeName → (model, UUID)}
+    ↓ 对每个物料:
+       typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
+       initialize_resource({"name": unique_name, "class": model})
+    ↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
+    ↓ 处理 detail (子物料/坐标)
+    ↓ 按 locationName 放入 deck.warehouses 对应槽位
+PLR 资源列表
+```
+
+### `resource_plr_to_bioyond` 流程
+
+```
+PLR 资源列表
+    ↓ 遍历每个资源:
+       载架(capacity > 1): 生成 details 子物料 + 坐标
+       单瓶: 直接映射
+    ↓ type_mapping 查找 typeId
+    ↓ warehouse_mapping 查找位置 UUID
+    ↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
+Bioyond 物料列表
+```
+
+### BioyondResourceSynchronizer
+
+工作站通过 `ResourceSynchronizer` 自动同步物料：
+
+```python
+class BioyondResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        all_data = []
+        all_data.extend(api_client.stock_material('{"typeMode": 0}'))  # 耗材
+        all_data.extend(api_client.stock_material('{"typeMode": 1}'))  # 样品
+        all_data.extend(api_client.stock_material('{"typeMode": 2}'))  # 试剂
+        unilab_resources = resource_bioyond_to_plr(
+            all_data,
+            type_mapping=self.workstation.bioyond_config["material_type_mappings"],
+            deck=self.workstation.deck
+        )
+        # 更新 deck 上的资源
+```
+
+---
+
+## 4. 非瓶类资源
+
+### ElectrodeSheet（极片）
+
+路径：`unilabos/resources/battery/electrode_sheet.py`
+
+```python
+class ElectrodeSheet(ResourcePLR):
+    """片状材料（极片、隔膜、弹片、垫片等）"""
+    _unilabos_state = {
+        "diameter": 0.0,
+        "thickness": 0.0,
+        "mass": 0.0,
+        "material_type": "",
+        "color": "",
+        "info": "",
+    }
+```
+
+工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
+
+### Battery（电池）
+
+```python
+class Battery(Container):
+    """组装好的电池"""
+    _unilabos_state = {
+        "color": "",
+        "electrolyte_name": "",
+        "open_circuit_voltage": 0.0,
+    }
+```
+
+### Magazine / MagazineHolder（子弹夹）
+
+```python
+class Magazine(ResourceStack):
+    """子弹夹洞位，可堆叠 ElectrodeSheet"""
+    # direction, max_sheets
+
+class MagazineHolder(ItemizedResource):
+    """多洞位子弹夹"""
+    # hole_diameter, hole_depth, max_sheets_per_hole
+```
+
+工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
+
+---
+
+## 5. 仓库工厂模式参考
+
+### 实际 warehouse 工厂函数示例
+
+```python
+# 行优先 4x4 仓库
+def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
+    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,
+        layout="row-major",  # A01,A02,A03,A04, B01,...
+    )
+
+# 右侧 4x4 仓库（列名偏移）
+def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
+    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,
+        col_offset=4,      # A05,A06,A07,A08
+        layout="row-major",
+    )
+
+# 竖向仓库（站内试剂存放）
+def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=1, num_items_y=2, 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,
+        layout="vertical-col-major",
+    )
+
+# 行偏移（F 行开始）
+def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
+    return warehouse_factory(
+        name=name,
+        num_items_x=3, num_items_y=5, num_items_z=1,
+        dx=10.0, dy=10.0, dz=10.0,
+        item_dx=159.0, item_dy=183.0, item_dz=130.0,
+        row_offset=row_offset,  # 0→A行起，5→F行起
+        layout="row-major",
+    )
+```
+
+### layout 类型说明
+
+| layout | 命名顺序 | 适用场景 |
+|--------|---------|---------|
+| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
+| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
+| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
+
+---
+
+## 6. 关键路径
+
+| 内容 | 路径 |
+|------|------|
+| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
+| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
+| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
+| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
+| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
+| 电池资源 | `unilabos/resources/battery/` |
+| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |

.cursor/skills/add-workstation/SKILL.md

@@ -0,0 +1,626 @@
+---
+name: add-workstation
+description: Guide for adding new workstations to Uni-Lab-OS (接入新工作站). Uses @device decorator + AST auto-scanning. Walks through workstation type, sub-device composition, driver creation, deck setup, and graph file. Use when the user wants to add a workstation, create a workstation driver, configure a station with sub-devices, or mentions 工作站/工站/station/workstation.
+---
+
+# Uni-Lab-OS 工作站接入指南
+
+工作站（workstation）是组合多个子设备的大型设备，拥有独立的物料管理系统和工作流引擎。使用 `@device` 装饰器注册，AST 自动扫描生成注册表。
+
+---
+
+## 工作站类型
+
+| 类型                | 基类              | 适用场景                           |
+| ------------------- | ----------------- | ---------------------------------- |
+| **Protocol 工作站** | `ProtocolNode`    | 标准化学操作协议（泵转移、过滤等） |
+| **外部系统工作站**  | `WorkstationBase` | 与外部 LIMS/MES 对接               |
+| **硬件控制工作站**  | `WorkstationBase` | 直接控制 PLC/硬件                  |
+
+---
+
+## @device 装饰器（工作站）
+
+工作站也使用 `@device` 装饰器注册，参数与普通设备一致：
+
+```python
+@device(
+    id="my_workstation",           # 注册表唯一标识（必填）
+    category=["workstation"],      # 分类标签
+    description="我的工作站",
+)
+```
+
+如果一个工作站类支持多个具体变体，可使用 `ids` / `id_meta`，与设备的用法相同（参见 add-device SKILL）。
+
+---
+
+## 工作站驱动模板
+
+### 模板 A：基于外部系统的工作站
+
+```python
+import logging
+from typing import Dict, Any, Optional
+from pylabrobot.resources import Deck
+
+from unilabos.registry.decorators import device, topic_config, not_action
+from unilabos.devices.workstation.workstation_base import WorkstationBase
+
+try:
+    from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
+except ImportError:
+    ROS2WorkstationNode = None
+
+
+@device(id="my_workstation", category=["workstation"], description="我的工作站")
+class MyWorkstation(WorkstationBase):
+    _ros_node: "ROS2WorkstationNode"
+
+    def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        self.logger = logging.getLogger("MyWorkstation")
+        self.api_host = self.config.get("api_host", "")
+        self._status = "Idle"
+
+    @not_action
+    def post_init(self, ros_node: "ROS2WorkstationNode"):
+        super().post_init(ros_node)
+        self._ros_node = ros_node
+
+    async def scheduler_start(self, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    async def create_order(self, json_str: str, **kwargs) -> Dict[str, Any]:
+        """注册为工作站动作"""
+        return {"success": True}
+
+    @property
+    @topic_config()
+    def workflow_sequence(self) -> str:
+        return "[]"
+
+    @property
+    @topic_config()
+    def material_info(self) -> str:
+        return "{}"
+```
+
+### 模板 B：Protocol 工作站
+
+直接使用 `ProtocolNode`，通常不需要自定义驱动类：
+
+```python
+from unilabos.devices.workstation.workstation_base import ProtocolNode
+```
+
+在图文件中配置 `protocol_type` 即可。
+
+---
+
+## 子设备访问（sub_devices）
+
+工站初始化子设备后，所有子设备实例存储在 `self._ros_node.sub_devices` 字典中（key 为设备 id，value 为 `ROS2DeviceNode` 实例）。工站的驱动类可以直接获取子设备实例来调用其方法：
+
+```python
+# 在工站驱动类的方法中访问子设备
+sub = self._ros_node.sub_devices["pump_1"]
+
+# .driver_instance — 子设备的驱动实例（即设备 Python 类的实例）
+sub.driver_instance.some_method(arg1, arg2)
+
+# .ros_node_instance — 子设备的 ROS2 节点实例
+sub.ros_node_instance._action_value_mappings  # 查看子设备支持的 action
+```
+
+**常见用法**：
+
+```python
+class MyWorkstation(WorkstationBase):
+    def my_protocol(self, **kwargs):
+        # 获取子设备驱动实例
+        pump = self._ros_node.sub_devices["pump_1"].driver_instance
+        heater = self._ros_node.sub_devices["heater_1"].driver_instance
+
+        # 直接调用子设备方法
+        pump.aspirate(volume=100)
+        heater.set_temperature(80)
+```
+
+> 参考实现：`unilabos/devices/workstation/bioyond_studio/reaction_station/reaction_station.py` 中通过 `self._ros_node.sub_devices.get(reactor_id)` 获取子反应器实例并更新数据。
+
+---
+
+## 硬件通信接口（hardware_interface）
+
+硬件控制型工作站通常需要通过串口（Serial）、Modbus 等通信协议控制多个子设备。Uni-Lab-OS 通过 **通信设备代理** 机制实现端口共享：一个串口只创建一个 `serial` 节点，多个子设备共享这个通信实例。
+
+### 工作原理
+
+`ROS2WorkstationNode` 初始化时分两轮遍历子设备（`workstation.py`）：
+
+**第一轮 — 初始化所有子设备**：按 `children` 顺序调用 `initialize_device()`，通信设备（`serial_` / `io_` 开头的 id）优先完成初始化，创建 `serial.Serial()` 实例。其他子设备此时 `self.hardware_interface = "serial_pump"`（字符串）。
+
+**第二轮 — 代理替换**：遍历所有已初始化的子设备，读取子设备的 `_hardware_interface` 配置：
+
+```
+hardware_interface = d.ros_node_instance._hardware_interface
+# → {"name": "hardware_interface", "read": "send_command", "write": "send_command"}
+```
+
+1. 取 `name` 字段对应的属性值：`name_value = getattr(driver, hardware_interface["name"])`
+   - 如果 `name_value` 是字符串且该字符串是某个子设备的 id → 触发代理替换
+2. 从通信设备获取真正的 `read`/`write` 方法
+3. 用 `setattr(driver, read_method, _read)` 将通信设备的方法绑定到子设备上
+
+因此：
+
+- **通信设备 id 必须与子设备 config 中填的字符串完全一致**（如 `"serial_pump"`）
+- **通信设备 id 必须以 `serial_` 或 `io_` 开头**（否则第一轮不会被识别为通信设备）
+- **通信设备必须在 `children` 列表中排在最前面**，确保先初始化
+
+### HardwareInterface 参数说明
+
+```python
+from unilabos.registry.decorators import HardwareInterface
+
+HardwareInterface(
+    name="hardware_interface",   # __init__ 中接收通信实例的属性名
+    read="send_command",         # 通信设备上暴露的读方法名
+    write="send_command",        # 通信设备上暴露的写方法名
+    extra_info=["list_ports"],   # 可选：额外暴露的方法
+)
+```
+
+**`name` 字段的含义**：对应设备类 `__init__` 中，用于保存通信实例的**属性名**。系统据此知道要替换哪个属性。大部分设备直接用 `"hardware_interface"`，也可以自定义（如 `"io_device_port"`）。
+
+### 示例 1：泵（name="hardware_interface"）
+
+```python
+from unilabos.registry.decorators import device, HardwareInterface
+
+@device(
+    id="my_pump",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="hardware_interface",
+        read="send_command",
+        write="send_command",
+    ),
+)
+class MyPump:
+    def __init__(self, port=None, address="1", **kwargs):
+        # name="hardware_interface" → 系统替换 self.hardware_interface
+        self.hardware_interface = port  # 初始为字符串 "serial_pump"，启动后被替换为 Serial 实例
+        self.address = address
+
+    def send_command(self, command: str):
+        full_command = f"/{self.address}{command}\r\n"
+        self.hardware_interface.write(bytearray(full_command, "ascii"))
+        return self.hardware_interface.read_until(b"\n")
+```
+
+### 示例 2：电磁阀（name="io_device_port"，自定义属性名）
+
+```python
+@device(
+    id="solenoid_valve",
+    category=["pump_and_valve"],
+    hardware_interface=HardwareInterface(
+        name="io_device_port",       # 自定义属性名 → 系统替换 self.io_device_port
+        read="read_io_coil",
+        write="write_io_coil",
+    ),
+)
+class SolenoidValve:
+    def __init__(self, io_device_port: str = None, **kwargs):
+        # name="io_device_port" → 图文件 config 中用 "io_device_port": "io_board_1"
+        self.io_device_port = io_device_port  # 初始为字符串，系统替换为 Modbus 实例
+```
+
+### Serial 通信设备（class="serial"）
+
+`serial` 是 Uni-Lab-OS 内置的通信代理设备，代码位于 `unilabos/ros/nodes/presets/serial_node.py`：
+
+```python
+from serial import Serial, SerialException
+from threading import Lock
+
+class ROS2SerialNode(BaseROS2DeviceNode):
+    def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, **kwargs):
+        self.port = port
+        self.baudrate = baudrate
+        self._hardware_interface = {
+            "name": "hardware_interface",
+            "write": "send_command",
+            "read": "read_data",
+        }
+        self._query_lock = Lock()
+
+        self.hardware_interface = Serial(baudrate=baudrate, port=port)
+
+        BaseROS2DeviceNode.__init__(
+            self, driver_instance=self, registry_name=registry_name,
+            device_id=device_id, status_types={}, action_value_mappings={},
+            hardware_interface=self._hardware_interface, print_publish=False,
+        )
+        self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
+
+    def send_command(self, command: str):
+        with self._query_lock:
+            self.hardware_interface.write(bytearray(f"{command}\n", "ascii"))
+            return self.hardware_interface.read_until(b"\n").decode()
+
+    def read_data(self):
+        with self._query_lock:
+            return self.hardware_interface.read_until(b"\n").decode()
+```
+
+在图文件中使用 `"class": "serial"` 即可创建串口代理：
+
+```json
+{
+  "id": "serial_pump",
+  "class": "serial",
+  "parent": "my_station",
+  "config": { "port": "COM7", "baudrate": 9600 }
+}
+```
+
+### 图文件配置
+
+**通信设备必须在 `children` 列表中排在最前面**，确保先于其他子设备初始化：
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "class": "workstation",
+      "children": ["serial_pump", "pump_1", "pump_2"],
+      "config": { "protocol_type": ["PumpTransferProtocol"] }
+    },
+    {
+      "id": "serial_pump",
+      "class": "serial",
+      "parent": "my_station",
+      "config": { "port": "COM7", "baudrate": 9600 }
+    },
+    {
+      "id": "pump_1",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "1", "max_volume": 25.0 }
+    },
+    {
+      "id": "pump_2",
+      "class": "syringe_pump_with_valve.runze.SY03B-T08",
+      "parent": "my_station",
+      "config": { "port": "serial_pump", "address": "2", "max_volume": 25.0 }
+    }
+  ],
+  "links": [
+    {
+      "source": "pump_1",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_1": "port", "serial_pump": "port" }
+    },
+    {
+      "source": "pump_2",
+      "target": "serial_pump",
+      "type": "communication",
+      "port": { "pump_2": "port", "serial_pump": "port" }
+    }
+  ]
+}
+```
+
+### 通信协议速查
+
+| 协议                 | config 参数                    | 依赖包     | 通信设备 class             |
+| -------------------- | ------------------------------ | ---------- | -------------------------- |
+| Serial (RS232/RS485) | `port`, `baudrate`             | `pyserial` | `serial`                   |
+| Modbus RTU           | `port`, `baudrate`, `slave_id` | `pymodbus` | `device_comms/modbus_plc/` |
+| Modbus TCP           | `host`, `port`, `slave_id`     | `pymodbus` | `device_comms/modbus_plc/` |
+| TCP Socket           | `host`, `port`                 | stdlib     | 自定义                     |
+| HTTP API             | `url`, `token`                 | `requests` | `device_comms/rpc.py`      |
+
+参考实现：`unilabos/test/experiments/Grignard_flow_batchreact_single_pumpvalve.json`
+
+---
+
+## Deck 与物料生命周期
+
+### 1. Deck 入参与两种初始化模式
+
+系统根据设备节点 `config.deck` 的写法，自动反序列化 Deck 实例后传入 `__init__` 的 `deck` 参数。目前 `deck` 是固定字段名，只支持一个主 Deck。建议一个设备拥有一个台面，台面上抽象二级、三级子物料。
+
+有两种初始化模式：
+
+#### init 初始化（推荐）
+
+`config.deck` 直接包含 `_resource_type` + `_resource_child_name`，系统先用 Deck 节点的 `config` 调用 Deck 类的 `__init__` 反序列化，再将实例传入设备的 `deck` 参数。子物料随 Deck 的 `children` 一起反序列化。
+
+```json
+"config": {
+    "deck": {
+        "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+        "_resource_child_name": "PRCXI_Deck"
+    }
+}
+```
+
+#### deserialize 初始化
+
+`config.deck` 用 `data` 包裹一层，系统走 `deserialize` 路径，可传入更多参数（如 `allow_marshal` 等）：
+
+```json
+"config": {
+    "deck": {
+        "data": {
+            "_resource_child_name": "YB_Bioyond_Deck",
+            "_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_YB_Deck"
+        }
+    }
+}
+```
+
+没有特殊需求时推荐 init 初始化。
+
+#### config.deck 字段说明
+
+| 字段 | 说明 |
+|------|------|
+| `_resource_type` | Deck 类的完整模块路径（`module:ClassName`） |
+| `_resource_child_name` | 对应图文件中 Deck 节点的 `id`，建立父子关联 |
+
+#### 设备 __init__ 接收
+
+```python
+def __init__(self, config=None, deck=None, protocol_type=None, **kwargs):
+    super().__init__(deck=deck, **kwargs)
+    # deck 已经是反序列化后的 Deck 实例
+    # → PRCXI9300Deck / BIOYOND_YB_Deck 等
+```
+
+#### Deck 节点（图文件中）
+
+Deck 节点作为设备的 `children` 之一，`parent` 指向设备 id：
+
+```json
+{
+    "id": "PRCXI_Deck",
+    "parent": "PRCXI",
+    "type": "deck",
+    "class": "",
+    "children": [],
+    "config": {
+        "type": "PRCXI9300Deck",
+        "size_x": 542, "size_y": 374, "size_z": 0,
+        "category": "deck",
+        "sites": [...]
+    },
+    "data": {}
+}
+```
+
+- `config` 中的字段会传入 Deck 类的 `__init__`（因此 `__init__` 必须能接受所有 `serialize()` 输出的字段）
+- `children` 初始为空时，由同步器或手动初始化填充
+- `config.type` 填 Deck 类名
+
+### 2. Deck 为空时自行初始化
+
+如果 Deck 节点的 `children` 为空，工作站需在 `post_init` 或首次同步时自行初始化内容：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    if self.deck and not self.deck.children:
+        self._initialize_default_deck()
+
+def _initialize_default_deck(self):
+    from my_labware import My_TipRack, My_Plate
+    self.deck.assign_child_resource(My_TipRack("T1"), spot=0)
+    self.deck.assign_child_resource(My_Plate("T2"), spot=1)
+```
+
+### 3. 物料双向同步
+
+当工作站对接外部系统（LIMS/MES）时，需要实现 `ResourceSynchronizer` 处理双向物料同步：
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def sync_from_external(self) -> bool:
+        """从外部系统同步到 self.workstation.deck"""
+        external_data = self._query_external_materials()
+        # 以外部工站为准：根据外部数据反向创建 PLR 资源实例
+        for item in external_data:
+            cls = self._resolve_resource_class(item["type"])
+            resource = cls(name=item["name"], **item["params"])
+            self.workstation.deck.assign_child_resource(resource, spot=item["slot"])
+        return True
+
+    def sync_to_external(self, resource) -> bool:
+        """将 UniLab 侧物料变更同步到外部系统"""
+        # 以 UniLab 为准：将 PLR 资源转为外部格式并推送
+        external_format = self._convert_to_external(resource)
+        return self._push_to_external(external_format)
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统主动推送的变更"""
+        return True
+```
+
+同步策略取决于业务场景：
+
+- **以外部工站为准**：从外部 API 查询物料数据，反向创建对应的 PLR 资源实例放到 Deck 上
+- **以 UniLab 为准**：UniLab 侧的物料变更通过 `sync_to_external` 推送到外部系统
+
+在工作站 `post_init` 中初始化同步器：
+
+```python
+@not_action
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+    self.resource_synchronizer = MyResourceSynchronizer(self)
+    self.resource_synchronizer.sync_from_external()
+```
+
+### 4. 序列化与持久化（serialize / serialize_state）
+
+资源类需正确实现序列化，系统据此完成持久化和前端同步。
+
+**`serialize()`** — 输出资源的结构信息（`config` 层），反序列化时作为 `__init__` 的入参回传。因此 **`__init__` 必须通过 `**kwargs`接受`serialize()` 输出的所有字段\*\*，即使当前不使用：
+
+```python
+class MyDeck(Deck):
+    def __init__(self, name, size_x, size_y, size_z,
+                 sites=None,          # serialize() 输出的字段
+                 rotation=None,       # serialize() 输出的字段
+                 barcode=None,        # serialize() 输出的字段
+                 **kwargs):           # 兜底：接受所有未知的 serialize 字段
+        super().__init__(size_x, size_y, size_z, name)
+        # ...
+
+    def serialize(self) -> dict:
+        data = super().serialize()
+        data["sites"] = [...]  # 自定义字段
+        return data
+```
+
+**`serialize_state()`** — 输出资源的运行时状态（`data` 层），用于持久化可变信息。`data` 中的内容会被正确保存和恢复：
+
+```python
+class MyPlate(Plate):
+    def __init__(self, name, size_x, size_y, size_z,
+                 material_info=None, **kwargs):
+        super().__init__(name, size_x, size_y, size_z, **kwargs)
+        self._unilabos_state = {}
+        if material_info:
+            self._unilabos_state["Material"] = material_info
+
+    def serialize_state(self) -> Dict[str, Any]:
+        data = super().serialize_state()
+        data.update(self._unilabos_state)
+        return data
+```
+
+关键要点：
+
+- `serialize()` 输出的所有字段都会作为 `config` 回传到 `__init__`，所以 `__init__` 必须能接受它们（显式声明或 `**kwargs`）
+- `serialize_state()` 输出的 `data` 用于持久化运行时状态（如物料信息、液体量等）
+- `_unilabos_state` 中只存可 JSON 序列化的基本类型（str, int, float, bool, list, dict, None）
+
+### 5. 子物料自动同步
+
+子物料（Bottle、Plate、TipRack 等）放到 Deck 上后，系统会自动将其同步到前端的 Deck 视图。只需保证资源类正确实现了 `serialize()` / `serialize_state()` 和反序列化即可。
+
+### 6. 图文件配置（参考 prcxi_9320_slim.json）
+
+```json
+{
+  "nodes": [
+    {
+      "id": "my_station",
+      "type": "device",
+      "class": "my_workstation",
+      "config": {
+        "deck": {
+          "_resource_type": "unilabos.resources.my_module:MyDeck",
+          "_resource_child_name": "my_deck"
+        },
+        "host": "10.20.30.1",
+        "port": 9999
+      }
+    },
+    {
+      "id": "my_deck",
+      "parent": "my_station",
+      "type": "deck",
+      "class": "",
+      "children": [],
+      "config": {
+        "type": "MyLabDeck",
+        "size_x": 542,
+        "size_y": 374,
+        "size_z": 0,
+        "category": "deck",
+        "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": ["plate", "tip_rack", "tube_rack", "adaptor"]
+          }
+        ]
+      },
+      "data": {}
+    }
+  ],
+  "edges": []
+}
+```
+
+Deck 节点要点：
+
+- `config.type` 填 Deck 类名（如 `"PRCXI9300Deck"`）
+- `config.sites` 完整列出所有 site（从 Deck 类的 `serialize()` 输出获取）
+- `children` 初始为空（由同步器或手动初始化填充）
+- 设备节点 `config.deck._resource_type` 指向 Deck 类的完整模块路径
+
+---
+
+## 子设备
+
+子设备按标准设备接入流程创建（参见 add-device SKILL），使用 `@device` 装饰器。
+
+子设备约束：
+
+- 图文件中 `parent` 指向工作站 ID
+- 在工作站 `children` 数组中列出
+
+---
+
+## 关键规则
+
+1. **`__init__` 必须接受 `deck` 和 `**kwargs`** — `WorkstationBase.**init**`需要`deck` 参数
+2. **Deck 通过 `config.deck._resource_type` 反序列化传入** — 不要在 `__init__` 中手动创建 Deck
+3. **Deck 为空时自行初始化内容** — 在 `post_init` 中检查并填充默认物料
+4. **外部同步实现 `ResourceSynchronizer`** — `sync_from_external` / `sync_to_external`
+5. **通过 `self._children` 访问子设备** — 不要自行维护子设备引用
+6. **`post_init` 中启动后台服务** — 不要在 `__init__` 中启动网络连接
+7. **异步方法使用 `await self._ros_node.sleep()`** — 禁止 `time.sleep()` 和 `asyncio.sleep()`
+8. **使用 `@not_action` 标记非动作方法** — `post_init`, `initialize`, `cleanup`
+9. **子物料保证正确 serialize/deserialize** — 系统自动同步到前端 Deck 视图
+
+---
+
+## 验证
+
+```bash
+# 模块可导入
+python -c "from unilabos.devices.workstation.<name>.<name> import <ClassName>"
+
+# 启动测试（AST 自动扫描）
+unilab -g <graph>.json
+```
+
+---
+
+## 现有工作站参考
+
+| 工作站         | 驱动类                        | 类型     |
+| -------------- | ----------------------------- | -------- |
+| Protocol 通用  | `ProtocolNode`                | Protocol |
+| Bioyond 反应站 | `BioyondReactionStation`      | 外部系统 |
+| 纽扣电池组装   | `CoinCellAssemblyWorkstation` | 硬件控制 |
+
+参考路径：`unilabos/devices/workstation/` 目录下各工作站实现。

.cursor/skills/add-workstation/reference.md

@@ -0,0 +1,371 @@
+# 工作站高级模式参考
+
+本文件是 SKILL.md 的补充，包含外部系统集成、物料同步、配置结构等高级模式。
+Agent 在需要实现这些功能时按需阅读。
+
+---
+
+## 1. 外部系统集成模式
+
+### 1.1 RPC 客户端
+
+与外部 LIMS/MES 系统通信的标准模式。继承 `BaseRequest`，所有接口统一用 POST。
+
+```python
+from unilabos.device_comms.rpc import BaseRequest
+
+
+class MySystemRPC(BaseRequest):
+    """外部系统 RPC 客户端"""
+
+    def __init__(self, host: str, api_key: str):
+        super().__init__(host)
+        self.api_key = api_key
+
+    def _request(self, endpoint: str, data: dict = None) -> dict:
+        return self.post(
+            url=f"{self.host}/api/{endpoint}",
+            params={
+                "apiKey": self.api_key,
+                "requestTime": self.get_current_time_iso8601(),
+                "data": data or {},
+            },
+        )
+
+    def query_status(self) -> dict:
+        return self._request("status/query")
+
+    def create_order(self, order_data: dict) -> dict:
+        return self._request("order/create", order_data)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py`（`BioyondV1RPC`）
+
+### 1.2 HTTP 回调服务
+
+接收外部系统报送的标准模式。使用 `WorkstationHTTPService`，在 `post_init` 中启动。
+
+```python
+from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
+
+
+class MyWorkstation(WorkstationBase):
+    def __init__(self, config=None, deck=None, **kwargs):
+        super().__init__(deck=deck, **kwargs)
+        self.config = config or {}
+        http_cfg = self.config.get("http_service_config", {})
+        self._http_service_config = {
+            "host": http_cfg.get("http_service_host", "127.0.0.1"),
+            "port": http_cfg.get("http_service_port", 8080),
+        }
+        self.http_service = None
+
+    def post_init(self, ros_node):
+        super().post_init(ros_node)
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+```
+
+**HTTP 服务路由**（固定端点，由 `WorkstationHTTPHandler` 自动分发）：
+
+| 端点 | 调用的工作站方法 |
+|------|-----------------|
+| `/report/step_finish` | `process_step_finish_report(report_request)` |
+| `/report/sample_finish` | `process_sample_finish_report(report_request)` |
+| `/report/order_finish` | `process_order_finish_report(report_request, used_materials)` |
+| `/report/material_change` | `process_material_change_report(report_data)` |
+| `/report/error_handling` | `handle_external_error(error_data)` |
+
+实现对应方法即可接收回调：
+
+```python
+def process_step_finish_report(self, report_request) -> Dict[str, Any]:
+    """处理步骤完成报告"""
+    step_name = report_request.data.get("stepName")
+    return {"success": True, "message": f"步骤 {step_name} 已处理"}
+
+def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
+    """处理订单完成报告"""
+    order_code = report_request.data.get("orderCode")
+    return {"success": True}
+```
+
+参考：`unilabos/devices/workstation/workstation_http_service.py`
+
+### 1.3 连接监控
+
+独立线程周期性检测外部系统连接状态，状态变化时发布 ROS 事件。
+
+```python
+class ConnectionMonitor:
+    def __init__(self, workstation, check_interval=30):
+        self.workstation = workstation
+        self.check_interval = check_interval
+        self._running = False
+        self._thread = None
+
+    def start(self):
+        self._running = True
+        self._thread = threading.Thread(target=self._monitor_loop, daemon=True)
+        self._thread.start()
+
+    def _monitor_loop(self):
+        while self._running:
+            try:
+                # 调用外部系统接口检测连接
+                self.workstation.hardware_interface.ping()
+                status = "online"
+            except Exception:
+                status = "offline"
+            time.sleep(self.check_interval)
+```
+
+参考：`unilabos/devices/workstation/bioyond_studio/station.py`（`ConnectionMonitor`）
+
+---
+
+## 2. Config 结构模式
+
+工作站的 `config` 在图文件中定义，传入 `__init__`。以下是常见字段模式：
+
+### 2.1 外部系统连接
+
+```json
+{
+    "api_host": "http://192.168.1.100:8080",
+    "api_key": "YOUR_API_KEY"
+}
+```
+
+### 2.2 HTTP 回调服务
+
+```json
+{
+    "http_service_config": {
+        "http_service_host": "127.0.0.1",
+        "http_service_port": 8080
+    }
+}
+```
+
+### 2.3 物料类型映射
+
+将 PLR 资源类名映射到外部系统的物料类型（名称 + UUID）。用于双向物料转换。
+
+```json
+{
+    "material_type_mappings": {
+        "PLR_ResourceClassName": ["外部系统显示名", "external-type-uuid"],
+        "BIOYOND_PolymerStation_Reactor": ["反应器", "3a14233b-902d-0d7b-..."]
+    }
+}
+```
+
+### 2.4 仓库映射
+
+将仓库名映射到外部系统的仓库 UUID 和库位 UUID。用于入库/出库操作。
+
+```json
+{
+    "warehouse_mapping": {
+        "仓库名": {
+            "uuid": "warehouse-uuid",
+            "site_uuids": {
+                "A01": "site-uuid-A01",
+                "A02": "site-uuid-A02"
+            }
+        }
+    }
+}
+```
+
+### 2.5 工作流映射
+
+将内部工作流名映射到外部系统的工作流 ID。
+
+```json
+{
+    "workflow_mappings": {
+        "internal_workflow_name": "external-workflow-uuid"
+    }
+}
+```
+
+### 2.6 物料默认参数
+
+```json
+{
+    "material_default_parameters": {
+        "NMP": {
+            "unit": "毫升",
+            "density": "1.03",
+            "densityUnit": "g/mL",
+            "description": "N-甲基吡咯烷酮"
+        }
+    }
+}
+```
+
+---
+
+## 3. 资源同步机制
+
+### 3.1 ResourceSynchronizer
+
+抽象基类，用于与外部物料系统双向同步。定义在 `workstation_base.py`。
+
+```python
+from unilabos.devices.workstation.workstation_base import ResourceSynchronizer
+
+
+class MyResourceSynchronizer(ResourceSynchronizer):
+    def __init__(self, workstation, api_client):
+        super().__init__(workstation)
+        self.api_client = api_client
+
+    def sync_from_external(self) -> bool:
+        """从外部系统拉取物料到 deck"""
+        external_materials = self.api_client.list_materials()
+        for material in external_materials:
+            plr_resource = self._convert_to_plr(material)
+            self.workstation.deck.assign_child_resource(plr_resource, coordinate)
+        return True
+
+    def sync_to_external(self, plr_resource) -> bool:
+        """将 deck 中的物料变更推送到外部系统"""
+        external_data = self._convert_from_plr(plr_resource)
+        self.api_client.update_material(external_data)
+        return True
+
+    def handle_external_change(self, change_info) -> bool:
+        """处理外部系统推送的物料变更"""
+        return True
+```
+
+### 3.2 update_resource — 上传资源树到云端
+
+将 PLR Deck 序列化后通过 ROS 服务上传。典型使用场景：
+
+```python
+# 在 post_init 中上传初始 deck
+from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [self.deck]}
+)
+
+# 在动作方法中更新特定资源
+ROS2DeviceNode.run_async_func(
+    self._ros_node.update_resource, True,
+    **{"resources": [updated_plate]}
+)
+```
+
+---
+
+## 4. 工作流序列管理
+
+工作站通过 `workflow_sequence` 属性管理任务队列（JSON 字符串形式）。
+
+```python
+class MyWorkstation(WorkstationBase):
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+        self._workflow_sequence = []
+
+    @property
+    def workflow_sequence(self) -> str:
+        """返回 JSON 字符串，ROS 自动发布"""
+        import json
+        return json.dumps(self._workflow_sequence)
+
+    async def append_to_workflow_sequence(self, workflow_name: str) -> Dict[str, Any]:
+        """添加工作流到队列"""
+        self._workflow_sequence.append({
+            "name": workflow_name,
+            "status": "pending",
+            "created_at": time.time(),
+        })
+        return {"success": True}
+
+    async def clear_workflows(self) -> Dict[str, Any]:
+        """清空工作流队列"""
+        self._workflow_sequence = []
+        return {"success": True}
+```
+
+---
+
+## 5. 站间物料转移
+
+工作站之间转移物料的模式。通过 ROS ActionClient 调用目标站的动作。
+
+```python
+async def transfer_materials_to_another_station(
+    self,
+    target_device_id: str,
+    transfer_groups: list,
+    **kwargs,
+) -> Dict[str, Any]:
+    """将物料转移到另一个工作站"""
+    target_node = self._children.get(target_device_id)
+    if not target_node:
+        # 通过 ROS 节点查找非子设备的目标站
+        pass
+
+    for group in transfer_groups:
+        resource = self.find_resource_by_name(group["resource_name"])
+        # 从本站 deck 移除
+        resource.unassign()
+        # 调用目标站的接收方法
+        # ...
+
+    return {"success": True, "transferred": len(transfer_groups)}
+```
+
+参考：`BioyondDispensingStation.transfer_materials_to_reaction_station`
+
+---
+
+## 6. post_init 完整模式
+
+`post_init` 是工作站初始化的关键阶段，此时 ROS 节点和子设备已就绪。
+
+```python
+def post_init(self, ros_node):
+    super().post_init(ros_node)
+
+    # 1. 初始化外部系统客户端（此时 config 已可用）
+    self.rpc_client = MySystemRPC(
+        host=self.config.get("api_host"),
+        api_key=self.config.get("api_key"),
+    )
+    self.hardware_interface = self.rpc_client
+
+    # 2. 启动连接监控
+    self.connection_monitor = ConnectionMonitor(self)
+    self.connection_monitor.start()
+
+    # 3. 启动 HTTP 回调服务
+    if hasattr(self, '_http_service_config'):
+        self.http_service = WorkstationHTTPService(
+            workstation_instance=self,
+            host=self._http_service_config["host"],
+            port=self._http_service_config["port"],
+        )
+        self.http_service.start()
+
+    # 4. 上传 deck 到云端
+    ROS2DeviceNode.run_async_func(
+        self._ros_node.update_resource, True,
+        **{"resources": [self.deck]}
+    )
+
+    # 5. 初始化资源同步器（可选）
+    self.resource_synchronizer = MyResourceSynchronizer(self, self.rpc_client)
+```

.cursor/skills/batch-insert-reagent/SKILL.md

@@ -0,0 +1,233 @@
+---
+name: batch-insert-reagent
+description: Batch insert reagents into Uni-Lab platform — add chemicals with CAS, SMILES, supplier info. Use when the user wants to add reagents, insert chemicals, batch register reagents, or mentions 录入试剂/添加试剂/试剂入库/reagent.
+---
+
+# 批量录入试剂 Skill
+
+通过云端 API 批量录入试剂信息，支持逐条或批量操作。
+
+## 前置条件（缺一不可）
+
+使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <gen_auth.py 输出的 token>"
+```
+
+**两项全部就绪后才可发起 API 请求。**
+
+## Session State
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 录入试剂
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/reagent" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '{
+    "lab_uuid": "<lab_uuid>",
+    "cas": "<CAS号>",
+    "name": "<试剂名称>",
+    "molecular_formula": "<分子式>",
+    "smiles": "<SMILES>",
+    "stock_in_quantity": <入库数量>,
+    "unit": "<单位字符串>",
+    "supplier": "<供应商>",
+    "production_date": "<生产日期 ISO 8601>",
+    "expiry_date": "<过期日期 ISO 8601>"
+  }'
+```
+
+返回成功时包含试剂 UUID：
+```json
+{"code": 0, "data": {"uuid": "xxx", ...}}
+```
+
+---
+
+## 试剂字段说明
+
+| 字段 | 类型 | 必填 | 说明 | 示例 |
+|------|------|------|------|------|
+| `lab_uuid` | string | 是 | 实验室 UUID（从 API #1 获取） | `"8511c672-..."` |
+| `cas` | string | 是 | CAS 注册号 | `"7732-18-3"` |
+| `name` | string | 是 | 试剂中文/英文名称 | `"水"` |
+| `molecular_formula` | string | 是 | 分子式 | `"H2O"` |
+| `smiles` | string | 是 | SMILES 表示 | `"O"` |
+| `stock_in_quantity` | number | 是 | 入库数量 | `10` |
+| `unit` | string | 是 | 单位（字符串，见下表） | `"mL"` |
+| `supplier` | string | 否 | 供应商名称 | `"国药集团"` |
+| `production_date` | string | 否 | 生产日期（ISO 8601） | `"2025-11-18T00:00:00Z"` |
+| `expiry_date` | string | 否 | 过期日期（ISO 8601） | `"2026-11-18T00:00:00Z"` |
+
+### unit 单位值
+
+| 值 | 单位 |
+|------|------|
+| `"mL"` | 毫升 |
+| `"L"` | 升 |
+| `"g"` | 克 |
+| `"kg"` | 千克 |
+| `"瓶"` | 瓶 |
+
+> 根据试剂状态选择：液体用 `"mL"` / `"L"`，固体用 `"g"` / `"kg"`。
+
+---
+
+## 批量录入策略
+
+### 方式一：用户提供 JSON 数组
+
+用户一次性给出多条试剂数据：
+
+```json
+[
+  {"cas": "7732-18-3", "name": "水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 10, "unit": "mL"},
+  {"cas": "64-17-5", "name": "乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 5, "unit": "L"}
+]
+```
+
+Agent 自动为每条补充 `lab_uuid`、`production_date`、`expiry_date` 等字段后逐条提交。
+
+Agent 循环调用 API #2 逐条录入，每条记录一次 API 调用。
+
+### 方式二：用户逐个描述
+
+用户口头描述试剂（如「帮我录入 500mL 的无水乙醇，Sigma 的」），agent 自行补全字段：
+
+1. 根据名称查找 CAS 号、分子式、SMILES（参考下方速查表或自行推断）
+2. 构建完整的请求体
+3. 向用户确认后提交
+
+### 方式三：从 CSV/表格批量导入
+
+用户提供 CSV 或表格文件路径，agent 读取并解析：
+
+```bash
+# 期望的 CSV 格式（首行为表头）
+cas,name,molecular_formula,smiles,stock_in_quantity,unit,supplier,production_date,expiry_date
+7732-18-3,水,H2O,O,10,mL,农夫山泉,2025-11-18T00:00:00Z,2026-11-18T00:00:00Z
+```
+
+### 执行与汇报
+
+每次 API 调用后：
+1. 检查返回 `code`（0 = 成功）
+2. 记录成功/失败数量
+3. 全部完成后汇总：「共录入 N 条试剂，成功 X 条，失败 Y 条」
+4. 如有失败，列出失败的试剂名称和错误信息
+
+---
+
+## 常见试剂速查表
+
+| 名称 | CAS | 分子式 | SMILES |
+|------|-----|--------|--------|
+| 水 | 7732-18-3 | H2O | O |
+| 乙醇 | 64-17-5 | C2H6O | CCO |
+| 甲醇 | 67-56-1 | CH4O | CO |
+| 丙酮 | 67-64-1 | C3H6O | CC(C)=O |
+| 二甲基亚砜(DMSO) | 67-68-5 | C2H6OS | CS(C)=O |
+| 乙酸乙酯 | 141-78-6 | C4H8O2 | CCOC(C)=O |
+| 二氯甲烷 | 75-09-2 | CH2Cl2 | ClCCl |
+| 四氢呋喃(THF) | 109-99-9 | C4H8O | C1CCOC1 |
+| N,N-二甲基甲酰胺(DMF) | 68-12-2 | C3H7NO | CN(C)C=O |
+| 氯仿 | 67-66-3 | CHCl3 | ClC(Cl)Cl |
+| 乙腈 | 75-05-8 | C2H3N | CC#N |
+| 甲苯 | 108-88-3 | C7H8 | Cc1ccccc1 |
+| 正己烷 | 110-54-3 | C6H14 | CCCCCC |
+| 异丙醇 | 67-63-0 | C3H8O | CC(C)O |
+| 盐酸 | 7647-01-0 | HCl | Cl |
+| 硫酸 | 7664-93-9 | H2SO4 | OS(O)(=O)=O |
+| 氢氧化钠 | 1310-73-2 | NaOH | [Na]O |
+| 碳酸钠 | 497-19-8 | Na2CO3 | [Na]OC([O-])=O.[Na+] |
+| 氯化钠 | 7647-14-5 | NaCl | [Na]Cl |
+| 乙二胺四乙酸(EDTA) | 60-00-4 | C10H16N2O8 | OC(=O)CN(CCN(CC(O)=O)CC(O)=O)CC(O)=O |
+
+> 此表仅供快速参考。对于不在表中的试剂，agent 应根据化学知识推断或提示用户补充。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
+- [ ] Step 4: 收集试剂信息（用户提供列表/逐个描述/CSV文件）
+- [ ] Step 5: 补全缺失字段（CAS、分子式、SMILES 等）
+- [ ] Step 6: 向用户确认待录入的试剂列表
+- [ ] Step 7: 循环调用 POST /lab/reagent 逐条录入（每条需含 lab_uuid）
+- [ ] Step 8: 汇总结果（成功/失败数量及详情）
+```
+
+---
+
+## 完整示例
+
+用户说：「帮我录入 3 种试剂：500mL 无水乙醇、1kg 氯化钠、2L 去离子水」
+
+Agent 构建的请求序列：
+
+```json
+// 第 1 条
+{"lab_uuid": "8511c672-...", "cas": "64-17-5", "name": "无水乙醇", "molecular_formula": "C2H6O", "smiles": "CCO", "stock_in_quantity": 500, "unit": "mL", "supplier": "国药集团", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 2 条
+{"lab_uuid": "8511c672-...", "cas": "7647-14-5", "name": "氯化钠", "molecular_formula": "NaCl", "smiles": "[Na]Cl", "stock_in_quantity": 1, "unit": "kg", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+
+// 第 3 条
+{"lab_uuid": "8511c672-...", "cas": "7732-18-3", "name": "去离子水", "molecular_formula": "H2O", "smiles": "O", "stock_in_quantity": 2, "unit": "L", "supplier": "", "production_date": "2025-01-01T00:00:00Z", "expiry_date": "2026-01-01T00:00:00Z"}
+```

.cursor/skills/batch-submit-experiment/SKILL.md

@@ -0,0 +1,325 @@
+---
+name: batch-submit-experiment
+description: Batch submit experiments (notebooks) to Uni-Lab platform — list workflows, generate node_params from registry schemas, submit multiple rounds, check notebook status. Use when the user wants to submit experiments, create notebooks, batch run workflows, check experiment status, or mentions 提交实验/批量实验/notebook/实验轮次/实验状态.
+---
+
+# 批量提交实验指南
+
+通过云端 API 批量提交实验（notebook），支持多轮实验参数配置。根据 workflow 模板详情和本地设备注册表自动生成 `node_params` 模板。
+
+## 前置条件（缺一不可）
+
+使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token（任选一种方式）：
+
+```bash
+# 方式一：Python 一行生成
+python -c "import base64,sys; print('Authorization: Lab ' + base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+
+# 方式二：手动计算
+# base64(ak:sk) → Authorization: Lab <token>
+```
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <上面命令输出的 token>"
+```
+
+### 3. req_device_registry_upload.json（设备注册表）
+
+**批量提交实验时需要本地注册表来解析 workflow 节点的参数 schema。**
+
+按优先级搜索：
+
+```
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+<workspace 根目录>/req_device_registry_upload.json
+```
+
+也可直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**检查文件修改时间**并告知用户。超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等注册表生成后再执行。可跳过此步，但将无法自动生成参数模板，需要用户手动填写 `param`。
+
+### 4. workflow_uuid（目标工作流）
+
+用户需要提供要提交的 workflow UUID。如果用户不确定，通过 API #3 列出可用 workflow 供选择。
+
+**四项全部就绪后才可开始。**
+
+## Session State
+
+在整个对话过程中，agent 需要记住以下状态，避免重复询问用户：
+
+- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
+- `project_uuid` — 项目 UUID（通过 API #2 列出项目列表，**让用户选择**）
+- `workflow_uuid` — 工作流 UUID（用户提供或从列表选择）
+- `workflow_nodes` — workflow 中各 action 节点的 uuid、设备 ID、动作名（从 API #4 获取）
+
+## 请求约定
+
+所有请求使用 `curl -s`，POST 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+>
+> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则会被解析为 splatting 运算符）。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 列出实验室项目（让用户选择项目）
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/project/list?lab_uuid=$lab_uuid" -H "$AUTH"
+```
+
+返回项目列表，展示给用户选择。列出每个项目的 `uuid` 和 `name`。
+
+用户**必须**选择一个项目，记住 `project_uuid`，后续创建 notebook 时需要提供。
+
+### 3. 列出可用 workflow
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/workflows?page=1&page_size=20&lab_uuid=$lab_uuid" -H "$AUTH"
+```
+
+返回 workflow 列表，展示给用户选择。列出每个 workflow 的 `uuid` 和 `name`。
+
+### 4. 获取 workflow 模板详情
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
+```
+
+返回 workflow 的完整结构，包含所有 action 节点信息。需要从响应中提取：
+- 每个 action 节点的 `node_uuid`
+- 每个节点对应的设备 ID（`resource_template_name`）
+- 每个节点的动作名（`node_template_name`）
+- 每个节点的现有参数（`param`）
+
+> **注意**：此 API 返回格式可能因版本不同而有差异。首次调用时，先打印完整响应分析结构，再提取节点信息。常见的节点字段路径为 `data.nodes[]` 或 `data.workflow_nodes[]`。
+
+### 5. 提交实验（创建 notebook）
+
+```bash
+curl -s -X POST "$BASE/api/v1/lab/notebook" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体结构：
+
+```json
+{
+    "lab_uuid": "<lab_uuid>",
+    "project_uuid": "<project_uuid>",
+    "workflow_uuid": "<workflow_uuid>",
+    "name": "<实验名称>",
+    "node_params": [
+        {
+            "sample_uuids": ["<样品UUID1>", "<样品UUID2>"],
+            "datas": [
+                {
+                    "node_uuid": "<workflow中的节点UUID>",
+                    "param": {},
+                    "sample_params": [
+                        {
+                            "container_uuid": "<容器UUID>",
+                            "sample_value": {
+                                "liquid_names": "<液体名称>",
+                                "volumes": 1000
+                            }
+                        }
+                    ]
+                }
+            ]
+        }
+    ]
+}
+```
+
+> **注意**：`sample_uuids` 必须是 **UUID 数组**（`[]uuid.UUID`），不是字符串。无样品时传空数组 `[]`。
+
+### 6. 查询 notebook 状态
+
+提交成功后，使用返回的 notebook UUID 查询执行状态：
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/notebook/status?uuid=$notebook_uuid" -H "$AUTH"
+```
+
+提交后应**立即查询一次**状态，确认 notebook 已被正确接收并开始调度。
+
+---
+
+## Notebook 请求体详解
+
+### node_params 结构
+
+`node_params` 是一个数组，**每个元素代表一轮实验**：
+
+- 要跑 2 轮 → `node_params` 有 2 个元素
+- 要跑 N 轮 → `node_params` 有 N 个元素
+
+### 每轮的字段
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `sample_uuids` | array\<uuid\> | 该轮实验的样品 UUID 数组，无样品时传 `[]` |
+| `datas` | array | 该轮中每个 workflow 节点的参数配置 |
+
+### datas 中每个节点
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `node_uuid` | string | workflow 模板中的节点 UUID（从 API #4 获取） |
+| `param` | object | 动作参数（根据本地注册表 schema 填写） |
+| `sample_params` | array | 样品相关参数（液体名、体积等） |
+
+### sample_params 中每条
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `container_uuid` | string | 容器 UUID |
+| `sample_value` | object | 样品值，如 `{"liquid_names": "水", "volumes": 1000}` |
+
+---
+
+## 从本地注册表生成 param 模板
+
+### 自动方式 — 运行脚本
+
+```bash
+python scripts/gen_notebook_params.py \
+  --auth <token> \
+  --base <BASE_URL> \
+  --workflow-uuid <workflow_uuid> \
+  [--registry <path/to/req_device_registry_upload.json>] \
+  [--rounds <轮次数>] \
+  [--output <输出文件路径>]
+```
+
+> 脚本位于本文档同级目录下的 `scripts/gen_notebook_params.py`。
+
+脚本会：
+1. 调用 workflow detail API 获取所有 action 节点
+2. 读取本地注册表，为每个节点查找对应的 action schema
+3. 生成 `notebook_template.json`，包含：
+   - 完整 `node_params` 骨架
+   - 每个节点的 param 字段及类型说明
+   - `_schema_info` 辅助信息（不提交，仅供参考）
+
+### 手动方式
+
+如果脚本不可用或注册表不存在：
+
+1. 调用 API #4 获取 workflow 详情
+2. 找到每个 action 节点的 `node_uuid`
+3. 在本地注册表中查找对应设备的 `action_value_mappings`：
+   ```
+   resources[].id == <device_id>
+   → resources[].class.action_value_mappings.<action_name>.schema.properties.goal.properties
+   ```
+4. 将 schema 中的 properties 作为 `param` 的字段模板
+5. 按轮次复制 `node_params` 元素，让用户填写每轮的具体值
+
+### 注册表结构参考
+
+```json
+{
+  "resources": [
+    {
+      "id": "liquid_handler.prcxi",
+      "class": {
+        "module": "unilabos.devices.xxx:ClassName",
+        "action_value_mappings": {
+          "transfer_liquid": {
+            "type": "LiquidHandlerTransfer",
+            "schema": {
+              "properties": {
+                "goal": {
+                  "properties": {
+                    "asp_vols": {"type": "array", "items": {"type": "number"}},
+                    "sources": {"type": "array"}
+                  },
+                  "required": ["asp_vols", "sources"]
+                }
+              }
+            },
+            "goal_default": {}
+          }
+        }
+      }
+    }
+  ]
+}
+```
+
+`param` 填写时，使用 `goal.properties` 中的字段名和类型。
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
+- [ ] Step 4: GET /lab/project/list → 列出项目，让用户选择 → 获取 project_uuid
+- [ ] Step 5: 确认 workflow_uuid（用户提供或从 GET #3 列表选择）
+- [ ] Step 6: GET workflow detail (#4) → 提取各节点 uuid、设备ID、动作名
+- [ ] Step 7: 定位本地注册表 req_device_registry_upload.json
+- [ ] Step 8: 运行 gen_notebook_params.py 或手动匹配 → 生成 node_params 模板
+- [ ] Step 9: 引导用户填写每轮的参数（sample_uuids、param、sample_params）
+- [ ] Step 10: 构建完整请求体（含 project_uuid）→ POST /lab/notebook 提交
+- [ ] Step 11: 检查返回结果，记录 notebook UUID
+- [ ] Step 12: GET /lab/notebook/status → 查询 notebook 状态，确认已调度
+```
+
+---
+
+## 常见问题
+
+### Q: workflow 中有多个节点，每轮都要填所有节点的参数吗？
+
+是的。`datas` 数组中需要包含该轮实验涉及的每个 workflow 节点的参数。通常每个 action 节点都需要一条 `datas` 记录。
+
+### Q: 多轮实验的参数完全不同吗？
+
+通常每轮的 `param`（设备动作参数）可能相同或相似，但 `sample_uuids` 和 `sample_params`（样品信息）每轮不同。脚本生成模板时会按轮次复制骨架，用户只需修改差异部分。
+
+### Q: 如何获取 sample_uuids 和 container_uuid？
+
+这些 UUID 通常来自实验室的样品管理系统。向用户询问，或从资源树（API `GET /lab/material/download/$lab_uuid`）中查找。

.cursor/skills/batch-submit-experiment/scripts/gen_notebook_params.py

@@ -0,0 +1,395 @@
+#!/usr/bin/env python3
+"""
+从 workflow 模板详情 + 本地设备注册表生成 notebook 提交用的 node_params 模板。
+
+用法:
+  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]
+
+选项:
+  --auth <token>          Lab token（base64(ak:sk) 的结果，不含 "Lab " 前缀）
+  --base <url>            API 基础 URL（如 https://uni-lab.test.bohrium.com）
+  --workflow-uuid <uuid>  目标 workflow 的 UUID
+  --registry <path>       本地注册表文件路径（默认自动搜索）
+  --rounds <n>            实验轮次数（默认 1）
+  --output <path>         输出模板文件路径（默认 notebook_template.json）
+  --dump-response         打印 workflow detail API 的原始响应（调试用）
+
+示例:
+  python gen_notebook_params.py \\
+    --auth YTFmZDlkNGUtxxxx \\
+    --base https://uni-lab.test.bohrium.com \\
+    --workflow-uuid abc-123-def \\
+    --rounds 2
+"""
+import copy
+import json
+import os
+import sys
+from datetime import datetime
+from urllib.request import Request, urlopen
+from urllib.error import HTTPError, URLError
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+
+def find_registry(explicit_path=None):
+    """查找本地注册表文件，逻辑同 extract_device_actions.py"""
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的注册表路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+    return None
+
+
+def load_registry(path):
+    with open(path, "r", encoding="utf-8") as f:
+        return json.load(f)
+
+
+def build_registry_index(registry_data):
+    """构建 device_id → action_value_mappings 的索引"""
+    index = {}
+    for res in registry_data.get("resources", []):
+        rid = res.get("id", "")
+        avm = res.get("class", {}).get("action_value_mappings", {})
+        if rid and avm:
+            index[rid] = avm
+    return index
+
+
+def flatten_goal_schema(action_data):
+    """从 action_value_mappings 条目中提取 goal 层的 schema"""
+    schema = action_data.get("schema", {})
+    goal_schema = schema.get("properties", {}).get("goal", {})
+    return goal_schema if goal_schema else schema
+
+
+def build_param_template(goal_schema):
+    """根据 goal schema 生成 param 模板，含类型标注"""
+    properties = goal_schema.get("properties", {})
+    required = set(goal_schema.get("required", []))
+    template = {}
+    for field_name, field_def in properties.items():
+        if field_name == "unilabos_device_id":
+            continue
+        ftype = field_def.get("type", "any")
+        default = field_def.get("default")
+        if default is not None:
+            template[field_name] = default
+        elif ftype == "string":
+            template[field_name] = f"$TODO ({ftype}, {'required' if field_name in required else 'optional'})"
+        elif ftype == "number" or ftype == "integer":
+            template[field_name] = 0
+        elif ftype == "boolean":
+            template[field_name] = False
+        elif ftype == "array":
+            template[field_name] = []
+        elif ftype == "object":
+            template[field_name] = {}
+        else:
+            template[field_name] = f"$TODO ({ftype})"
+    return template
+
+
+def fetch_workflow_detail(base_url, auth_token, workflow_uuid):
+    """调用 workflow detail API"""
+    url = f"{base_url}/api/v1/lab/workflow/template/detail/{workflow_uuid}"
+    req = Request(url, method="GET")
+    req.add_header("Authorization", f"Lab {auth_token}")
+    try:
+        with urlopen(req, timeout=30) as resp:
+            return json.loads(resp.read().decode("utf-8"))
+    except HTTPError as e:
+        body = e.read().decode("utf-8", errors="replace")
+        print(f"API 错误 {e.code}: {body}")
+        return None
+    except URLError as e:
+        print(f"网络错误: {e.reason}")
+        return None
+
+
+def extract_nodes_from_response(response):
+    """
+    从 workflow detail 响应中提取 action 节点列表。
+    适配多种可能的响应格式。
+
+    返回: [(node_uuid, resource_template_name, node_template_name, existing_param), ...]
+    """
+    data = response.get("data", response)
+
+    search_keys = ["nodes", "workflow_nodes", "node_list", "steps"]
+    nodes_raw = None
+    for key in search_keys:
+        if key in data and isinstance(data[key], list):
+            nodes_raw = data[key]
+            break
+
+    if nodes_raw is None:
+        if isinstance(data, list):
+            nodes_raw = data
+        else:
+            for v in data.values():
+                if isinstance(v, list) and len(v) > 0 and isinstance(v[0], dict):
+                    nodes_raw = v
+                    break
+
+    if not nodes_raw:
+        print("警告: 未能从响应中提取节点列表")
+        print("响应顶层 keys:", list(data.keys()) if isinstance(data, dict) else type(data).__name__)
+        return []
+
+    result = []
+    for node in nodes_raw:
+        if not isinstance(node, dict):
+            continue
+
+        node_uuid = (
+            node.get("uuid")
+            or node.get("node_uuid")
+            or node.get("id")
+            or ""
+        )
+        resource_name = (
+            node.get("resource_template_name")
+            or node.get("device_id")
+            or node.get("resource_name")
+            or node.get("device_name")
+            or ""
+        )
+        template_name = (
+            node.get("node_template_name")
+            or node.get("action_name")
+            or node.get("template_name")
+            or node.get("action")
+            or node.get("name")
+            or ""
+        )
+        existing_param = node.get("param", {}) or {}
+
+        if node_uuid:
+            result.append((node_uuid, resource_name, template_name, existing_param))
+
+    return result
+
+
+def generate_template(nodes, registry_index, rounds):
+    """生成 notebook 提交模板"""
+    node_params = []
+    schema_info = {}
+
+    datas_template = []
+    for node_uuid, resource_name, template_name, existing_param in nodes:
+        param_template = {}
+        matched = False
+
+        if resource_name and template_name and resource_name in registry_index:
+            avm = registry_index[resource_name]
+            if template_name in avm:
+                goal_schema = flatten_goal_schema(avm[template_name])
+                param_template = build_param_template(goal_schema)
+                goal_default = avm[template_name].get("goal_default", {})
+                if goal_default:
+                    for k, v in goal_default.items():
+                        if k in param_template and v is not None:
+                            param_template[k] = v
+                matched = True
+
+                schema_info[node_uuid] = {
+                    "device_id": resource_name,
+                    "action_name": template_name,
+                    "action_type": avm[template_name].get("type", ""),
+                    "schema_properties": list(goal_schema.get("properties", {}).keys()),
+                    "required": goal_schema.get("required", []),
+                }
+
+        if not matched and existing_param:
+            param_template = existing_param
+
+        if not matched and not existing_param:
+            schema_info[node_uuid] = {
+                "device_id": resource_name,
+                "action_name": template_name,
+                "warning": "未在本地注册表中找到匹配的 action schema",
+            }
+
+        datas_template.append({
+            "node_uuid": node_uuid,
+            "param": param_template,
+            "sample_params": [
+                {
+                    "container_uuid": "$TODO_CONTAINER_UUID",
+                    "sample_value": {
+                        "liquid_names": "$TODO_LIQUID_NAME",
+                        "volumes": 0,
+                    },
+                }
+            ],
+        })
+
+    for i in range(rounds):
+        node_params.append({
+            "sample_uuids": f"$TODO_SAMPLE_UUID_ROUND_{i + 1}",
+            "datas": copy.deepcopy(datas_template),
+        })
+
+    return {
+        "lab_uuid": "$TODO_LAB_UUID",
+        "project_uuid": "$TODO_PROJECT_UUID",
+        "workflow_uuid": "$TODO_WORKFLOW_UUID",
+        "name": "$TODO_EXPERIMENT_NAME",
+        "node_params": node_params,
+        "_schema_info（仅参考，提交时删除）": schema_info,
+    }
+
+
+def parse_args(argv):
+    """简单的参数解析"""
+    opts = {
+        "auth": None,
+        "base": None,
+        "workflow_uuid": None,
+        "registry": None,
+        "rounds": 1,
+        "output": "notebook_template.json",
+        "dump_response": False,
+    }
+    i = 0
+    while i < len(argv):
+        arg = argv[i]
+        if arg == "--auth" and i + 1 < len(argv):
+            opts["auth"] = argv[i + 1]
+            i += 2
+        elif arg == "--base" and i + 1 < len(argv):
+            opts["base"] = argv[i + 1].rstrip("/")
+            i += 2
+        elif arg == "--workflow-uuid" and i + 1 < len(argv):
+            opts["workflow_uuid"] = argv[i + 1]
+            i += 2
+        elif arg == "--registry" and i + 1 < len(argv):
+            opts["registry"] = argv[i + 1]
+            i += 2
+        elif arg == "--rounds" and i + 1 < len(argv):
+            opts["rounds"] = int(argv[i + 1])
+            i += 2
+        elif arg == "--output" and i + 1 < len(argv):
+            opts["output"] = argv[i + 1]
+            i += 2
+        elif arg == "--dump-response":
+            opts["dump_response"] = True
+            i += 1
+        else:
+            print(f"未知参数: {arg}")
+            i += 1
+    return opts
+
+
+def main():
+    opts = parse_args(sys.argv[1:])
+
+    if not opts["auth"] or not opts["base"] or not opts["workflow_uuid"]:
+        print("用法:")
+        print("  python gen_notebook_params.py --auth <token> --base <url> --workflow-uuid <uuid> [选项]")
+        print()
+        print("必需参数:")
+        print("  --auth <token>          Lab token（base64(ak:sk)）")
+        print("  --base <url>            API 基础 URL")
+        print("  --workflow-uuid <uuid>  目标 workflow UUID")
+        print()
+        print("可选参数:")
+        print("  --registry <path>       注册表文件路径（默认自动搜索）")
+        print("  --rounds <n>            实验轮次数（默认 1）")
+        print("  --output <path>         输出文件路径（默认 notebook_template.json）")
+        print("  --dump-response         打印 API 原始响应")
+        sys.exit(1)
+
+    # 1. 查找并加载本地注册表
+    registry_path = find_registry(opts["registry"])
+    registry_index = {}
+    if registry_path:
+        mtime = os.path.getmtime(registry_path)
+        gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+        print(f"注册表: {registry_path}  (生成时间: {gen_time})")
+        registry_data = load_registry(registry_path)
+        registry_index = build_registry_index(registry_data)
+        print(f"已索引 {len(registry_index)} 个设备的 action schemas")
+    else:
+        print("警告: 未找到本地注册表，将跳过 param 模板生成")
+        print("  提交时需要手动填写各节点的 param 字段")
+
+    # 2. 获取 workflow 详情
+    print(f"\n正在获取 workflow 详情: {opts['workflow_uuid']}")
+    response = fetch_workflow_detail(opts["base"], opts["auth"], opts["workflow_uuid"])
+    if not response:
+        print("错误: 无法获取 workflow 详情")
+        sys.exit(1)
+
+    if opts["dump_response"]:
+        print("\n=== API 原始响应 ===")
+        print(json.dumps(response, indent=2, ensure_ascii=False)[:5000])
+        print("=== 响应结束（截断至 5000 字符） ===\n")
+
+    # 3. 提取节点
+    nodes = extract_nodes_from_response(response)
+    if not nodes:
+        print("错误: 未能从 workflow 中提取任何 action 节点")
+        print("请使用 --dump-response 查看原始响应结构")
+        sys.exit(1)
+
+    print(f"\n找到 {len(nodes)} 个 action 节点:")
+    print(f"  {'节点 UUID':<40} {'设备 ID':<30} {'动作名':<25} {'Schema'}")
+    print("  " + "-" * 110)
+    for node_uuid, resource_name, template_name, _ in nodes:
+        matched = "✓" if (resource_name in registry_index and
+                          template_name in registry_index.get(resource_name, {})) else "✗"
+        print(f"  {node_uuid:<40} {resource_name:<30} {template_name:<25} {matched}")
+
+    # 4. 生成模板
+    template = generate_template(nodes, registry_index, opts["rounds"])
+    template["workflow_uuid"] = opts["workflow_uuid"]
+
+    output_path = opts["output"]
+    with open(output_path, "w", encoding="utf-8") as f:
+        json.dump(template, f, indent=2, ensure_ascii=False)
+    print(f"\n模板已写入: {output_path}")
+    print(f"  轮次数: {opts['rounds']}")
+    print(f"  节点数/轮: {len(nodes)}")
+    print()
+    print("下一步:")
+    print("  1. 打开模板文件，将 $TODO 占位符替换为实际值")
+    print("  2. 删除 _schema_info 字段（仅供参考）")
+    print("  3. 使用 POST /api/v1/lab/notebook 提交")
+
+
+if __name__ == "__main__":
+    main()

.cursor/skills/create-device-skill/SKILL.md

@@ -0,0 +1,380 @@
+---
+name: create-device-skill
+description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
+---
+
+# 创建设备 Skill 指南
+
+本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
+
+## 数据源
+
+- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
+- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
+- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
+- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
+
+## 创建流程
+
+### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
+
+开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
+
+向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
+
+#### 必备项 ①：ak / sk（认证凭据）
+
+来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
+
+获取后立即生成 AUTH token：
+
+```bash
+python ./scripts/gen_auth.py <ak> <sk>
+# 或从 config.py 提取
+python ./scripts/gen_auth.py --config <config.py>
+```
+
+认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
+
+#### 必备项 ②：--addr（目标环境）
+
+决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
+
+| `--addr` 值 | BASE URL |
+|-------------|----------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+| 其他自定义 URL | 直接使用该 URL |
+
+#### 必备项 ③：req_device_registry_upload.json（设备注册表）
+
+数据文件由 `unilab` 启动时自动生成，需要定位它：
+
+**推断 working_dir**（即 `unilabos_data` 所在目录）：
+
+| 条件 | working_dir 取值 |
+|------|------------------|
+| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
+| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
+| 都没传 | `<当前工作目录>/unilabos_data/` |
+
+**按优先级搜索文件**：
+
+```
+<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
+<推断的 working_dir>/req_device_registry_upload.json
+<workspace 根目录>/unilabos_data/req_device_registry_upload.json
+```
+
+也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
+
+找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
+
+**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
+
+#### 必备项 ④：目标设备
+
+用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
+
+如果用户不确定，运行提取脚本列出所有设备供选择：
+
+```bash
+python ./scripts/extract_device_actions.py --registry <找到的文件路径>
+```
+
+#### 完整示例
+
+用户提供：
+
+```
+--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
+--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
+--addr test
+--port 8003
+--disable_browser
+```
+
+从中提取：
+- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
+- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
+- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
+- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
+
+**四项全部就绪后才进入 Step 1。**
+
+### Step 1 — 列出可用设备
+
+运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
+
+```bash
+# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
+python ./scripts/extract_device_actions.py
+
+# 指定注册表文件路径
+python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+```
+
+脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
+
+### Step 2 — 提取 Action Schema
+
+用户选择设备后，运行提取脚本：
+
+```bash
+python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
+```
+
+脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
+
+每个 action 生成一个 JSON 文件，包含：
+- `type` — 作为 API 调用的 `action_type`
+- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
+- `goal` — goal 字段映射（含占位符 `$placeholder`）
+- `goal_default` — 默认值
+
+### Step 3 — 写 action-index.md
+
+按模板为每个 action 写条目：
+
+```markdown
+### `<action_name>`
+
+<用途描述（一句话）>
+
+- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
+- **核心参数**: `param1`, `param2`（从 schema.required 获取）
+- **可选参数**: `param3`, `param4`
+- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
+```
+
+描述规则：
+- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
+- 从 `schema.required` 区分核心/可选参数
+- 按功能分类（移液、枪头、外设等）
+- 标注 `placeholder_keys` 中的字段类型：
+  - `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
+  - `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
+  - `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
+  - `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
+  - `unilabos_formulation` → **FormulationSlot**，填入配方数组 `[{well_name, liquids: [{name, volume}]}]`（well_name 为目标物料的 name）
+- array 类型字段 → `[{id, name, uuid}, ...]`
+- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
+
+### Step 4 — 写 SKILL.md
+
+直接复用 `unilab-device-api` 的 API 模板，修改：
+- 设备名称
+- Action 数量
+- 目录列表
+- Session state 中的 `device_name`
+- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
+- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
+- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
+
+API 模板结构：
+
+```markdown
+## 设备信息
+- device_id, Python 源码路径, 设备类名
+
+## 前置条件（缺一不可）
+- ak/sk → AUTH, --addr → BASE URL
+
+## 请求约定
+- Windows 平台必须用 curl.exe（非 PowerShell 的 curl 别名）
+
+## Session State
+- lab_uuid（通过 GET /edge/lab/info 直接获取，不要问用户）, device_name
+
+## API Endpoints
+# - #1  GET /edge/lab/info → 直接拿到 lab_uuid
+# - #2  创建工作流 POST /lab/workflow/owner → 拼 URL 告知用户
+# - #3  创建节点 POST /edge/workflow/node
+#       body: {workflow_uuid, resource_template_name: "<device_id>", node_template_name: "<action_name>"}
+# - #4  删除节点 DELETE /lab/workflow/nodes
+# - #5  更新节点参数 PATCH /lab/workflow/node
+# - #6  查询节点 handles POST /lab/workflow/node-handles
+#       body: {node_uuids: ["uuid1","uuid2"]} → 返回各节点的 handle_uuid
+# - #7  批量创建边 POST /lab/workflow/edges
+#       body: {edges: [{source_node_uuid, target_node_uuid, source_handle_uuid, target_handle_uuid}]}
+# - #8  启动工作流 POST /lab/workflow/{uuid}/run
+# - #9  运行设备单动作 POST /lab/mcp/run/action
+# - #10 查询任务状态 GET /lab/mcp/task/{task_uuid}
+# - #11 运行工作流单节点 POST /lab/mcp/run/workflow/action
+# - #12 获取资源树 GET /lab/material/download/{lab_uuid}
+# - #13 获取工作流模板详情 GET /lab/workflow/template/detail/{workflow_uuid}
+#       返回 workflow 完整结构：data.nodes[] 含每个节点的 uuid、name、param、device_name、handles
+
+## Placeholder Slot 填写规则
+- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
+- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
+- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
+- unilabos_class → ClassSlot → "class_name" 字符串
+- unilabos_formulation → FormulationSlot → [{well_name, liquids: [{name, volume}]}] 配方数组
+- 特例：create_resource 的 res_id 允许填不存在的路径
+- 列出本设备所有 Slot 字段、类型及含义
+
+## 渐进加载策略
+## 完整工作流 Checklist
+```
+
+### Step 5 — 验证
+
+检查文件完整性：
+- [ ] `SKILL.md` 包含 API endpoint（#1 获取 lab_uuid、#2-#7 工作流/节点/边、#8-#11 运行/查询、#12 资源树、#13 工作流模板详情）
+- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot / FormulationSlot + create_resource 特例）和本设备的 Slot 字段表
+- [ ] `action-index.md` 列出所有 action 并有描述
+- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
+- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
+- [ ] 描述能让 agent 判断该用哪个 action
+
+## Action JSON 文件结构
+
+```json
+{
+  "type": "LiquidHandlerTransfer",    // → API 的 action_type
+  "goal": {                           // goal 字段映射
+    "sources": "sources",
+    "targets": "targets",
+    "tip_racks": "tip_racks",
+    "asp_vols": "asp_vols"
+  },
+  "schema": {                         // ← 直接是 goal 的 schema（已提升）
+    "type": "object",
+    "properties": {                   // 参数定义（即请求中 goal 的字段）
+      "sources": { "type": "array", "items": { "type": "object" } },
+      "targets": { "type": "array", "items": { "type": "object" } },
+      "asp_vols": { "type": "array", "items": { "type": "number" } }
+    },
+    "required": [...],
+    "_unilabos_placeholder_info": {   // ← Slot 类型标记
+      "sources": "unilabos_resources",
+      "targets": "unilabos_resources",
+      "tip_racks": "unilabos_resources"
+    }
+  },
+  "goal_default": { ... },            // 默认值
+  "placeholder_keys": {               // ← 汇总所有 Slot 字段
+    "sources": "unilabos_resources",  //    ResourceSlot
+    "targets": "unilabos_resources",
+    "tip_racks": "unilabos_resources",
+    "target_device_id": "unilabos_devices"  // DeviceSlot
+  }
+}
+```
+
+> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
+> `schema.properties` 中的字段即为 API 创建节点返回的 `data.param` 中的字段，PATCH 更新时直接修改 `param` 即可。
+
+## Placeholder Slot 类型体系
+
+`placeholder_keys` / `_unilabos_placeholder_info` 中有 5 种值，对应不同的填写方式：
+
+| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
+|---------------|-----------|---------|---------|
+| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
+| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
+| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
+| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
+| `unilabos_formulation` | FormulationSlot | `[{well_name, liquids: [{name, volume}]}]` | 资源树中物料节点的 **name**，配合液体配方 |
+
+### ResourceSlot（`unilabos_resources`）
+
+最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
+
+```json
+{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
+```
+
+- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
+- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
+- `id` 本身是从 parent 计算的路径格式
+- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
+
+> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
+
+### DeviceSlot（`unilabos_devices`）
+
+填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
+
+```
+"/host_node"
+"/bioyond_cell/reaction_station"
+```
+
+- 只填路径字符串，不需要 `{id, uuid}` 对象
+- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
+
+### NodeSlot（`unilabos_nodes`）
+
+范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
+
+```
+"/PRCXI/PRCXI_Deck"
+```
+
+- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
+
+### ClassSlot（`unilabos_class`）
+
+填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
+
+```
+"container"
+```
+
+### FormulationSlot（`unilabos_formulation`）
+
+描述**液体配方**：向哪些物料容器中加入哪些液体及体积。填写为**对象数组**：
+
+```json
+[
+  {
+    "sample_uuid": "",
+    "well_name": "YB_PrepBottle_15mL_Carrier_bottle_A1",
+    "liquids": [
+      { "name": "LiPF6", "volume": 0.6 },
+      { "name": "DMC", "volume": 1.2 }
+    ]
+  }
+]
+```
+
+#### 字段说明
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `sample_uuid` | string | 样品 UUID，无样品时传空字符串 `""` |
+| `well_name` | string | 目标物料容器的 **name**（从资源树中取物料节点的 `name` 字段，如瓶子、孔位名称） |
+| `liquids` | array | 要加入的液体列表 |
+| `liquids[].name` | string | 液体名称（如试剂名、溶剂名） |
+| `liquids[].volume` | number | 液体体积（单位由设备决定，通常为 mL） |
+
+#### 填写规则
+
+- `well_name` 必须是资源树中已存在的物料节点 `name`（不是 `id` 路径），通过 API #12 获取资源树后筛选
+- 每个数组元素代表一个目标容器的配方
+- 一个容器可以加入多种液体（`liquids` 数组多条记录）
+- 与 ResourceSlot 的区别：ResourceSlot 填 `{id, name, uuid}` 指向物料本身；FormulationSlot 用 `well_name` 引用物料，并附带液体配方信息
+
+### 通过 API #12 获取资源树
+
+```bash
+curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
+```
+
+注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
+
+## 最终目录结构
+
+```
+./<skill-name>/
+├── SKILL.md              # API 端点 + 渐进加载指引
+├── action-index.md       # 动作索引：描述/用途/核心参数
+└── actions/              # 每个 action 的完整 JSON Schema
+    ├── action1.json
+    ├── action2.json
+    └── ...
+```

.cursor/skills/create-device-skill/scripts/extract_device_actions.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+"""
+从 req_device_registry_upload.json 中提取指定设备的 action schema。
+
+用法:
+  # 列出所有设备及 action 数量（自动搜索注册表文件）
+  python extract_device_actions.py
+
+  # 指定注册表文件路径
+  python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
+
+  # 提取指定设备的 action 到目录
+  python extract_device_actions.py <device_id> <output_dir>
+  python extract_device_actions.py --registry <path> <device_id> <output_dir>
+
+示例:
+  python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
+  python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
+"""
+import json
+import os
+import sys
+from datetime import datetime
+
+REGISTRY_FILENAME = "req_device_registry_upload.json"
+
+def find_registry(explicit_path=None):
+    """
+    查找 req_device_registry_upload.json 文件。
+
+    搜索优先级：
+    1. 用户通过 --registry 显式指定的路径
+    2. <cwd>/unilabos_data/req_device_registry_upload.json
+    3. <cwd>/req_device_registry_upload.json
+    4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
+    5. 向上逐级搜索父目录（最多 5 层）
+    """
+    if explicit_path:
+        if os.path.isfile(explicit_path):
+            return explicit_path
+        if os.path.isdir(explicit_path):
+            fp = os.path.join(explicit_path, REGISTRY_FILENAME)
+            if os.path.isfile(fp):
+                return fp
+        print(f"警告: 指定的路径不存在: {explicit_path}")
+        return None
+
+    candidates = [
+        os.path.join("unilabos_data", REGISTRY_FILENAME),
+        REGISTRY_FILENAME,
+    ]
+
+    for c in candidates:
+        if os.path.isfile(c):
+            return c
+
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
+    for c in candidates:
+        path = os.path.join(workspace_root, c)
+        if os.path.isfile(path):
+            return path
+
+    cwd = os.getcwd()
+    for _ in range(5):
+        parent = os.path.dirname(cwd)
+        if parent == cwd:
+            break
+        cwd = parent
+        for c in candidates:
+            path = os.path.join(cwd, c)
+            if os.path.isfile(path):
+                return path
+
+    return None
+
+def load_registry(path):
+    with open(path, 'r', encoding='utf-8') as f:
+        return json.load(f)
+
+def list_devices(data):
+    """列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
+    resources = data.get('resources', [])
+    devices = []
+    for res in resources:
+        rid = res.get('id', '')
+        cls = res.get('class', {})
+        avm = cls.get('action_value_mappings', {})
+        module = cls.get('module', '')
+        if avm:
+            devices.append((rid, len(avm), module))
+    return devices
+
+def flatten_schema_to_goal(action_data):
+    """将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
+    schema = action_data.get('schema', {})
+    goal_schema = schema.get('properties', {}).get('goal', {})
+    if goal_schema:
+        action_data = dict(action_data)
+        action_data['schema'] = goal_schema
+    return action_data
+
+
+def extract_actions(data, device_id, output_dir):
+    """提取指定设备的 action schema 到独立 JSON 文件"""
+    resources = data.get('resources', [])
+    for res in resources:
+        if res.get('id') == device_id:
+            cls = res.get('class', {})
+            module = cls.get('module', '')
+            avm = cls.get('action_value_mappings', {})
+            if not avm:
+                print(f"设备 {device_id} 没有 action_value_mappings")
+                return []
+
+            if module:
+                py_path = module.split(":")[0].replace(".", "/") + ".py"
+                class_name = module.split(":")[-1] if ":" in module else ""
+                print(f"Python 源码: {py_path}")
+                if class_name:
+                    print(f"设备类: {class_name}")
+
+            os.makedirs(output_dir, exist_ok=True)
+            written = []
+            for action_name in sorted(avm.keys()):
+                action_data = flatten_schema_to_goal(avm[action_name])
+                filename = action_name.replace('-', '_') + '.json'
+                filepath = os.path.join(output_dir, filename)
+                with open(filepath, 'w', encoding='utf-8') as f:
+                    json.dump(action_data, f, indent=2, ensure_ascii=False)
+                written.append(filename)
+                print(f"  {filepath}")
+            return written
+
+    print(f"设备 {device_id} 未找到")
+    return []
+
+def main():
+    args = sys.argv[1:]
+    explicit_registry = None
+
+    if "--registry" in args:
+        idx = args.index("--registry")
+        if idx + 1 < len(args):
+            explicit_registry = args[idx + 1]
+            args = args[:idx] + args[idx + 2:]
+        else:
+            print("错误: --registry 需要指定路径")
+            sys.exit(1)
+
+    registry_path = find_registry(explicit_registry)
+    if not registry_path:
+        print(f"错误: 找不到 {REGISTRY_FILENAME}")
+        print()
+        print("解决方法:")
+        print("  1. 先运行 unilab 启动命令，等待注册表生成")
+        print("  2. 用 --registry 指定文件路径:")
+        print(f"     python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
+        print()
+        print("搜索过的路径:")
+        for p in [
+            os.path.join("unilabos_data", REGISTRY_FILENAME),
+            REGISTRY_FILENAME,
+            os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
+        ]:
+            print(f"  - {p}")
+        sys.exit(1)
+
+    print(f"注册表: {registry_path}")
+    mtime = os.path.getmtime(registry_path)
+    gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
+    size_mb = os.path.getsize(registry_path) / (1024 * 1024)
+    print(f"生成时间: {gen_time}  (文件大小: {size_mb:.1f} MB)")
+    data = load_registry(registry_path)
+
+    if len(args) == 0:
+        devices = list_devices(data)
+        print(f"\n找到 {len(devices)} 个设备:")
+        print(f"{'设备 ID':<50} {'Actions':>7}  {'Python 模块'}")
+        print("-" * 120)
+        for did, count, module in sorted(devices, key=lambda x: x[0]):
+            py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
+            print(f"{did:<50} {count:>7}  {py_path}")
+
+    elif len(args) == 2:
+        device_id = args[0]
+        output_dir = args[1]
+        print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
+        written = extract_actions(data, device_id, output_dir)
+        if written:
+            print(f"\n共写入 {len(written)} 个 action 文件")
+
+    else:
+        print("用法:")
+        print("  python extract_device_actions.py [--registry <path>]                # 列出设备")
+        print("  python extract_device_actions.py [--registry <path>] <device_id> <dir>  # 提取 actions")
+        sys.exit(1)
+
+if __name__ == '__main__':
+    main()

.cursor/skills/create-device-skill/scripts/gen_auth.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+"""
+从 ak/sk 生成 UniLab API Authorization header。
+
+算法: base64(ak:sk) → "Authorization: Lab <token>"
+
+用法:
+  python gen_auth.py <ak> <sk>
+  python gen_auth.py --config <config.py>
+
+示例:
+  python gen_auth.py myak mysk
+  python gen_auth.py --config experiments/config.py
+"""
+import base64
+import re
+import sys
+
+
+def gen_auth(ak: str, sk: str) -> str:
+    token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
+    return token
+
+
+def extract_from_config(config_path: str) -> tuple:
+    """从 config.py 中提取 ak 和 sk"""
+    with open(config_path, "r", encoding="utf-8") as f:
+        content = f.read()
+    ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
+    sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
+    if not ak_match or not sk_match:
+        return None, None
+    return ak_match.group(1), sk_match.group(1)
+
+
+def main():
+    args = sys.argv[1:]
+
+    if len(args) == 2 and args[0] == "--config":
+        ak, sk = extract_from_config(args[1])
+        if not ak or not sk:
+            print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
+            print("期望格式: ak = \"xxx\"  sk = \"xxx\"")
+            sys.exit(1)
+        print(f"配置文件: {args[1]}")
+    elif len(args) == 2:
+        ak, sk = args
+    else:
+        print("用法:")
+        print("  python gen_auth.py <ak> <sk>")
+        print("  python gen_auth.py --config <config.py>")
+        sys.exit(1)
+
+    token = gen_auth(ak, sk)
+    print(f"ak: {ak}")
+    print(f"sk: {sk}")
+    print()
+    print(f"Authorization header:")
+    print(f"  Authorization: Lab {token}")
+    print()
+    print(f"curl 用法:")
+    print(f'  curl -H "Authorization: Lab {token}" ...')
+    print()
+    print(f"Shell 变量:")
+    print(f'  AUTH="Authorization: Lab {token}"')
+
+
+if __name__ == "__main__":
+    main()

.cursor/skills/submit-agent-result/SKILL.md

@@ -0,0 +1,275 @@
+---
+name: submit-agent-result
+description: Submit historical experiment results (agent_result) to Uni-Lab notebook — read data files, assemble JSON payload, PUT to cloud API. Use when the user wants to submit experiment results, upload agent results, report experiment data, or mentions agent_result/实验结果/历史记录/notebook结果.
+---
+
+# 提交历史实验记录指南
+
+通过云端 API 向已创建的 notebook 提交实验结果数据（agent_result）。支持从 JSON / CSV 文件读取数据，整合后提交。
+
+## 前置条件（缺一不可）
+
+使用本指南前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
+
+### 1. ak / sk → AUTH
+
+询问用户的启动参数，从 `--ak` `--sk` 或 config.py 中获取。
+
+生成 AUTH token：
+
+```bash
+python -c "import base64,sys; print(base64.b64encode(f'{sys.argv[1]}:{sys.argv[2]}'.encode()).decode())" <ak> <sk>
+```
+
+输出即为 token 值，拼接为 `Authorization: Lab <token>`。
+
+### 2. --addr → BASE URL
+
+| `--addr` 值 | BASE |
+|-------------|------|
+| `test` | `https://uni-lab.test.bohrium.com` |
+| `uat` | `https://uni-lab.uat.bohrium.com` |
+| `local` | `http://127.0.0.1:48197` |
+| 不传（默认） | `https://uni-lab.bohrium.com` |
+
+确认后设置：
+```bash
+BASE="<根据 addr 确定的 URL>"
+AUTH="Authorization: Lab <上面命令输出的 token>"
+```
+
+### 3. notebook_uuid（**必须询问用户**）
+
+**必须主动询问用户**：「请提供要提交结果的 notebook UUID。」
+
+notebook_uuid 来自之前通过「批量提交实验」创建的实验批次，即 `POST /api/v1/lab/notebook` 返回的 `data.uuid`。
+
+如果用户不记得，可提示：
+- 查看之前的对话记录中创建 notebook 时返回的 UUID
+- 或通过平台页面查找对应的 notebook
+
+**绝不能跳过此步骤，没有 notebook_uuid 无法提交。**
+
+### 4. 实验结果数据
+
+用户需要提供实验结果数据，支持以下方式：
+
+| 方式 | 说明 |
+|------|------|
+| JSON 文件 | 直接作为 `agent_result` 的内容合并 |
+| CSV 文件 | 转为 `{"文件名": [行数据...]}` 格式 |
+| 手动指定 | 用户直接告知 key-value 数据，由 agent 构建 JSON |
+
+**四项全部就绪后才可开始。**
+
+## Session State
+
+在整个对话过程中，agent 需要记住以下状态：
+
+- `lab_uuid` — 实验室 UUID（通过 API #1 自动获取，**不需要问用户**）
+- `notebook_uuid` — 目标 notebook UUID（**必须询问用户**）
+
+## 请求约定
+
+所有请求使用 `curl -s`，PUT 需加 `Content-Type: application/json`。
+
+> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名），示例中的 `curl` 均指 `curl.exe`。
+>
+> **PowerShell JSON 传参**：PowerShell 中 `-d '{"key":"value"}'` 会因引号转义失败。请将 JSON 写入临时文件，用 `-d '@tmp_body.json'`（单引号包裹 `@`，否则 `@` 会被 PowerShell 解析为 splatting 运算符导致报错）。
+
+---
+
+## API Endpoints
+
+### 1. 获取实验室信息（自动获取 lab_uuid）
+
+```bash
+curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
+```
+
+返回：
+
+```json
+{"code": 0, "data": {"uuid": "xxx", "name": "实验室名称"}}
+```
+
+记住 `data.uuid` 为 `lab_uuid`。
+
+### 2. 提交实验结果（agent_result）
+
+```bash
+curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '<request_body>'
+```
+
+请求体结构：
+
+```json
+{
+    "notebook_uuid": "<notebook_uuid>",
+    "agent_result": {
+        "<key1>": "<value1>",
+        "<key2>": 123,
+        "<nested_key>": {"a": 1, "b": 2},
+        "<array_key>": [{"col1": "v1", "col2": "v2"}, ...]
+    }
+}
+```
+
+> **注意**：HTTP 方法是 **PUT**（不是 POST）。
+
+#### 必要字段
+
+| 字段 | 类型 | 说明 |
+|------|------|------|
+| `notebook_uuid` | string (UUID) | 目标 notebook 的 UUID，从批量提交实验时获取 |
+| `agent_result` | object | 实验结果数据，任意 JSON 对象 |
+
+#### agent_result 内容格式
+
+`agent_result` 接受**任意 JSON 对象**，常见格式：
+
+**简单键值对**：
+```json
+{
+    "avg_rtt_ms": 12.5,
+    "status": "success",
+    "test_count": 5
+}
+```
+
+**包含嵌套结构**：
+```json
+{
+    "summary": {"total": 100, "passed": 98, "failed": 2},
+    "measurements": [
+        {"sample_id": "S001", "value": 3.14, "unit": "mg/mL"},
+        {"sample_id": "S002", "value": 2.71, "unit": "mg/mL"}
+    ]
+}
+```
+
+**从 CSV 文件导入**（脚本自动转换）：
+```json
+{
+    "experiment_data": [
+        {"温度": 25, "压力": 101.3, "产率": 0.85},
+        {"温度": 30, "压力": 101.3, "产率": 0.91}
+    ]
+}
+```
+
+---
+
+## 整合脚本
+
+本文档同级目录下的 `scripts/prepare_agent_result.py` 可自动读取文件并构建请求体。
+
+### 用法
+
+```bash
+python scripts/prepare_agent_result.py \
+    --notebook-uuid <uuid> \
+    --files data1.json data2.csv \
+    [--auth <token>] \
+    [--base <BASE_URL>] \
+    [--submit] \
+    [--output <output.json>]
+```
+
+| 参数 | 必选 | 说明 |
+|------|------|------|
+| `--notebook-uuid` | 是 | 目标 notebook UUID |
+| `--files` | 是 | 输入文件路径（支持多个，JSON / CSV） |
+| `--auth` | 提交时必选 | Lab token（base64(ak:sk)） |
+| `--base` | 提交时必选 | API base URL |
+| `--submit` | 否 | 加上此标志则直接提交到云端 |
+| `--output` | 否 | 输出 JSON 路径（默认 `agent_result_body.json`） |
+
+### 文件合并规则
+
+| 文件类型 | 合并方式 |
+|----------|----------|
+| `.json`（dict） | 字段直接合并到 `agent_result` 顶层 |
+| `.json`（list/other） | 以文件名为 key 放入 `agent_result` |
+| `.csv` | 以文件名（不含扩展名）为 key，值为行对象数组 |
+
+多个文件的字段会合并。JSON dict 中的重复 key 后者覆盖前者。
+
+### 示例
+
+```bash
+# 仅生成请求体文件（不提交）
+python scripts/prepare_agent_result.py \
+    --notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
+    --files results.json measurements.csv
+
+# 生成并直接提交
+python scripts/prepare_agent_result.py \
+    --notebook-uuid 73c67dca-c8cc-4936-85a0-329106aa7cca \
+    --files results.json \
+    --auth YTFmZDlkNGUt... \
+    --base https://uni-lab.test.bohrium.com \
+    --submit
+```
+
+---
+
+## 手动构建方式
+
+如果不使用脚本，也可手动构建请求体：
+
+1. 将实验结果数据组装为 JSON 对象
+2. 写入临时文件：
+
+```json
+{
+    "notebook_uuid": "<uuid>",
+    "agent_result": { ... }
+}
+```
+
+3. 用 curl 提交：
+
+```bash
+curl -s -X PUT "$BASE/api/v1/lab/notebook/agent-result" \
+  -H "$AUTH" -H "Content-Type: application/json" \
+  -d '@tmp_body.json'
+```
+
+---
+
+## 完整工作流 Checklist
+
+```
+Task Progress:
+- [ ] Step 1: 确认 ak/sk → 生成 AUTH token
+- [ ] Step 2: 确认 --addr → 设置 BASE URL
+- [ ] Step 3: GET /edge/lab/info → 获取 lab_uuid
+- [ ] Step 4: **询问用户** notebook_uuid（必须，不可跳过）
+- [ ] Step 5: 确认实验结果数据来源（文件路径或手动数据）
+- [ ] Step 6: 运行 prepare_agent_result.py 或手动构建请求体
+- [ ] Step 7: PUT /lab/notebook/agent-result 提交
+- [ ] Step 8: 检查返回结果，确认提交成功
+```
+
+---
+
+## 常见问题
+
+### Q: notebook_uuid 从哪里获取？
+
+从之前「批量提交实验」时 `POST /api/v1/lab/notebook` 的返回值 `data.uuid` 获取。也可以在平台 UI 中查找对应的 notebook。
+
+### Q: agent_result 有固定的 schema 吗？
+
+没有严格 schema，接受任意 JSON 对象。但建议包含有意义的字段名和结构化数据，方便后续分析。
+
+### Q: 可以多次提交同一个 notebook 的结果吗？
+
+可以，后续提交会覆盖之前的 agent_result。
+
+### Q: 认证方式是 Lab 还是 Api？
+
+本指南统一使用 `Authorization: Lab <base64(ak:sk)>` 方式。如果用户有独立的 API Key，也可用 `Authorization: Api <key>` 替代。

.cursor/skills/submit-agent-result/scripts/prepare_agent_result.py

@@ -0,0 +1,133 @@
+"""
+读取实验结果文件（JSON / CSV），整合为 agent_result 请求体并可选提交。
+
+用法:
+    python prepare_agent_result.py \
+        --notebook-uuid <uuid> \
+        --files data1.json data2.csv \
+        [--auth <Lab token>] \
+        [--base <BASE_URL>] \
+        [--submit] \
+        [--output <output.json>]
+
+支持的输入文件格式:
+    - .json  → 直接作为 dict 合并
+    - .csv   → 转为 {"filename": [row_dict, ...]} 格式
+"""
+
+import argparse
+import base64
+import csv
+import json
+import os
+import sys
+from pathlib import Path
+from typing import Any, Dict, List
+
+
+def read_json_file(filepath: str) -> Dict[str, Any]:
+    with open(filepath, "r", encoding="utf-8") as f:
+        return json.load(f)
+
+
+def read_csv_file(filepath: str) -> List[Dict[str, Any]]:
+    rows = []
+    with open(filepath, "r", encoding="utf-8-sig") as f:
+        reader = csv.DictReader(f)
+        for row in reader:
+            converted = {}
+            for k, v in row.items():
+                try:
+                    converted[k] = int(v)
+                except (ValueError, TypeError):
+                    try:
+                        converted[k] = float(v)
+                    except (ValueError, TypeError):
+                        converted[k] = v
+            rows.append(converted)
+    return rows
+
+
+def merge_files(filepaths: List[str]) -> Dict[str, Any]:
+    """将多个文件合并为一个 agent_result dict"""
+    merged: Dict[str, Any] = {}
+    for fp in filepaths:
+        path = Path(fp)
+        ext = path.suffix.lower()
+        key = path.stem
+
+        if ext == ".json":
+            data = read_json_file(fp)
+            if isinstance(data, dict):
+                merged.update(data)
+            else:
+                merged[key] = data
+        elif ext == ".csv":
+            merged[key] = read_csv_file(fp)
+        else:
+            print(f"[警告] 不支持的文件格式: {fp}，跳过", file=sys.stderr)
+
+    return merged
+
+
+def build_request_body(notebook_uuid: str, agent_result: Dict[str, Any]) -> Dict[str, Any]:
+    return {
+        "notebook_uuid": notebook_uuid,
+        "agent_result": agent_result,
+    }
+
+
+def submit(base: str, auth: str, body: Dict[str, Any]) -> Dict[str, Any]:
+    try:
+        import requests
+    except ImportError:
+        print("[错误] 提交需要 requests 库: pip install requests", file=sys.stderr)
+        sys.exit(1)
+
+    url = f"{base}/api/v1/lab/notebook/agent-result"
+    headers = {
+        "Content-Type": "application/json",
+        "Authorization": f"Lab {auth}",
+    }
+    resp = requests.put(url, json=body, headers=headers, timeout=30)
+    return {"status_code": resp.status_code, "body": resp.json() if resp.headers.get("content-type", "").startswith("application/json") else resp.text}
+
+
+def main():
+    parser = argparse.ArgumentParser(description="整合实验结果文件并构建 agent_result 请求体")
+    parser.add_argument("--notebook-uuid", required=True, help="目标 notebook UUID")
+    parser.add_argument("--files", nargs="+", required=True, help="输入文件路径（JSON / CSV）")
+    parser.add_argument("--auth", help="Lab token（base64(ak:sk)）")
+    parser.add_argument("--base", help="API base URL")
+    parser.add_argument("--submit", action="store_true", help="直接提交到云端")
+    parser.add_argument("--output", default="agent_result_body.json", help="输出 JSON 文件路径")
+
+    args = parser.parse_args()
+
+    for fp in args.files:
+        if not os.path.exists(fp):
+            print(f"[错误] 文件不存在: {fp}", file=sys.stderr)
+            sys.exit(1)
+
+    agent_result = merge_files(args.files)
+    body = build_request_body(args.notebook_uuid, agent_result)
+
+    with open(args.output, "w", encoding="utf-8") as f:
+        json.dump(body, f, ensure_ascii=False, indent=2)
+    print(f"[完成] 请求体已保存: {args.output}")
+    print(f"  notebook_uuid: {args.notebook_uuid}")
+    print(f"  agent_result 字段数: {len(agent_result)}")
+    print(f"  合并文件数: {len(args.files)}")
+
+    if args.submit:
+        if not args.auth or not args.base:
+            print("[错误] 提交需要 --auth 和 --base 参数", file=sys.stderr)
+            sys.exit(1)
+        print(f"\n[提交] PUT {args.base}/api/v1/lab/notebook/agent-result ...")
+        result = submit(args.base, args.auth, body)
+        print(f"  HTTP {result['status_code']}")
+        print(f"  响应: {json.dumps(result['body'], ensure_ascii=False)}")
+
+
+if __name__ == "__main__":
+    main()

CLAUDE.md

@@ -1,95 +1,4 @@
-# CLAUDE.md
 
-This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+Please follow the rules defined in:
 
-## Build & Development
-
-```bash
-# Install (requires mamba env with python 3.11)
-mamba create -n unilab python=3.11.14
-mamba activate unilab
-mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
-pip install -e .
-uv pip install -r unilabos/utils/requirements.txt
-
-# Run with a device graph
-unilab --graph <graph.json> --config <config.py> --backend ros
-unilab --graph <graph.json> --config <config.py> --backend simple  # no ROS2 needed
-
-# Common CLI flags
-unilab --app_bridges websocket fastapi    # communication bridges
-unilab --test_mode                        # simulate hardware, no real execution
-unilab --check_mode                       # CI validation of registry imports (AST-based)
-unilab --skip_env_check                   # skip auto-install of dependencies
-unilab --visual rviz|web|disable          # visualization mode
-unilab --is_slave                         # run as slave node
-unilab --restart_mode                     # auto-restart on config changes (supervisor/child process)
-
-# Workflow upload subcommand
-unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
-
-# Tests
-pytest tests/                              # all tests
-pytest tests/resources/test_resourcetreeset.py  # single test file
-pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method  # single test
-
-# CI check (matches .github/workflows/ci-check.yml)
-python -m unilabos --check_mode --skip_env_check
-```
-
-## Architecture
-
-### Startup Flow
-
-`unilab` CLI (entry point in `setup.py`) → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
-
-### Core Layers
-
-**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices. Two registration mechanisms: YAML definitions in `registry/devices/*.yaml` and Python decorators (`@device`, `@action`, `@resource` in `registry/decorators.py`). AST scanning discovers decorated classes without importing them. Class paths resolved to Python classes via `utils/import_manager.py`.
-
-**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources. Graph I/O in `resources/graphio.py` reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`.
-
-**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by category (liquid_handling, hplc, balance, arm, etc.). Each driver class gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` into a `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`) with publishers, subscribers, and action servers.
-
-**ROS2 Layer** (`unilabos/ros/`): Preset node types in `ros/nodes/presets/` — `host_node` (main orchestrator, ~90KB), `controller_node`, `workstation`, `serial_node`, `camera`, `resource_mesh_manager`. Custom messages in `unilabos_msgs/` (80+ action types, pre-built via conda `ros-humble-unilabos-msgs`).
-
-**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) registered in `__init__.py:action_protocol_generators` dict. Utility parsers in `compile/utils/` (vessel, unit, logger).
-
-**Workflow** (`unilabos/workflow/`): Converts workflow definitions from multiple formats — JSON (`convert_from_json.py`, `common.py`), Python scripts (`from_python_script.py`), XDL (`from_xdl.py`) — into executable `WorkflowGraph`. Legacy converters in `workflow/legacy/`.
-
-**Communication** (`unilabos/device_comms/`): Hardware adapters — OPC-UA, Modbus PLC, RPC, universal driver. `app/communication.py` provides factory pattern for WebSocket connections.
-
-**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 templates (`pages.py`), HTTP client (`client.py`). Default port 8002.
-
-### Configuration System
-
-- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — class-level attributes, loaded from Python `.py` config files (see `config/example_config.py`)
-- Environment variable overrides with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
-- Device topology defined in graph files (JSON node-link format or GraphML)
-
-### Key Data Flow
-
-1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
-2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
-3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
-4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
-
-### Test Data
-
-Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
-
-## Code Conventions
-
-- Code comments and log messages in **simplified Chinese**
-- Python 3.11+, type hints expected
-- Pydantic models for data validation (`resource_tracker.py`)
-- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
-- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
-- CLI argument dashes auto-converted to underscores for consistency
-- No linter/formatter configuration enforced (no ruff, black, flake8, mypy configs)
-- Documentation built with Sphinx (Chinese language, `sphinx_rtd_theme`, `myst_parser`)
-
-## Licensing
-
-- Framework code: GPL-3.0
-- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
+@AGENTS.md

docs/moveit2_integration_summary.md

@@ -467,43 +467,58 @@ set_status(command_json)
 #### 2.1.9 核心方法详解：`pick_and_place`
 
 ```python
-def pick_and_place(self, command: str)
+def pick_and_place(
+    self,
+    option: str,
+    move_group: str,
+    status: str,
+    resource: Optional[str] = None,
+    x_distance: Optional[float] = None,
+    y_distance: Optional[float] = None,
+    lift_height: Optional[float] = None,
+    retry: Optional[int] = None,
+    speed: Optional[float] = None,
+    target: Optional[str] = None,
+    constraints: Optional[Sequence[float]] = None,
+) -> None:
 ```
 
 这是 `MoveitInterface` 最复杂的方法，实现了完整的抓取-放置工作流。它动态构建一个**有序函数列表** (`function_list`)，然后顺序执行。
 
-**JSON 指令格式（完整参数）：**
+**破坏性变更（注册表 / 客户端）**：`pick_and_place` 在注册表中由 **SendCmd**（单字段 `command` JSON 字符串）改为 **UniLabJsonCommand**，goal 为与上表同名的**结构化字段**。云端与其它调用方需按 schema 提交 goal，而不再把整段 JSON 塞进 `command`。
+
+**动作 goal 示例（字段与旧版 JSON 一致，现为结构化 goal）：**
 
 ```json
 {
-    "option": "pick",                         // *必须: pick/place/side_pick/side_place
-    "move_group": "arm",                      // *必须: MoveIt2 规划组名
-    "status": "pick_station_A",               // *必须: 在 joint_poses 中的目标状态名
-    "resource": "beaker_1",                   //  要操作的资源名称
-    "target": "custom_link",                  //  pick 时资源附着的目标 link (默认末端执行器)
-    "lift_height": 0.05,                      //  抬升高度 (米)
-    "x_distance": 0.1,                        //  X 方向水平移动距离 (米)
-    "y_distance": 0.0,                        //  Y 方向水平移动距离 (米)
-    "speed": 0.5,                             //  运动速度因子 (0.1~1.0)
-    "retry": 10,                              //  规划失败重试次数
-    "constraints": [0, 0, 0, 0.5, 0, 0]       //  各关节约束容差 (>0 时生效)
+    "option": "pick",
+    "move_group": "arm",
+    "status": "pick_station_A",
+    "resource": "beaker_1",
+    "target": "custom_link",
+    "lift_height": 0.05,
+    "x_distance": 0.1,
+    "y_distance": 0.0,
+    "speed": 0.5,
+    "retry": 10,
+    "constraints": [0, 0, 0, 0.5, 0, 0]
 }
 ```
 
-##### 阶段 1：指令解析与动作类型判定
+##### 阶段 1：参数与动作类型判定
 
 ```
-pick_and_place(command_json)
+pick_and_place(option, move_group, status, ...)
     │
-    ├── JSON 解析
+    ├── 校验 option ∈ move_option，否则直接 return
     ├── 动作类型判定:
     │   move_option = ["pick", "place", "side_pick", "side_place"]
     │                    0        1         2            3
-    │   option_index = move_option.index(cmd["option"])
+    │   option_index = move_option.index(option)
     │   place_flag   = option_index % 2    ← 0=pick类, 1=place类
     │
     ├── 提取运动参数:
-    │   config = {speed, retry, move_group}  ← 从 cmd_dict 中按需提取
+    │   config = { move_group }；若 speed/retry 非 None 则写入 config
     │
     └── 获取目标关节位姿:
         joint_positions_ = joint_poses[move_group][status]
@@ -515,7 +530,7 @@ pick_and_place(command_json)
 根据 place_flag 决定资源 TF 操作:
 
     if pick 类 (place_flag == 0):
-        if "target" 已指定:
+        if target is not None:
             function_list += [resource_manager(resource, target)]       ← 挂到自定义 link
         else:
             function_list += [resource_manager(resource, end_effector)] ← 挂到末端执行器
@@ -527,7 +542,7 @@ pick_and_place(command_json)
 ##### 阶段 3：构建关节约束
 
 ```
-if "constraints" 存在于指令中:
+if constraints is not None:
     for i, tolerance in enumerate(constraints):
         if tolerance > 0:
             JointConstraint(
@@ -546,7 +561,7 @@ if "constraints" 存在于指令中:
 这是最复杂的场景，涉及 FK/IK 计算和多段运动拼接：
 
 ```
-if "lift_height" 存在:
+if lift_height is not None:
     │
     ├── Step 1: FK 计算 → 获取目标关节配置对应的末端位姿
     │   retval = compute_fk(joint_positions_)   ← 可能需要重试
@@ -562,12 +577,12 @@ if "lift_height" 存在:
     │   function_list += [moveit_task(position=pose_lifted, ...)]
     │
     ├── Step 4 (可选): 水平移动
-    │   if "x_distance":
+    │   if x_distance is not None:
     │       deep_pose = copy(pose_lifted)
     │       deep_pose[0] += x_distance
     │       function_list = [moveit_task(pose_lifted)] + function_list
     │       function_list += [moveit_task(deep_pose)]
-    │   elif "y_distance":
+    │   elif y_distance is not None:
     │       类似处理 Y 方向
     │
     ├── Step 5: IK 预计算 → 将末端位姿转换为安全的关节配置
@@ -585,7 +600,7 @@ if "lift_height" 存在:
 ##### 阶段 4B：无 `lift_height` 的简单流程
 
 ```
-else (无 lift_height):
+else (lift_height is None):
     │
     └── 直接关节运动到目标位姿
         function_list = [moveit_joint_task(joint_positions_)] + function_list
@@ -600,10 +615,10 @@ for i, func in enumerate(function_list):
     │   i == 0: cartesian_flag = False    ← 第一步用自由空间规划（大范围移动）
     │   i >  0: cartesian_flag = True     ← 后续用笛卡尔直线规划（精确控制）
     │
-    ├── result = func()                   ← 执行动作
+    ├── re = func()                       ← 执行动作
     │
-    └── if not result:
-        return failure                    ← 任一步骤失败即中止
+    └── if not re:
+        return（无返回值，不构造 SendCmd.Result）← 任一步骤失败即中止
 ```
 
 ##### 完整 pick 流程示例（含 lift_height + x_distance）
@@ -657,10 +672,10 @@ for i, func in enumerate(function_list):
 | `.move_to_pose(...)` | `moveit_task` L129-137 | 笛卡尔空间运动规划与执行 |
 | `.wait_until_executed()` | `moveit_task` L138, `moveit_joint_task` L157 | 阻塞等待运动完成 |
 | `.move_to_configuration(...)` | `moveit_joint_task` L156 | 关节空间运动规划与执行 |
-| `.compute_fk(...)` | `pick_and_place` L244, `moveit_joint_task` L160 | 正运动学：关节角 → 末端位姿 |
-| `.compute_ik(...)` | `pick_and_place` L298-300 | 逆运动学：末端位姿 → 关节角（含约束） |
-| `.end_effector_name` | `pick_and_place` L218 | 获取末端执行器 link 名 |
-| `.joint_names` | `pick_and_place` L232, L308, L313 | 获取关节名列表 |
+| `.compute_fk(...)` | `pick_and_place`, `moveit_joint_task` | 正运动学：关节角 → 末端位姿 |
+| `.compute_ik(...)` | `pick_and_place` | 逆运动学：末端位姿 → 关节角（含约束） |
+| `.end_effector_name` | `pick_and_place` | 获取末端执行器 link 名 |
+| `.joint_names` | `pick_and_place` | 获取关节名列表 |
 
 ---
 
@@ -668,11 +683,11 @@ for i, func in enumerate(function_list):
 
 | 场景 | 处理方式 |
 |------|---------|
-| FK 计算失败 | 最多重试 `retry` 次（每次间隔 0.1s），超时返回 `result.success = False` |
+| FK 计算失败 | 最多重试 `retry` 次（每次间隔 0.1s），超时则提前 `return`（无返回值） |
 | IK 计算失败 | 同上 |
 | 运动规划失败 | 在 `moveit_task` / `moveit_joint_task` 中最多重试 `retry+1` 次 |
-| 动作序列中任一步失败 | `pick_and_place` 立即中止并返回 `result.success = False` |
-| 未知异常 | `pick_and_place` 和 `set_status` 捕获 Exception，重置 `cartesian_flag`，返回失败 |
+| 动作序列中任一步失败 | `pick_and_place` 立即中止并 `return`（不返回 `SendCmd.Result`） |
+| 未知异常 | `pick_and_place` 捕获 Exception，打印并重置 `cartesian_flag`（`set_status` 仍返回 SendCmd.Result） |
 
 ---
 
@@ -702,7 +717,8 @@ for i, func in enumerate(function_list):
 ```
 外部系统 (base_device_node)
     │
-    │  JSON 指令字符串
+    │  set_position/set_status: JSON 指令字符串（SendCmd.command）
+    │  pick_and_place: UniLabJsonCommand 结构化 goal → Python 关键字参数
     ▼
 ┌── MoveitInterface ──────────────────────────────────────────────────┐
 │                                                                     │
@@ -710,7 +726,7 @@ for i, func in enumerate(function_list):
 │                                                                     │
 │  set_status(cmd) ──→ moveit_joint_task() ──→ MoveIt2.move_to_config│
 │                                                                     │
-│  pick_and_place(cmd)                                                │
+│  pick_and_place(option, move_group, status, ...)                    │
 │    │                                                                │
 │    ├─ MoveIt2.compute_fk() ─── /compute_fk service ──→ move_group  │
 │    ├─ MoveIt2.compute_ik() ─── /compute_ik service ──→ move_group  │
@@ -963,7 +979,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
     module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
     type: python
     action_value_mappings:
-      pick_and_place: ...    # SendCmd Action（JSON 指令）
+      pick_and_place: ...    # UniLabJsonCommand（结构化 goal，与 Python 签名一致）
       set_position: ...      # SendCmd Action
       set_status: ...        # SendCmd Action
       auto-moveit_task: ...  # 自动发现的方法（UniLabJsonCommand）

test/devices/test_prcxi.py

@@ -0,0 +1,539 @@
+import pytest
+import json
+import os
+import asyncio
+import collections
+from typing import List, Dict, Any
+
+from pylabrobot.resources import Coordinate
+from pylabrobot.resources.opentrons.tip_racks import opentrons_96_tiprack_300ul, opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import (
+    PRCXI9300Deck,
+    PRCXI9300Container,
+    PRCXI9300Trash,
+    PRCXI9300Handler,
+    PRCXI9300Backend,
+    DefaultLayout,
+    Material,
+    WorkTablets,
+    MatrixInfo
+)
+
+
+@pytest.fixture
+def prcxi_materials() -> Dict[str, Any]:
+    """加载 PRCXI 物料数据"""
+    print("加载 PRCXI 物料数据...")
+    material_path = os.path.join(os.path.dirname(__file__), "..", "..", "unilabos", "devices", "liquid_handling", "prcxi", "prcxi_material.json")
+    with open(material_path, "r", encoding="utf-8") as f:
+        data = json.load(f)
+    print(f"加载了 {len(data)} 条物料数据")
+    return data
+
+
+@pytest.fixture
+def prcxi_9300_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9300 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9300", size_x=100, size_y=100, size_z=100, model="9300")
+
+
+@pytest.fixture
+def prcxi_9320_deck() -> PRCXI9300Deck:
+    """创建 PRCXI 9320 工作台"""
+    return PRCXI9300Deck(name="PRCXI_Deck_9320", size_x=100, size_y=100, size_z=100, model="9320")
+
+
+@pytest.fixture
+def prcxi_9300_handler(prcxi_9300_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9300 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9300_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=8,
+        axis="Left",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9300"
+    )
+
+
+@pytest.fixture
+def prcxi_9320_handler(prcxi_9320_deck) -> PRCXI9300Handler:
+    """创建 PRCXI 9320 处理器（模拟模式）"""
+    return PRCXI9300Handler(
+        deck=prcxi_9320_deck,
+        host="192.168.1.201",
+        port=9999,
+        timeout=10.0,
+        channel_num=1,
+        axis="Right",
+        setup=False,
+        debug=True,
+        simulator=True,
+        matrix_id="test-matrix-9320",
+        is_9320=True
+    )
+
+
+@pytest.fixture
+def tip_rack_300ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 300μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_300ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["300μL Tip头"]["uuid"],
+            "Code": "ZX-001-300",
+            "Name": "300μL Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def tip_rack_10ul(prcxi_materials) -> PRCXI9300Container:
+    """创建 10μL 枪头盒"""
+    tip_rack = PRCXI9300Container(
+        name="tip_rack_10ul",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="tip_rack",
+        ordering=collections.OrderedDict()
+    )
+    tip_rack.load_state({
+        "Material": {
+            "uuid": prcxi_materials["10μL加长 Tip头"]["uuid"],
+            "Code": "ZX-001-10+",
+            "Name": "10μL加长 Tip头"
+        }
+    })
+    return tip_rack
+
+
+@pytest.fixture
+def well_plate_96(prcxi_materials) -> PRCXI9300Container:
+    """创建 96 孔板"""
+    plate = PRCXI9300Container(
+        name="well_plate_96",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def deep_well_plate(prcxi_materials) -> PRCXI9300Container:
+    """创建深孔板"""
+    plate = PRCXI9300Container(
+        name="deep_well_plate",
+        size_x=50,
+        size_y=50,
+        size_z=10,
+        category="plate",
+        ordering=collections.OrderedDict()
+    )
+    plate.load_state({
+        "Material": {
+            "uuid": prcxi_materials["96深孔板"]["uuid"],
+            "Code": "ZX-019-2.2",
+            "Name": "96深孔板"
+        }
+    })
+    return plate
+
+
+@pytest.fixture
+def trash_container(prcxi_materials) -> PRCXI9300Trash:
+    """创建垃圾桶"""
+    trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+    trash.load_state({
+        "Material": {
+            "uuid": prcxi_materials["废弃槽"]["uuid"]
+        }
+    })
+    return trash
+
+
+@pytest.fixture
+def default_layout_9300() -> DefaultLayout:
+    """创建 PRCXI 9300 默认布局"""
+    return DefaultLayout("PRCXI9300")
+
+
+@pytest.fixture
+def default_layout_9320() -> DefaultLayout:
+    """创建 PRCXI 9320 默认布局"""
+    return DefaultLayout("PRCXI9320")
+
+
+class TestPRCXIDeckSetup:
+    """测试 PRCXI 工作台设置功能"""
+
+    def test_prcxi_9300_deck_creation(self, prcxi_9300_deck):
+        """测试 PRCXI 9300 工作台创建"""
+        assert prcxi_9300_deck.name == "PRCXI_Deck_9300"
+        assert len(prcxi_9300_deck.sites) == 6
+        assert prcxi_9300_deck._size_x == 100
+        assert prcxi_9300_deck._size_y == 100
+        assert prcxi_9300_deck._size_z == 100
+
+    def test_prcxi_9320_deck_creation(self, prcxi_9320_deck):
+        """测试 PRCXI 9320 工作台创建"""
+        assert prcxi_9320_deck.name == "PRCXI_Deck_9320"
+        assert len(prcxi_9320_deck.sites) == 16
+        assert prcxi_9320_deck._size_x == 100
+        assert prcxi_9320_deck._size_y == 100
+        assert prcxi_9320_deck._size_z == 100
+
+    def test_container_assignment(self, prcxi_9300_deck, tip_rack_300ul, well_plate_96, trash_container):
+        """测试容器分配到工作台"""
+        # 分配枪头盒
+        prcxi_9300_deck.assign_child_resource(tip_rack_300ul, location=Coordinate(0, 0, 0))
+        assert tip_rack_300ul in prcxi_9300_deck.children
+        
+        # 分配孔板
+        prcxi_9300_deck.assign_child_resource(well_plate_96, location=Coordinate(0, 0, 0))
+        assert well_plate_96 in prcxi_9300_deck.children
+        
+        # 分配垃圾桶
+        prcxi_9300_deck.assign_child_resource(trash_container, location=Coordinate(0, 0, 0))
+        assert trash_container in prcxi_9300_deck.children
+
+    def test_container_material_loading(self, tip_rack_300ul, well_plate_96, prcxi_materials):
+        """测试容器物料信息加载"""
+        # 测试枪头盒物料信息
+        tip_material = tip_rack_300ul._unilabos_state["Material"]
+        assert tip_material["uuid"] == prcxi_materials["300μL Tip头"]["uuid"]
+        assert tip_material["Name"] == "300μL Tip头"
+        
+        # 测试孔板物料信息
+        plate_material = well_plate_96._unilabos_state["Material"]
+        assert plate_material["uuid"] == prcxi_materials["96深孔板"]["uuid"]
+        assert plate_material["Name"] == "96深孔板"
+
+
+class TestPRCXISingleStepOperations:
+    """测试 PRCXI 单步操作功能"""
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_single_channel(self, prcxi_9320_handler, prcxi_9320_deck, tip_rack_10ul):
+        """测试单通道拾取枪头"""
+        # 将枪头盒添加到工作台
+        prcxi_9320_deck.assign_child_resource(tip_rack_10ul, location=Coordinate(0, 0, 0))
+        
+        # 初始化处理器
+        await prcxi_9320_handler.setup()
+        
+        # 设置枪头盒
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        
+        # 创建模拟的枪头位置
+        from pylabrobot.resources import TipSpot, Tip
+        tip = Tip(has_filter=False, total_tip_length=10, maximal_volume=10, fitting_depth=5)
+        tip_spot = TipSpot("A1", size_x=1, size_y=1, size_z=1, make_tip=lambda: tip)
+        tip_rack_10ul.assign_child_resource(tip_spot, location=Coordinate(0, 0, 0))
+        
+        # 直接测试后端方法
+        from pylabrobot.liquid_handling import Pickup
+        pickup = Pickup(resource=tip_spot, offset=None, tip=tip)
+        await prcxi_9320_handler._unilabos_backend.pick_up_tips([pickup], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_pick_up_tips_multi_channel(self, prcxi_9300_handler, tip_rack_300ul):
+        """测试多通道拾取枪头"""
+        # 设置枪头盒
+        prcxi_9300_handler.set_tiprack([tip_rack_300ul])
+        
+        # 拾取8个枪头
+        tip_spots = tip_rack_300ul.children[:8]
+        await prcxi_9300_handler.pick_up_tips(tip_spots, [0, 1, 2, 3, 4, 5, 6, 7])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9300_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9300_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Load"
+
+    @pytest.mark.asyncio
+    async def test_aspirate_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道吸取液体"""
+        # 设置液体
+        well = well_plate_96.get_item("A1")
+        prcxi_9320_handler.set_liquid([well], ["water"], [50])
+        
+        # 吸取液体
+        await prcxi_9320_handler.aspirate([well], [50], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Imbibing"
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_dispense_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道分配液体"""
+        # 分配液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.dispense([well], [25], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Tapping"
+        assert step["DosageNum"] == 25
+
+    @pytest.mark.asyncio
+    async def test_mix_single_channel(self, prcxi_9320_handler, well_plate_96):
+        """测试单通道混合液体"""
+        # 混合液体
+        well = well_plate_96.get_item("A1")
+        await prcxi_9320_handler.mix([well], mix_time=3, mix_vol=50)
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "Blending"
+        assert step["BlendingTimes"] == 3
+        assert step["DosageNum"] == 50
+
+    @pytest.mark.asyncio
+    async def test_drop_tips_to_trash(self, prcxi_9320_handler, trash_container):
+        """测试丢弃枪头到垃圾桶"""
+        # 丢弃枪头
+        await prcxi_9320_handler.drop_tips([trash_container], [0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_discard_tips(self, prcxi_9320_handler):
+        """测试丢弃枪头"""
+        # 丢弃枪头
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证步骤已添加到待办列表
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 1
+        step = prcxi_9320_handler._unilabos_backend.steps_todo_list[0]
+        assert step["Function"] == "UnLoad"
+
+    @pytest.mark.asyncio
+    async def test_liquid_transfer_workflow(self, prcxi_9320_handler, tip_rack_10ul, well_plate_96):
+        """测试完整的液体转移工作流程"""
+        # 设置枪头盒和液体
+        prcxi_9320_handler.set_tiprack([tip_rack_10ul])
+        source_well = well_plate_96.get_item("A1")
+        target_well = well_plate_96.get_item("B1")
+        prcxi_9320_handler.set_liquid([source_well], ["water"], [100])
+        
+        # 创建协议
+        await prcxi_9320_handler.create_protocol(protocol_name="Test Transfer Protocol")
+        
+        # 执行转移流程
+        tip_spot = tip_rack_10ul.get_item("A1")
+        await prcxi_9320_handler.pick_up_tips([tip_spot], [0])
+        await prcxi_9320_handler.aspirate([source_well], [50], [0])
+        await prcxi_9320_handler.dispense([target_well], [50], [0])
+        await prcxi_9320_handler.discard_tips([0])
+        
+        # 验证所有步骤都已添加
+        assert len(prcxi_9320_handler._unilabos_backend.steps_todo_list) == 4
+        functions = [step["Function"] for step in prcxi_9320_handler._unilabos_backend.steps_todo_list]
+        assert functions == ["Load", "Imbibing", "Tapping", "UnLoad"]
+
+
+class TestPRCXILayoutRecommendation:
+    """测试 PRCXI 板位推荐功能"""
+
+    def test_9300_layout_creation(self, default_layout_9300):
+        """测试 PRCXI 9300 布局创建"""
+        layout_info = default_layout_9300.get_layout()
+        assert layout_info["rows"] == 2
+        assert layout_info["columns"] == 3
+        assert len(layout_info["layout"]) == 6
+        assert layout_info["trash_slot"] == 6
+        assert "waste_liquid_slot" not in layout_info
+
+    def test_9320_layout_creation(self, default_layout_9320):
+        """测试 PRCXI 9320 布局创建"""
+        layout_info = default_layout_9320.get_layout()
+        assert layout_info["rows"] == 4
+        assert layout_info["columns"] == 4
+        assert len(layout_info["layout"]) == 16
+        assert layout_info["trash_slot"] == 16
+        assert layout_info["waste_liquid_slot"] == 12
+
+    def test_layout_recommendation_9320(self, default_layout_9320, prcxi_materials):
+        """测试 PRCXI 9320 板位推荐功能"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 推荐布局
+        needs = [
+            ("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),
+        ]
+        
+        matrix_layout, layout_list = default_layout_9320.recommend_layout(needs)
+        
+        # 验证返回结果
+        assert "MatrixId" in matrix_layout
+        assert "MatrixName" in matrix_layout
+        assert "MatrixCount" in matrix_layout
+        assert "WorkTablets" in matrix_layout
+        assert len(layout_list) == 12  # 3+1+7+1 = 12个位置
+        
+        # 验证推荐的位置不包含预留位置
+        reserved_positions = {12, 16}
+        recommended_positions = [item["positions"] for item in layout_list]
+        for pos in recommended_positions:
+            assert pos not in reserved_positions
+
+    def test_layout_recommendation_insufficient_space(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐空间不足的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐超过可用空间的布局
+        needs = [
+            ("reagent_1", "96 细胞培养皿", 15),  # 需要15个位置，但只有14个可用
+        ]
+        
+        with pytest.raises(ValueError, match="需要 .* 个位置，但只有 .* 个可用位置"):
+            default_layout_9320.recommend_layout(needs)
+
+    def test_layout_recommendation_material_not_found(self, default_layout_9320, prcxi_materials):
+        """测试板位推荐物料不存在的情况"""
+        # 添加物料信息
+        default_layout_9320.add_lab_resource(prcxi_materials)
+        
+        # 尝试推荐不存在的物料
+        needs = [
+            ("reagent_1", "不存在的物料", 1),
+        ]
+        
+        with pytest.raises(ValueError, match="Material .* not found in lab resources"):
+            default_layout_9320.recommend_layout(needs)
+
+
+class TestPRCXIBackendOperations:
+    """测试 PRCXI 后端操作功能"""
+
+    def test_backend_initialization(self, prcxi_9300_handler):
+        """测试后端初始化"""
+        backend = prcxi_9300_handler._unilabos_backend
+        assert isinstance(backend, PRCXI9300Backend)
+        assert backend._num_channels == 8
+        assert backend.debug is True
+
+    def test_protocol_creation(self, prcxi_9300_handler):
+        """测试协议创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        assert backend.protocol_name == "Test Protocol"
+        assert len(backend.steps_todo_list) == 0
+
+    def test_channel_validation(self):
+        """测试通道验证"""
+        # 测试正确的8通道配置
+        valid_channels = [0, 1, 2, 3, 4, 5, 6, 7]
+        result = PRCXI9300Backend.check_channels(valid_channels)
+        assert result == valid_channels
+        
+        # 测试错误的通道配置
+        invalid_channels = [0, 1, 2, 3]
+        result = PRCXI9300Backend.check_channels(invalid_channels)
+        assert result == [0, 1, 2, 3, 4, 5, 6, 7]
+
+    def test_matrix_info_creation(self, prcxi_9300_handler):
+        """测试矩阵信息创建"""
+        backend = prcxi_9300_handler._unilabos_backend
+        backend.create_protocol("Test Protocol")
+        
+        # 模拟运行协议时的矩阵信息创建
+        run_time = 1234567890
+        matrix_info = MatrixInfo(
+            MatrixId=f"{int(run_time)}",
+            MatrixName=f"protocol_{run_time}",
+            MatrixCount=len(backend.tablets_info),
+            WorkTablets=backend.tablets_info,
+        )
+        
+        assert matrix_info["MatrixId"] == str(int(run_time))
+        assert matrix_info["MatrixName"] == f"protocol_{run_time}"
+        assert "WorkTablets" in matrix_info
+
+
+class TestPRCXIContainerOperations:
+    """测试 PRCXI 容器操作功能"""
+
+    def test_container_serialization(self, tip_rack_300ul):
+        """测试容器序列化"""
+        serialized = tip_rack_300ul.serialize_state()
+        assert "Material" in serialized
+        assert serialized["Material"]["Name"] == "300μL Tip头"
+
+    def test_container_deserialization(self, tip_rack_300ul):
+        """测试容器反序列化"""
+        # 序列化
+        serialized = tip_rack_300ul.serialize_state()
+        
+        # 创建新容器并反序列化
+        new_tip_rack = PRCXI9300Container(
+            name="new_tip_rack",
+            size_x=50,
+            size_y=50,
+            size_z=10,
+            category="tip_rack",
+            ordering=collections.OrderedDict()
+        )
+        new_tip_rack.load_state(serialized)
+        
+        assert new_tip_rack._unilabos_state["Material"]["Name"] == "300μL Tip头"
+
+    def test_trash_container_creation(self, prcxi_materials):
+        """测试垃圾桶容器创建"""
+        trash = PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+        trash.load_state({
+            "Material": {
+                "uuid": prcxi_materials["废弃槽"]["uuid"]
+            }
+        })
+        
+        assert trash.name == "trash"
+        assert trash._unilabos_state["Material"]["uuid"] == prcxi_materials["废弃槽"]["uuid"]
+
+
+if __name__ == "__main__":
+    # 运行测试
+    pytest.main([__file__, "-v"])

tests/devices/liquid_handling/test_transfer_liquid.py

@@ -39,6 +39,11 @@ class FakeLiquidHandler(LiquidHandlerAbstract):
         self.current_tip = iter(make_tip_iter())
         self.calls: List[Tuple[str, Any]] = []
 
+    def set_tiprack(self, tip_racks):
+        if not tip_racks:
+            return
+        super().set_tiprack(tip_racks)
+
     async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
         self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
 

tests/devices/liquid_handling/unit_test.py

@@ -39,6 +39,12 @@ class FakeLiquidHandler(LiquidHandlerAbstract):
         self.current_tip = iter(make_tip_iter())
         self.calls: List[Tuple[str, Any]] = []
 
+    def set_tiprack(self, tip_racks):
+        # transfer_liquid 总会调用 set_tiprack；测试用 Dummy 枪头时 tip_racks 为空，需保留自种子的 current_tip
+        if not tip_racks:
+            return
+        super().set_tiprack(tip_racks)
+
     async def pick_up_tips(self, tip_spots, use_channels=None, offsets=None, **backend_kwargs):
         self.calls.append(("pick_up_tips", {"tips": list(tip_spots), "use_channels": use_channels}))
 
@@ -545,3 +551,58 @@ def test_mix_multiple_targets_supports_per_target_offsets():
   assert aspirates[1]["flow_rates"] == [rates[1]]
 
 
+def test_set_tiprack_per_type_resumes_first_physical_rack():
+    """同型号多次 set_tiprack 时接续第一盒剩余孔位，而非从新盒 A1 开始。"""
+    from pylabrobot.liquid_handling import LiquidHandlerChatterboxBackend
+    from pylabrobot.resources import Deck, Tip, TipRack, TipSpot, create_equally_spaced
+
+    mk = lambda: Tip(
+        has_filter=False, total_tip_length=10.0, maximal_volume=300.0, fitting_depth=2.0
+    )
+
+    class TipTypeAlpha(TipRack):
+        pass
+
+    class TipTypeBeta(TipRack):
+        pass
+
+    def make_rack(cls: type, name: str) -> TipRack:
+        items = create_equally_spaced(
+            TipSpot,
+            num_items_x=12,
+            num_items_y=2,
+            dx=0,
+            dy=0,
+            dz=0,
+            item_dx=9,
+            item_dy=9,
+            size_x=1,
+            size_y=1,
+            make_tip=mk,
+        )
+        return cls(name, 120, 40, 10, items=items)
+
+    rack1 = make_rack(TipTypeAlpha, "rack_phys_1")
+    rack2 = make_rack(TipTypeBeta, "rack_phys_2")
+    rack3 = make_rack(TipTypeAlpha, "rack_phys_3")
+
+    lh = LiquidHandlerAbstract(
+        LiquidHandlerChatterboxBackend(1), Deck(), channel_num=1, simulator=False
+    )
+    flat1 = lh._flatten_tips_from_one(rack1)
+    assert len(flat1) == 24
+
+    lh.set_tiprack([rack1])
+    for i in range(12):
+        assert lh._get_next_tip() is flat1[i]
+
+    lh.set_tiprack([rack2])
+    spot_b = lh._get_next_tip()
+    assert "rack_phys_2" in spot_b.name
+
+    lh.set_tiprack([rack3])
+    spot_resume = lh._get_next_tip()
+    assert spot_resume is flat1[12], "第三次同型号应接续 rack1 第二行首孔，而非 rack3 首孔"
+    assert spot_resume is not lh._flatten_tips_from_one(rack3)[0]
+
+

unilabos/app/web/client.py

@@ -80,19 +80,20 @@ class HTTPClient:
             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）
         old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
+        nodes_info = [x for xs in resources.dump() for x in xs]
         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(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                json={"nodes": nodes_info, "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=60,
             )
         else:
             response = requests.put(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                json={"nodes": nodes_info, "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=10,
             )
@@ -111,6 +112,7 @@ 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]

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)
@@ -1286,7 +1286,7 @@ 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 +1369,10 @@ 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 +1472,32 @@ 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 +1513,6 @@ 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/devices/liquid_handling/liquid_handler_abstract.py

@@ -391,6 +391,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
                 except Exception:
                     free_volume = None
 
+
                 if isinstance(free_volume, (int, float)):
                     req = min(req, max(float(free_volume), 0.0))
                 safe.append(req)
@@ -880,6 +881,9 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node
+        ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
+            "resources": [self.deck]
+        })
 
     async def _resolve_to_plr_resources(
         self,
@@ -934,6 +938,10 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
                     if (isinstance(local_history, list) and len(local_history) == 0
                             and isinstance(plr_history, list) and len(plr_history) > 0):
                         local_tracker.liquid_history = list(plr_history)
+                    elif (isinstance(local_history, list) and len(local_history) > 0
+                            and isinstance(plr_history, list) and len(plr_history) == 0):
+                        # 远端认为容器为空，重置本地 tracker 以保持同步
+                        local_tracker.liquid_history = []
                 resolved.append(local)
             if len(resolved) != len(uuids):
                 raise ValueError(
@@ -947,13 +955,17 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
             if isinstance(orig_dict, dict) and hasattr(res, "tracker"):
                 tracker = res.tracker
                 local_history = getattr(tracker, "liquid_history", None)
+                data = orig_dict.get("data") or {}
+                dict_history = data.get("liquid_history")
                 if isinstance(local_history, list) and len(local_history) == 0:
-                    data = orig_dict.get("data") or {}
-                    dict_history = data.get("liquid_history")
                     if isinstance(dict_history, list) and len(dict_history) > 0:
                         tracker.liquid_history = [
                             (name, float(vol)) for name, vol in dict_history
                         ]
+                elif isinstance(local_history, list) and len(local_history) > 0:
+                    if isinstance(dict_history, list) and len(dict_history) == 0:
+                        # 调用方认为容器为空，重置本地 tracker
+                        tracker.liquid_history = []
             result[idx] = res
         return result
 
@@ -1528,7 +1540,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         #         raise ValueError(f"dis_vols length must be equal to sources or targets length, but got {len_dis_vols} and {num_sources} and {num_targets}")
 
         if len(use_channels) != 8:
-            max_len = max(num_sources, num_targets)
+            max_len = max(num_sources, num_targets, len_asp_vols, len_dis_vols)
             prev_dropped = True  # 循环开始前通道上无 tip
             for i in range(max_len):
 
@@ -1651,7 +1663,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
         tip = []
         if pick_up:
             tip.append(self._get_next_tip())
-            await self.pick_up_tips(tip)
+            await self.pick_up_tips(tip,use_channels=use_channels)
         blow_out_air_volume_before_vol = 0.0
         if blow_out_air_volume_before is not None and len(blow_out_air_volume_before) > 0:
             blow_out_air_volume_before_vol = float(blow_out_air_volume_before[0] or 0.0)
@@ -1663,7 +1675,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
 
         if mix_stage in ["before", "both"] and mix_times is not None and mix_times > 0:
             await self.mix(
-                targets=[targets[0]],
+                targets=[sources[0]],
                 mix_time=mix_times,
                 mix_vol=mix_vol,
                 offsets=offsets if offsets else None,
@@ -1852,76 +1864,141 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
         """Yield tips from a list of TipRacks one-by-one until depleted."""
         for rack in tip_racks:
-            if isinstance(rack, TipSpot):
-                yield rack
-            elif isinstance(rack, TipRack):
-                for item in rack:
-                    if isinstance(item, list):
-                        yield from item
-                    else:
-                        yield item
+            yield from self._iter_tips_single_rack_or_spot(rack)
+
+    def _iter_tips_single_rack_or_spot(self, rack: Resource) -> Iterator[Resource]:
+        """单盒或单孔：与 ``iter_tips`` 中单项逻辑一致，供扁平池构建复用。"""
+        if isinstance(rack, TipSpot):
+            yield rack
+        elif isinstance(rack, TipRack):
+            for item in rack:
+                if isinstance(item, list):
+                    yield from item
+                else:
+                    yield item
+
+    def _flatten_tips_from_one(self, rack: Resource) -> List[Resource]:
+        """将单个 TipRack/TipSpot 展开为孔位列表（顺序与 ``iter_tips`` 一致）。"""
+        return list(self._iter_tips_single_rack_or_spot(rack))
 
     def _get_next_tip(self):
-        """从 current_tip 迭代器获取下一个 tip，耗尽时抛出明确错误而非 StopIteration"""
+        """从按型号分组的扁平枪头池取下一孔；耗尽时抛出明确错误而非 StopIteration。"""
+        key = getattr(self, "_active_tip_type_key", None)
+        flat_map = getattr(self, "_tip_flat_spots", None)
+        if key is not None and flat_map is not None:
+            flat = flat_map.get(key)
+            if flat is not None and len(flat) > 0:
+                idx = self._tip_next_index.get(key, 0)
+                if idx < len(flat):
+                    self._tip_next_index[key] = idx + 1
+                    return flat[idx]
+                diag = (
+                    f"active_type_key={key}, next_index={idx}, pool_len={len(flat)}; "
+                    f"_tip_racks_by_type[{key}] count={len(self._tip_racks_by_type.get(key, []))}"
+                )
+                raise RuntimeError(
+                    "Tip rack exhausted: no more tips available for this tip type. "
+                    f"Diagnostics: {diag}"
+                )
+
+        if not hasattr(self, "current_tip"):
+            raise RuntimeError(
+                "No tip source: call set_tiprack with TipRack/TipSpot before picking tips."
+            )
         try:
             return next(self.current_tip)
         except StopIteration as e:
             diag_parts = []
-            tip_racks = getattr(self, 'tip_racks', None)
+            tip_racks = getattr(self, "tip_racks", None)
             if tip_racks is not None:
                 for idx, rack in enumerate(tip_racks):
-                    r_name = getattr(rack, 'name', '?')
+                    r_name = getattr(rack, "name", "?")
                     r_type = type(rack).__name__
                     is_tr = isinstance(rack, TipRack)
                     is_ts = isinstance(rack, TipSpot)
-                    n_children = len(getattr(rack, 'children', []))
+                    n_children = len(getattr(rack, "children", []))
                     diag_parts.append(
                         f"rack[{idx}] name={r_name}, type={r_type}, "
                         f"is_TipRack={is_tr}, is_TipSpot={is_ts}, children={n_children}"
                     )
             else:
                 diag_parts.append("tip_racks=None")
-            by_type = getattr(self, '_tip_racks_by_type', {})
+            by_type = getattr(self, "_tip_racks_by_type", {})
             diag_parts.append(f"_tip_racks_by_type keys={list(by_type.keys())}")
+            active = getattr(self, "_active_tip_type_key", None)
+            diag_parts.append(f"_active_tip_type_key={active}")
             raise RuntimeError(
-                f"Tip rack exhausted: no more tips available for transfer. "
+                "Tip rack exhausted: no more tips available for transfer. "
                 f"Diagnostics: {'; '.join(diag_parts)}"
             ) from e
 
+    @staticmethod
+    def _tip_type_key(rack: Resource) -> str:
+        """生成枪头盒的分组键：优先用 model（区分 10uL/300uL 等），否则回退到类名。"""
+        model = getattr(rack, "model", None)
+        if model and str(model).strip():
+            return str(model).strip()
+        return type(rack).__name__
+
+    def _register_rack(self, rack: Resource) -> None:
+        """将单个 TipRack/TipSpot 注册到按型号分组的扁平池（去重、不重置已消耗下标）。"""
+        if not isinstance(rack, (TipRack, TipSpot)):
+            return
+        rack_name = rack.name if hasattr(rack, "name") else str(id(rack))
+        if rack_name in self._seen_rack_names:
+            return
+        self._seen_rack_names.add(rack_name)
+        type_key = self._tip_type_key(rack)
+        self._tip_racks_by_type.setdefault(type_key, []).append(rack)
+        self._tip_flat_spots.setdefault(type_key, []).extend(self._flatten_tips_from_one(rack))
+        self._tip_next_index.setdefault(type_key, 0)
+
+    def _init_all_tip_pools(self) -> None:
+        """首次调用：从 deck 上一次性扫描所有 TipRack/TipSpot，构建完整的按型号扁平池。"""
+        self._tip_racks_by_type: Dict[str, List[TipRack]] = {}
+        self._seen_rack_names: Set[str] = set()
+        self._tip_flat_spots: Dict[str, List[Resource]] = {}
+        self._tip_next_index: Dict[str, int] = {}
+        self._tip_pools_initialized = True
+
+        # 遍历 deck 直接子资源，收集所有 TipRack
+        deck = getattr(self, "deck", None)
+        if deck is not None:
+            for child in deck.children:
+                self._register_rack(child)
+
     def set_tiprack(self, tip_racks: Sequence[TipRack]):
-        """Set the tip racks for the liquid handler.
+        """设置当前 transfer 使用的枪头类型。
 
-        Groups tip racks by type name (``type(rack).__name__``).
-        - Only actual TipRack / TipSpot instances are registered.
-        - If a rack has already been registered (by ``name``), it is skipped.
-        - If a rack is new and its type already exists, it is appended to that type's list.
-        - If the type is new, a new key-value pair is created.
+        首次调用时从 ``self.deck`` 一次性扫描所有 TipRack/TipSpot，按
+        ``model``（或 ``type(rack).__name__``）分组构建扁平枪头池与消费下标。
+        后续调用仅切换 ``_active_tip_type_key``，不重建池。
 
-        If the current ``tip_racks`` contain no valid TipRack/TipSpot (e.g. a
-        Plate was passed by mistake), the iterator falls back to all previously
-        registered racks.
+        同型号多次 transfer 时，游标接续（如 A1-A12 用完后继续 B1-B12），
+        而非从新盒 A1 重新开始。
         """
-        if not hasattr(self, '_tip_racks_by_type'):
-            self._tip_racks_by_type: Dict[str, List[TipRack]] = {}
-            self._seen_rack_names: Set[str] = set()
+        # —— 首次：全量初始化 ——
+        if not getattr(self, "_tip_pools_initialized", False):
+            self._init_all_tip_pools()
 
+        # 将本次传入但 deck 上不存在的新盒也注册进去（兜底）
         for rack in tip_racks:
-            if not isinstance(rack, (TipRack, TipSpot)):
-                continue
-            rack_name = rack.name if hasattr(rack, 'name') else str(id(rack))
-            if rack_name in self._seen_rack_names:
-                continue
-            self._seen_rack_names.add(rack_name)
-            type_key = type(rack).__name__
-            if type_key not in self._tip_racks_by_type:
-                self._tip_racks_by_type[type_key] = []
-            self._tip_racks_by_type[type_key].append(rack)
+            self._register_rack(rack)
 
+        # —— 切换当前激活的枪头类型（按 model 区分 10uL/300uL 等）——
+        first_valid = next(
+            (r for r in tip_racks if isinstance(r, (TipRack, TipSpot))),
+            None,
+        )
+        self._active_tip_type_key = (
+            self._tip_type_key(first_valid) if first_valid is not None else None
+        )
+
+        # 兼容旧路径（add_liquid / remove_liquid 等可能直接用 current_tip）
+        self.tip_racks = tip_racks
         valid_racks = [r for r in tip_racks if isinstance(r, (TipRack, TipSpot))]
         if not valid_racks:
             valid_racks = [r for racks in self._tip_racks_by_type.values() for r in racks]
-
-        self.tip_racks = tip_racks
         self.current_tip = self.iter_tips(valid_racks)
 
     async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):

unilabos/devices/liquid_handling/prcxi/prcxi_modules.py

@@ -0,0 +1,150 @@
+from typing import Any, Dict, Optional
+
+from .prcxi import PRCXI9300ModuleSite
+
+
+class PRCXI9300FunctionalModule(PRCXI9300ModuleSite):
+    """
+    PRCXI 9300 功能模块基类（加热/冷却/震荡/加热震荡/磁吸等）。
+
+    设计目标：
+    - 作为一个可以在工作台上拖拽摆放的实体资源（继承自 PRCXI9300ModuleSite -> ItemizedCarrier）。
+    - 顶面存在一个站点（site），可吸附标准板类资源（plate / tip_rack / tube_rack 等）。
+    - 支持注入 `material_info` (UUID 等)，并且在 serialize_state 时做安全过滤。
+    """
+
+    def __init__(
+        self,
+        name: str,
+        size_x: float,
+        size_y: float,
+        size_z: float,
+        module_type: Optional[str] = None,
+        category: str = "module",
+        model: Optional[str] = None,
+        material_info: Optional[Dict[str, Any]] = None,
+        **kwargs: Any,
+    ):
+        super().__init__(
+            name=name,
+            size_x=size_x,
+            size_y=size_y,
+            size_z=size_z,
+            material_info=material_info,
+            model=model,
+            category=category,
+            **kwargs,
+        )
+
+        # 记录模块类型（加热 / 冷却 / 震荡 / 加热震荡 / 磁吸）
+        self.module_type = module_type or "generic"
+
+        # 与 PRCXI9300PlateAdapter 一致，使用 _unilabos_state 保存扩展信息
+        if not hasattr(self, "_unilabos_state") or self._unilabos_state is None:
+            self._unilabos_state = {}
+
+        # super().__init__ 已经在有 material_info 时写入 "Material"，这里仅确保存在
+        if material_info is not None and "Material" not in self._unilabos_state:
+            self._unilabos_state["Material"] = material_info
+
+        # 额外标记 category 和模块类型，便于前端或上层逻辑区分
+        self._unilabos_state.setdefault("category", category)
+        self._unilabos_state["module_type"] = module_type
+
+
+# ============================================================================
+# 具体功能模块定义
+# 这里的尺寸和 material_info 目前为占位参数，后续可根据实际测量/JSON 配置进行更新。
+# 顶面站点尺寸与模块外形一致，保证可以吸附标准 96 板/储液槽等。
+# ============================================================================
+
+
+def PRCXI_Heating_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="heating",
+        model="PRCXI_Heating_Module",
+        material_info={
+            "uuid": "TODO-HEATING-MODULE-UUID",
+            "Code": "HEAT-MOD",
+            "Name": "PRCXI 加热模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_MetalCooling_Module(name: str) -> PRCXI9300FunctionalModule:
+    """金属冷却模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=40.0,
+        module_type="metal_cooling",
+        model="PRCXI_MetalCooling_Module",
+        material_info={
+            "uuid": "TODO-METAL-COOLING-MODULE-UUID",
+            "Code": "METAL-COOL-MOD",
+            "Name": "PRCXI 金属冷却模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=50.0,
+        module_type="shaking",
+        model="PRCXI_Shaking_Module",
+        material_info={
+            "uuid": "TODO-SHAKING-MODULE-UUID",
+            "Code": "SHAKE-MOD",
+            "Name": "PRCXI 震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Heating_Shaking_Module(name: str) -> PRCXI9300FunctionalModule:
+    """加热震荡模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=55.0,
+        module_type="heating_shaking",
+        model="PRCXI_Heating_Shaking_Module",
+        material_info={
+            "uuid": "TODO-HEATING-SHAKING-MODULE-UUID",
+            "Code": "HEAT-SHAKE-MOD",
+            "Name": "PRCXI 加热震荡模块",
+            "SupplyType": 3,
+        },
+    )
+
+
+def PRCXI_Magnetic_Module(name: str) -> PRCXI9300FunctionalModule:
+    """磁吸模块（顶面可吸附标准板）。"""
+    return PRCXI9300FunctionalModule(
+        name=name,
+        size_x=127.76,
+        size_y=85.48,
+        size_z=30.0,
+        module_type="magnetic",
+        model="PRCXI_Magnetic_Module",
+        material_info={
+            "uuid": "TODO-MAGNETIC-MODULE-UUID",
+            "Code": "MAG-MOD",
+            "Name": "PRCXI 磁吸模块",
+            "SupplyType": 3,
+        },
+    )
+

unilabos/devices/ros_dev/moveit_interface.py

@@ -2,6 +2,7 @@ import json
 import time
 from copy import deepcopy
 from pathlib import Path
+from typing import Optional, Sequence
 
 from moveit_msgs.msg import JointConstraint, Constraints
 from rclpy.action import ActionClient
@@ -171,173 +172,160 @@ class MoveitInterface:
 
         return True
 
-    def pick_and_place(self, command: str):
+    def pick_and_place(
+        self,
+        option: str,
+        move_group: str,
+        status: str,
+        resource: Optional[str] = None,
+        x_distance: Optional[float] = None,
+        y_distance: Optional[float] = None,
+        lift_height: Optional[float] = None,
+        retry: Optional[int] = None,
+        speed: Optional[float] = None,
+        target: Optional[str] = None,
+        constraints: Optional[Sequence[float]] = None,
+    ) -> None:
         """
-        Using MoveIt to make the robotic arm pick or place materials to a target point.
+        使用 MoveIt 完成抓取/放置等序列（pick/place/side_pick/side_place）。
 
-        Args:
-            command: A JSON-formatted string that includes option, target, speed, lift_height, mt_height
-
-                    *option (string)    : Action type: pick/place/side_pick/side_place
-                    *move_group (string): The move group moveit will plan
-                    *status(string)     : Target pose
-                    resource(string)    : The target resource
-                    x_distance (float)  : The distance to the target in x direction(meters)
-                    y_distance (float)  : The distance to the target in y direction(meters)
-                    lift_height (float) : The height at which the material should be lifted(meters)
-                    retry (float)       : Retry times when moveit plan fails
-                    speed (float)       : The speed of the movement, speed > 0
-        Returns:
-            None
+        必选：option, move_group, status。
+        可选：resource, x_distance, y_distance, lift_height, retry, speed, target, constraints。
+        无返回值；失败时提前 return 或打印异常。
         """
-        result = SendCmd.Result()
-
         try:
-            cmd_str = str(command).replace("'", '"')
-            cmd_dict = json.loads(cmd_str)
+            if option not in self.move_option:
+                raise ValueError(f"Invalid option: {option}")
 
-            if cmd_dict["option"] in self.move_option:
-                option_index = self.move_option.index(cmd_dict["option"])
-                place_flag = option_index % 2
+            option_index = self.move_option.index(option)
+            place_flag = option_index % 2
 
-                config = {}
-                function_list = []
+            config: dict = {"move_group": move_group}
+            if speed is not None:
+                config["speed"] = speed
+            if retry is not None:
+                config["retry"] = retry
 
-                status = cmd_dict["status"]
-                joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
+            function_list = []
+            joint_positions_ = self.joint_poses[move_group][status]
 
-                config.update({k: cmd_dict[k] for k in ["speed", "retry", "move_group"] if k in cmd_dict})
+            # 夹取 / 放置：绑定 resource 与 parent
+            if not place_flag:
+                if target is not None:
+                    function_list.append(lambda r=resource, t=target: self.resource_manager(r, t))
+                else:
+                    ee = self.moveit2[move_group].end_effector_name
+                    function_list.append(lambda r=resource: self.resource_manager(r, ee))
+            else:
+                function_list.append(lambda r=resource: self.resource_manager(r, "world"))
 
-                # 夹取
-                if not place_flag:
-                    if "target" in cmd_dict.keys():
-                        function_list.append(lambda: self.resource_manager(cmd_dict["resource"], cmd_dict["target"]))
-                    else:
-                        function_list.append(
-                            lambda: self.resource_manager(
-                                cmd_dict["resource"], self.moveit2[cmd_dict["move_group"]].end_effector_name
+            joint_constraint_msgs: list = []
+            if constraints is not None:
+                for i, c in enumerate(constraints):
+                    v = float(c)
+                    if v > 0:
+                        joint_constraint_msgs.append(
+                            JointConstraint(
+                                joint_name=self.moveit2[move_group].joint_names[i],
+                                position=joint_positions_[i],
+                                tolerance_above=v,
+                                tolerance_below=v,
+                                weight=1.0,
                             )
                         )
-                else:
-                    function_list.append(lambda: self.resource_manager(cmd_dict["resource"], "world"))
 
-                constraints = []
-                if "constraints" in cmd_dict.keys():
+            if lift_height is not None:
+                retval = None
+                attempts = config.get("retry", 10)
+                while retval is None and attempts > 0:
+                    retval = self.moveit2[move_group].compute_fk(joint_positions_)
+                    time.sleep(0.1)
+                    attempts -= 1
+                if retval is None:
+                    raise ValueError("Failed to compute forward kinematics")
+                pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
+                quaternion = [
+                    retval.pose.orientation.x,
+                    retval.pose.orientation.y,
+                    retval.pose.orientation.z,
+                    retval.pose.orientation.w,
+                ]
 
-                    for i in range(len(cmd_dict["constraints"])):
-                        v = float(cmd_dict["constraints"][i])
-                        if v > 0:
-                            constraints.append(
-                                JointConstraint(
-                                    joint_name=self.moveit2[cmd_dict["move_group"]].joint_names[i],
-                                    position=joint_positions_[i],
-                                    tolerance_above=v,
-                                    tolerance_below=v,
-                                    weight=1.0,
-                                )
-                            )
+                function_list = [
+                    lambda: self.moveit_task(
+                        position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
+                        quaternion=quaternion,
+                        **config,
+                        cartesian=self.cartesian_flag,
+                    )
+                ] + function_list
 
-                if "lift_height" in cmd_dict.keys():
-                    retval = None
-                    retry = config.get("retry", 10)
-                    while retval is None and retry > 0:
-                        retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
-                        time.sleep(0.1)
-                        retry -= 1
-                    if retval is None:
-                        result.success = False
-                        return result
-                    pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
-                    quaternion = [
-                        retval.pose.orientation.x,
-                        retval.pose.orientation.y,
-                        retval.pose.orientation.z,
-                        retval.pose.orientation.w,
-                    ]
+                pose[2] += float(lift_height)
+                function_list.append(
+                    lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                        position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
+                    )
+                )
+                end_pose = list(pose)
+
+                if x_distance is not None or y_distance is not None:
+                    if x_distance is not None:
+                        deep_pose = deepcopy(pose)
+                        deep_pose[0] += float(x_distance)
+                    elif y_distance is not None:
+                        deep_pose = deepcopy(pose)
+                        deep_pose[1] += float(y_distance)
 
                     function_list = [
-                        lambda: self.moveit_task(
-                            position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
-                            quaternion=quaternion,
-                            **config,
-                            cartesian=self.cartesian_flag,
+                        lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                            position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
                         )
                     ] + function_list
-
-                    pose[2] += float(cmd_dict["lift_height"])
                     function_list.append(
-                        lambda: self.moveit_task(
-                            position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
+                        lambda dp=deep_pose.copy(), q=quaternion, cfg=config: self.moveit_task(
+                            position=dp, quaternion=q, **cfg, cartesian=self.cartesian_flag
                         )
                     )
-                    end_pose = pose
+                    end_pose = list(deep_pose)
 
-                    if "x_distance" in cmd_dict.keys() or "y_distance" in cmd_dict.keys():
-                        if "x_distance" in cmd_dict.keys():
-                            deep_pose = deepcopy(pose)
-                            deep_pose[0] += float(cmd_dict["x_distance"])
-                        elif "y_distance" in cmd_dict.keys():
-                            deep_pose = deepcopy(pose)
-                            deep_pose[1] += float(cmd_dict["y_distance"])
+                retval_ik = None
+                attempts_ik = config.get("retry", 10)
+                while retval_ik is None and attempts_ik > 0:
+                    retval_ik = self.moveit2[move_group].compute_ik(
+                        position=end_pose,
+                        quat_xyzw=quaternion,
+                        constraints=Constraints(joint_constraints=joint_constraint_msgs),
+                    )
+                    time.sleep(0.1)
+                    attempts_ik -= 1
+                if retval_ik is None:
+                    raise ValueError("Failed to compute inverse kinematics")
+                position_ = [
+                    retval_ik.position[retval_ik.name.index(i)] for i in self.moveit2[move_group].joint_names
+                ]
+                jn = self.moveit2[move_group].joint_names
+                function_list = [
+                    lambda pos=position_, names=jn, cfg=config: self.moveit_joint_task(
+                        joint_positions=pos, joint_names=names, **cfg
+                    )
+                ] + function_list
+            else:
+                function_list = [lambda cfg=config, jp=joint_positions_: self.moveit_joint_task(**cfg, joint_positions=jp)] + function_list
 
-                        function_list = [
-                            lambda: self.moveit_task(
-                                position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
-                            )
-                        ] + function_list
-                        function_list.append(
-                            lambda: self.moveit_task(
-                                position=deep_pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
-                            )
-                        )
-                        end_pose = deep_pose
-
-                    retval_ik = None
-                    retry = config.get("retry", 10)
-                    while retval_ik is None and retry > 0:
-                        retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
-                            position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
-                        )
-                        time.sleep(0.1)
-                        retry -= 1
-                    if retval_ik is None:
-                        result.success = False
-                        return result
-                    position_ = [
-                        retval_ik.position[retval_ik.name.index(i)]
-                        for i in self.moveit2[cmd_dict["move_group"]].joint_names
-                    ]
-                    function_list = [
-                        lambda: self.moveit_joint_task(
-                            joint_positions=position_,
-                            joint_names=self.moveit2[cmd_dict["move_group"]].joint_names,
-                            **config,
-                        )
-                    ] + function_list
+            for i in range(len(function_list)):
+                if i == 0:
+                    self.cartesian_flag = False
                 else:
-                    function_list = [
-                        lambda: self.moveit_joint_task(**config, joint_positions=joint_positions_)
-                    ] + function_list
+                    self.cartesian_flag = True
 
-                for i in range(len(function_list)):
-                    if i == 0:
-                        self.cartesian_flag = False
-                    else:
-                        self.cartesian_flag = True
-
-                    re = function_list[i]()
-                    if not re:
-                        print(i, re)
-                        result.success = False
-                        return result
-                result.success = True
+                re = function_list[i]()
+                if not re:
+                    print(i, re)
+                    raise ValueError(f"Failed to execute moveit task: {i}")
 
         except Exception as e:
-            print(e)
             self.cartesian_flag = False
-            result.success = False
-
-        return result
+            raise e
 
     def set_status(self, command: str):
         """

unilabos/labware_manager/__init__.py

@@ -0,0 +1 @@
+# PRCXI 耗材管理 Web 应用

unilabos/labware_manager/__main__.py

@@ -0,0 +1,4 @@
+"""启动入口: python -m unilabos.labware_manager"""
+from unilabos.labware_manager.app import main
+
+main()

unilabos/labware_manager/app.py

@@ -0,0 +1,196 @@
+"""FastAPI 应用 + CRUD API + 启动入口。
+
+用法: python -m unilabos.labware_manager.app
+"""
+
+from __future__ import annotations
+
+import json
+import os
+from pathlib import Path
+from typing import List, Optional
+
+from fastapi import FastAPI, HTTPException, Query, Request
+from fastapi.responses import HTMLResponse, JSONResponse
+from fastapi.staticfiles import StaticFiles
+from fastapi.templating import Jinja2Templates
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_HERE = Path(__file__).resolve().parent
+_DB_PATH = _HERE / "labware_db.json"
+
+app = FastAPI(title="PRCXI 耗材管理", version="1.0")
+
+# 静态文件 + 模板
+app.mount("/static", StaticFiles(directory=str(_HERE / "static")), name="static")
+templates = Jinja2Templates(directory=str(_HERE / "templates"))
+
+
+# ---------- DB 读写 ----------
+
+def _load_db() -> LabwareDB:
+    if not _DB_PATH.exists():
+        return LabwareDB()
+    with open(_DB_PATH, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+def _save_db(db: LabwareDB) -> None:
+    with open(_DB_PATH, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+
+
+# ---------- 页面路由 ----------
+
+@app.get("/", response_class=HTMLResponse)
+async def index_page(request: Request):
+    db = _load_db()
+    # 按 type 分组
+    groups = {}
+    for item in db.items:
+        groups.setdefault(item.type, []).append(item)
+    return templates.TemplateResponse("index.html", {
+        "request": request,
+        "groups": groups,
+        "total": len(db.items),
+    })
+
+
+@app.get("/labware/new", response_class=HTMLResponse)
+async def new_page(request: Request, type: str = "plate"):
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": None,
+        "labware_type": type,
+        "is_new": True,
+    })
+
+
+@app.get("/labware/{item_id}", response_class=HTMLResponse)
+async def detail_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("detail.html", {
+        "request": request,
+        "item": item,
+    })
+
+
+@app.get("/labware/{item_id}/edit", response_class=HTMLResponse)
+async def edit_page(request: Request, item_id: str):
+    db = _load_db()
+    item = _find_item(db, item_id)
+    if not item:
+        raise HTTPException(404, "耗材不存在")
+    return templates.TemplateResponse("edit.html", {
+        "request": request,
+        "item": item,
+        "labware_type": item.type,
+        "is_new": False,
+    })
+
+
+# ---------- API 端点 ----------
+
+@app.get("/api/labware")
+async def api_list_labware():
+    db = _load_db()
+    return {"items": [item.model_dump() for item in db.items]}
+
+
+@app.post("/api/labware")
+async def api_create_labware(request: Request):
+    data = await request.json()
+    db = _load_db()
+    item = LabwareItem(**data)
+    # 确保 id 唯一
+    existing_ids = {it.id for it in db.items}
+    while item.id in existing_ids:
+        import uuid
+        item.id = uuid.uuid4().hex[:8]
+    db.items.append(item)
+    _save_db(db)
+    return {"status": "ok", "id": item.id}
+
+
+@app.put("/api/labware/{item_id}")
+async def api_update_labware(item_id: str, request: Request):
+    data = await request.json()
+    db = _load_db()
+    for i, it in enumerate(db.items):
+        if it.id == item_id or it.function_name == item_id:
+            updated = LabwareItem(**{**it.model_dump(), **data, "id": it.id})
+            db.items[i] = updated
+            _save_db(db)
+            return {"status": "ok", "id": it.id}
+    raise HTTPException(404, "耗材不存在")
+
+
+@app.delete("/api/labware/{item_id}")
+async def api_delete_labware(item_id: str):
+    db = _load_db()
+    original_len = len(db.items)
+    db.items = [it for it in db.items if it.id != item_id and it.function_name != item_id]
+    if len(db.items) == original_len:
+        raise HTTPException(404, "耗材不存在")
+    _save_db(db)
+    return {"status": "ok"}
+
+
+@app.post("/api/generate-code")
+async def api_generate_code(request: Request):
+    body = await request.json() if await request.body() else {}
+    test_mode = body.get("test_mode", True)
+    db = _load_db()
+    if not db.items:
+        raise HTTPException(400, "数据库为空，请先导入")
+
+    from unilabos.labware_manager.codegen import generate_code
+    from unilabos.labware_manager.yaml_gen import generate_yaml
+
+    py_path = generate_code(db, test_mode=test_mode)
+    yaml_paths = generate_yaml(db, test_mode=test_mode)
+
+    return {
+        "status": "ok",
+        "python_file": str(py_path),
+        "yaml_files": [str(p) for p in yaml_paths],
+        "test_mode": test_mode,
+    }
+
+
+@app.post("/api/import-from-code")
+async def api_import_from_code():
+    from unilabos.labware_manager.importer import import_from_code, save_db
+    db = import_from_code()
+    save_db(db)
+    return {
+        "status": "ok",
+        "count": len(db.items),
+        "items": [{"function_name": it.function_name, "type": it.type} for it in db.items],
+    }
+
+
+# ---------- 辅助函数 ----------
+
+def _find_item(db: LabwareDB, item_id: str) -> Optional[LabwareItem]:
+    for item in db.items:
+        if item.id == item_id or item.function_name == item_id:
+            return item
+    return None
+
+
+# ---------- 启动入口 ----------
+
+def main():
+    import uvicorn
+    port = int(os.environ.get("LABWARE_PORT", "8010"))
+    print(f"PRCXI 耗材管理 → http://localhost:{port}")
+    uvicorn.run(app, host="0.0.0.0", port=port)
+
+
+if __name__ == "__main__":
+    main()

unilabos/labware_manager/codegen.py

@@ -0,0 +1,451 @@
+"""JSON → prcxi_labware.py 代码生成。
+
+读取 labware_db.json，输出完整的 prcxi_labware.py（或 prcxi_labware_test.py）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from pathlib import Path
+from typing import List, Optional
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_TARGET_DIR = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi"
+
+# ---------- 固定头部 ----------
+_HEADER = '''\
+from typing import Any, Callable, Dict, List, Optional, Tuple
+from pylabrobot.resources import Tube, Coordinate
+from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType
+from pylabrobot.resources.tip import Tip, TipCreator
+from pylabrobot.resources.tip_rack import TipRack, TipSpot
+from pylabrobot.resources.utils import create_ordered_items_2d
+from pylabrobot.resources.height_volume_functions import (
+    compute_height_from_volume_rectangle,
+    compute_volume_from_height_rectangle,
+)
+
+from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter
+
+def _make_tip_helper(volume: float, length: float, depth: float) -> Tip:
+    """
+    PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth
+    """
+    return Tip(
+        has_filter=False, # 默认无滤芯
+        maximal_volume=volume,
+        total_tip_length=length,
+        fitting_depth=depth
+    )
+
+'''
+
+
+def _gen_plate(item: LabwareItem) -> str:
+    """生成 Plate 类型的工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    has_vf = item.volume_functions is not None
+
+    if has_vf:
+        # 有 volume_functions 时需要 well_kwargs 方式
+        vf = item.volume_functions
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+
+        # 计算 well_size 变量
+        lines.append(f'    well_size_x = {well.size_x}')
+        lines.append(f'    well_size_y = {well.size_y}')
+
+        lines.append(f'    well_kwargs = {{')
+        lines.append(f'        "size_x": well_size_x,')
+        lines.append(f'        "size_y": well_size_y,')
+        lines.append(f'        "size_z": {well.size_z},')
+        lines.append(f'        "bottom_type": WellBottomType.{well.bottom_type},')
+        if well.cross_section_type and well.cross_section_type != "CIRCLE":
+            lines.append(f'        "cross_section_type": CrossSectionType.{well.cross_section_type},')
+        lines.append(f'        "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle(')
+        lines.append(f'            liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        lines.append(f'        "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle(')
+        lines.append(f'            liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y')
+        lines.append(f'        ),')
+        if well.material_z_thickness is not None:
+            lines.append(f'        "material_z_thickness": {well.material_z_thickness},')
+        lines.append(f'    }}')
+        lines.append(f'')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        lines.append(f'        lid=None,')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Well,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            **well_kwargs,')
+        lines.append(f'        ),')
+        lines.append(f'    )')
+    else:
+        # 普通 plate
+        well = item.well
+        grid = item.grid
+
+        lines.append(f'def {fn}(name: str) -> PRCXI9300Plate:')
+        lines.append(f'    """')
+        for dl in doc.split('\n'):
+            lines.append(f'    {dl}')
+        lines.append(f'    """')
+        lines.append(f'    return PRCXI9300Plate(')
+        lines.append(f'        name=name,')
+        lines.append(f'        size_x={item.size_x},')
+        lines.append(f'        size_y={item.size_y},')
+        lines.append(f'        size_z={item.size_z},')
+        if item.plate_type:
+            lines.append(f'        plate_type="{item.plate_type}",')
+        lines.append(f'        model="{item.model}",')
+        lines.append(f'        category="plate",')
+        lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+        if grid and well:
+            lines.append(f'        ordered_items=create_ordered_items_2d(')
+            lines.append(f'            Well,')
+            lines.append(f'            num_items_x={grid.num_items_x},')
+            lines.append(f'            num_items_y={grid.num_items_y},')
+            lines.append(f'            dx={grid.dx},')
+            lines.append(f'            dy={grid.dy},')
+            lines.append(f'            dz={grid.dz},')
+            lines.append(f'            item_dx={grid.item_dx},')
+            lines.append(f'            item_dy={grid.item_dy},')
+            lines.append(f'            size_x={well.size_x},')
+            lines.append(f'            size_y={well.size_y},')
+            lines.append(f'            size_z={well.size_z},')
+            if well.max_volume is not None:
+                lines.append(f'            max_volume={well.max_volume},')
+            if well.material_z_thickness is not None:
+                lines.append(f'            material_z_thickness={well.material_z_thickness},')
+            if well.bottom_type and well.bottom_type != "FLAT":
+                lines.append(f'            bottom_type=WellBottomType.{well.bottom_type},')
+            if well.cross_section_type:
+                lines.append(f'            cross_section_type=CrossSectionType.{well.cross_section_type},')
+            lines.append(f'        ),')
+        lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tip_rack(item: LabwareItem) -> str:
+    """生成 TipRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tip = item.tip
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TipRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TipRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tip:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            TipSpot,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tip.spot_size_x},')
+        lines.append(f'            size_y={tip.spot_size_y},')
+        lines.append(f'            size_z={tip.spot_size_z},')
+        lines.append(f'            make_tip=lambda: _make_tip_helper(volume={tip.tip_volume}, length={tip.tip_length}, depth={tip.tip_fitting_depth})')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_trash(item: LabwareItem) -> str:
+    """生成 Trash 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str = "trash") -> PRCXI9300Trash:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300Trash(')
+    lines.append(f'        name="trash",')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        category="trash",')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_tube_rack(item: LabwareItem) -> str:
+    """生成 TubeRack 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+    grid = item.grid
+    tube = item.tube
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300TubeRack:')
+    lines.append(f'    """')
+    for dl in doc.split('\n'):
+        lines.append(f'    {dl}')
+    lines.append(f'    """')
+    lines.append(f'    return PRCXI9300TubeRack(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    lines.append(f'        model="{item.model}",')
+    lines.append(f'        category="tube_rack",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))},')
+    if grid and tube:
+        lines.append(f'        ordered_items=create_ordered_items_2d(')
+        lines.append(f'            Tube,')
+        lines.append(f'            num_items_x={grid.num_items_x},')
+        lines.append(f'            num_items_y={grid.num_items_y},')
+        lines.append(f'            dx={grid.dx},')
+        lines.append(f'            dy={grid.dy},')
+        lines.append(f'            dz={grid.dz},')
+        lines.append(f'            item_dx={grid.item_dx},')
+        lines.append(f'            item_dy={grid.item_dy},')
+        lines.append(f'            size_x={tube.size_x},')
+        lines.append(f'            size_y={tube.size_y},')
+        lines.append(f'            size_z={tube.size_z},')
+        lines.append(f'            max_volume={tube.max_volume}')
+        lines.append(f'        )')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _gen_plate_adapter(item: LabwareItem) -> str:
+    """生成 PlateAdapter 工厂函数代码。"""
+    lines = []
+    fn = item.function_name
+    doc = item.docstring or f"Code: {item.material_info.Code}"
+
+    lines.append(f'def {fn}(name: str) -> PRCXI9300PlateAdapter:')
+    lines.append(f'    """ {doc} """')
+    lines.append(f'    return PRCXI9300PlateAdapter(')
+    lines.append(f'        name=name,')
+    lines.append(f'        size_x={item.size_x},')
+    lines.append(f'        size_y={item.size_y},')
+    lines.append(f'        size_z={item.size_z},')
+    if item.model:
+        lines.append(f'        model="{item.model}",')
+    lines.append(f'        material_info={_fmt_dict(item.material_info.model_dump(exclude_none=True))}')
+    lines.append(f'    )')
+
+    return '\n'.join(lines)
+
+
+def _fmt_dict(d: dict) -> str:
+    """格式化字典为 Python 代码片段。"""
+    parts = []
+    for k, v in d.items():
+        if isinstance(v, str):
+            parts.append(f'"{k}": "{v}"')
+        elif v is None:
+            continue
+        else:
+            parts.append(f'"{k}": {v}')
+    return '{' + ', '.join(parts) + '}'
+
+
+def _gen_template_factory_kinds(items: List[LabwareItem]) -> str:
+    """生成 PRCXI_TEMPLATE_FACTORY_KINDS 列表。"""
+    lines = ['PRCXI_TEMPLATE_FACTORY_KINDS: List[Tuple[Callable[..., Any], str]] = [']
+    for item in items:
+        if item.include_in_template_matching and item.template_kind:
+            lines.append(f'    ({item.function_name}, "{item.template_kind}"),')
+    lines.append(']')
+    return '\n'.join(lines)
+
+
+def _gen_footer() -> str:
+    """生成文件尾部的模板相关代码。"""
+    return '''
+
+# ---------------------------------------------------------------------------
+# 协议上传 / workflow 用：与设备端耗材字典字段对齐的模板描述（供 common 自动匹配）
+# ---------------------------------------------------------------------------
+
+_PRCXI_TEMPLATE_SPECS_CACHE: Optional[List[Dict[str, Any]]] = None
+
+
+def _probe_prcxi_resource(factory: Callable[..., Any]) -> Any:
+    probe = "__unilab_template_probe__"
+    if factory.__name__ == "PRCXI_trash":
+        return factory()
+    return factory(probe)
+
+
+def _first_child_capacity_for_match(resource: Any) -> float:
+    """Well max_volume 或 Tip 的 maximal_volume，用于与设备端 Volume 类似的打分。"""
+    ch = getattr(resource, "children", None) or []
+    if not ch:
+        return 0.0
+    c0 = ch[0]
+    mv = getattr(c0, "max_volume", None)
+    if mv is not None:
+        return float(mv)
+    tip = getattr(c0, "tip", None)
+    if tip is not None:
+        mv2 = getattr(tip, "maximal_volume", None)
+        if mv2 is not None:
+            return float(mv2)
+    return 0.0
+
+
+def get_prcxi_labware_template_specs() -> List[Dict[str, Any]]:
+    """返回与 ``prcxi._match_and_create_matrix`` 中耗材字段兼容的模板列表，用于按孔数+容量打分。"""
+    global _PRCXI_TEMPLATE_SPECS_CACHE
+    if _PRCXI_TEMPLATE_SPECS_CACHE is not None:
+        return _PRCXI_TEMPLATE_SPECS_CACHE
+
+    out: List[Dict[str, Any]] = []
+    for factory, kind in PRCXI_TEMPLATE_FACTORY_KINDS:
+        try:
+            r = _probe_prcxi_resource(factory)
+        except Exception:
+            continue
+        nx = int(getattr(r, "num_items_x", None) or 0)
+        ny = int(getattr(r, "num_items_y", None) or 0)
+        nchild = len(getattr(r, "children", []) or [])
+        hole_count = nx * ny if nx > 0 and ny > 0 else nchild
+        hole_row = ny if nx > 0 and ny > 0 else 0
+        hole_col = nx if nx > 0 and ny > 0 else 0
+        mi = getattr(r, "material_info", None) or {}
+        vol = _first_child_capacity_for_match(r)
+        menum = mi.get("materialEnum")
+        if menum is None and kind == "tip_rack":
+            menum = 1
+        elif menum is None and kind == "trash":
+            menum = 6
+        out.append(
+            {
+                "class_name": factory.__name__,
+                "kind": kind,
+                "materialEnum": menum,
+                "HoleRow": hole_row,
+                "HoleColum": hole_col,
+                "Volume": vol,
+                "hole_count": hole_count,
+                "material_uuid": mi.get("uuid"),
+                "material_code": mi.get("Code"),
+            }
+        )
+
+    _PRCXI_TEMPLATE_SPECS_CACHE = out
+    return out
+'''
+
+
+def generate_code(db: LabwareDB, test_mode: bool = True) -> Path:
+    """生成 prcxi_labware.py (或 _test.py)，返回输出文件路径。"""
+    suffix = "_test" if test_mode else ""
+    out_path = _TARGET_DIR / f"prcxi_labware{suffix}.py"
+
+    # 备份
+    if out_path.exists():
+        bak = out_path.with_suffix(".py.bak")
+        shutil.copy2(out_path, bak)
+
+    # 按类型分组的生成器
+    generators = {
+        "plate": _gen_plate,
+        "tip_rack": _gen_tip_rack,
+        "trash": _gen_trash,
+        "tube_rack": _gen_tube_rack,
+        "plate_adapter": _gen_plate_adapter,
+    }
+
+    # 按 type 分段
+    sections = {
+        "plate": [],
+        "tip_rack": [],
+        "trash": [],
+        "tube_rack": [],
+        "plate_adapter": [],
+    }
+
+    for item in db.items:
+        gen = generators.get(item.type)
+        if gen:
+            sections[item.type].append(gen(item))
+
+    # 组装完整文件
+    parts = [_HEADER]
+
+    section_titles = {
+        "plate": "# =========================================================================\n# Plates\n# =========================================================================",
+        "tip_rack": "# =========================================================================\n# Tip Racks\n# =========================================================================",
+        "trash": "# =========================================================================\n# Trash\n# =========================================================================",
+        "tube_rack": "# =========================================================================\n# Tube Racks\n# =========================================================================",
+        "plate_adapter": "# =========================================================================\n# Plate Adapters\n# =========================================================================",
+    }
+
+    for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]:
+        if sections[type_key]:
+            parts.append(section_titles[type_key])
+            for code in sections[type_key]:
+                parts.append(code)
+
+    # Template factory kinds
+    parts.append("")
+    parts.append(_gen_template_factory_kinds(db.items))
+
+    # Footer
+    parts.append(_gen_footer())
+
+    content = '\n'.join(parts)
+    out_path.write_text(content, encoding="utf-8")
+    return out_path
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        out = generate_code(db, test_mode=True)
+        print(f"已生成 {out} ({len(db.items)} 个工厂函数)")

unilabos/labware_manager/importer.py

@@ -0,0 +1,474 @@
+"""从现有 prcxi_labware.py + registry YAML 导入耗材数据到 labware_db.json。
+
+策略：
+1. 实例化每个工厂函数 → 提取物理尺寸、material_info、children
+2. AST 解析源码 → 提取 docstring、volume_function 参数、plate_type
+3. 从 children[0].location 反推 dx/dy/dz，相邻位置差推 item_dx/item_dy
+4. 同时读取现有 YAML → 提取 registry_category / description
+"""
+
+from __future__ import annotations
+
+import ast
+import json
+import os
+import re
+import sys
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+import yaml
+
+# 将项目根目录加入 sys.path 以便 import
+_PROJECT_ROOT = Path(__file__).resolve().parents[2]
+if str(_PROJECT_ROOT) not in sys.path:
+    sys.path.insert(0, str(_PROJECT_ROOT))
+
+from unilabos.labware_manager.models import (
+    AdapterInfo,
+    GridInfo,
+    LabwareDB,
+    LabwareItem,
+    MaterialInfo,
+    TipInfo,
+    TubeInfo,
+    VolumeFunctions,
+    WellInfo,
+)
+
+# ---------- 路径常量 ----------
+_LABWARE_PY = Path(__file__).resolve().parents[1] / "devices" / "liquid_handling" / "prcxi" / "prcxi_labware.py"
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+_DB_PATH = Path(__file__).resolve().parent / "labware_db.json"
+
+# YAML 文件名 → type 映射
+_YAML_MAP: Dict[str, str] = {
+    "plates.yaml": "plate",
+    "tip_racks.yaml": "tip_rack",
+    "trash.yaml": "trash",
+    "tube_racks.yaml": "tube_rack",
+    "plate_adapters.yaml": "plate_adapter",
+}
+
+# PRCXI_TEMPLATE_FACTORY_KINDS 中列出的函数名（include_in_template_matching=True）
+_TEMPLATE_FACTORY_NAMES = {
+    "PRCXI_BioER_96_wellplate", "PRCXI_nest_1_troughplate",
+    "PRCXI_BioRad_384_wellplate", "PRCXI_AGenBio_4_troughplate",
+    "PRCXI_nest_12_troughplate", "PRCXI_CellTreat_96_wellplate",
+    "PRCXI_10ul_eTips", "PRCXI_300ul_Tips",
+    "PRCXI_PCR_Plate_200uL_nonskirted", "PRCXI_PCR_Plate_200uL_semiskirted",
+    "PRCXI_PCR_Plate_200uL_skirted", "PRCXI_trash",
+    "PRCXI_96_DeepWell", "PRCXI_EP_Adapter",
+    "PRCXI_1250uL_Tips", "PRCXI_10uL_Tips",
+    "PRCXI_1000uL_Tips", "PRCXI_200uL_Tips",
+    "PRCXI_48_DeepWell",
+}
+
+# template_kind 对应
+_TEMPLATE_KINDS: Dict[str, str] = {
+    "PRCXI_BioER_96_wellplate": "plate",
+    "PRCXI_nest_1_troughplate": "plate",
+    "PRCXI_BioRad_384_wellplate": "plate",
+    "PRCXI_AGenBio_4_troughplate": "plate",
+    "PRCXI_nest_12_troughplate": "plate",
+    "PRCXI_CellTreat_96_wellplate": "plate",
+    "PRCXI_10ul_eTips": "tip_rack",
+    "PRCXI_300ul_Tips": "tip_rack",
+    "PRCXI_PCR_Plate_200uL_nonskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_semiskirted": "plate",
+    "PRCXI_PCR_Plate_200uL_skirted": "plate",
+    "PRCXI_trash": "trash",
+    "PRCXI_96_DeepWell": "plate",
+    "PRCXI_EP_Adapter": "tube_rack",
+    "PRCXI_1250uL_Tips": "tip_rack",
+    "PRCXI_10uL_Tips": "tip_rack",
+    "PRCXI_1000uL_Tips": "tip_rack",
+    "PRCXI_200uL_Tips": "tip_rack",
+    "PRCXI_48_DeepWell": "plate",
+}
+
+
+def _load_registry_info() -> Dict[str, Dict[str, Any]]:
+    """读取所有 registry YAML 文件，返回 {function_name: {category, description}} 映射。"""
+    info: Dict[str, Dict[str, Any]] = {}
+    for fname, ltype in _YAML_MAP.items():
+        fpath = _REGISTRY_DIR / fname
+        if not fpath.exists():
+            continue
+        with open(fpath, "r", encoding="utf-8") as f:
+            data = yaml.safe_load(f) or {}
+        for func_name, entry in data.items():
+            info[func_name] = {
+                "registry_category": entry.get("category", ["prcxi", ltype.replace("plate_adapter", "plate_adapters")]),
+                "registry_description": entry.get("description", ""),
+            }
+    return info
+
+
+def _parse_ast_info() -> Dict[str, Dict[str, Any]]:
+    """AST 解析 prcxi_labware.py，提取每个工厂函数的 docstring 和 volume_function 参数。"""
+    source = _LABWARE_PY.read_text(encoding="utf-8")
+    tree = ast.parse(source)
+    result: Dict[str, Dict[str, Any]] = {}
+
+    for node in ast.walk(tree):
+        if not isinstance(node, ast.FunctionDef):
+            continue
+        fname = node.name
+        if not fname.startswith("PRCXI_"):
+            continue
+        if fname.startswith("_"):
+            continue
+
+        info: Dict[str, Any] = {"docstring": "", "volume_functions": None, "plate_type": None}
+
+        # docstring
+        doc = ast.get_docstring(node)
+        if doc:
+            info["docstring"] = doc.strip()
+
+        # 搜索函数体中的 plate_type 赋值和 volume_function 参数
+        func_source = ast.get_source_segment(source, node) or ""
+
+        # plate_type
+        m = re.search(r'plate_type\s*=\s*["\']([^"\']+)["\']', func_source)
+        if m:
+            info["plate_type"] = m.group(1)
+
+        # volume_functions: 检查 compute_height_from_volume_rectangle
+        if "compute_height_from_volume_rectangle" in func_source:
+            # 提取 well_length 和 well_width
+            vf: Dict[str, Any] = {"type": "rectangle"}
+            # 尝试从 lambda 中提取
+            wl_match = re.search(r'well_length\s*=\s*([\w_.]+)', func_source)
+            ww_match = re.search(r'well_width\s*=\s*([\w_.]+)', func_source)
+            if wl_match:
+                vf["well_length_var"] = wl_match.group(1)
+            if ww_match:
+                vf["well_width_var"] = ww_match.group(1)
+            info["volume_functions"] = vf
+
+        result[fname] = info
+
+    return result
+
+
+def _probe_factory(factory_func) -> Any:
+    """实例化工厂函数获取 resource 对象。"""
+    if factory_func.__name__ == "PRCXI_trash":
+        return factory_func()
+    return factory_func("__probe__")
+
+
+def _get_size(resource, attr: str) -> float:
+    """获取 PLR Resource 的尺寸（兼容 size_x 和 _size_x）。"""
+    val = getattr(resource, attr, None)
+    if val is None:
+        val = getattr(resource, f"_{attr}", None)
+    if val is None:
+        val = getattr(resource, f"get_{attr}", lambda: 0)()
+    return float(val or 0)
+
+
+def _extract_grid_from_children(resource) -> Optional[Dict[str, Any]]:
+    """从 resource.children 提取网格信息。"""
+    children = getattr(resource, "children", None) or []
+    if not children:
+        return None
+
+    # 获取 num_items_x, num_items_y
+    num_x = getattr(resource, "num_items_x", None)
+    num_y = getattr(resource, "num_items_y", None)
+    if num_x is None or num_y is None:
+        return None
+
+    c0 = children[0]
+    loc0 = getattr(c0, "location", None)
+    dx = loc0.x if loc0 else 0.0
+    dy_raw = loc0.y if loc0 else 0.0  # 这是 PLR 布局后的位置，不是输入参数
+    dz = loc0.z if loc0 else 0.0
+
+    # 推算 item_dx, item_dy
+    item_dx = 9.0
+    item_dy = 9.0
+    if len(children) > 1:
+        c1 = children[1]
+        loc1 = getattr(c1, "location", None)
+        if loc1 and loc0:
+            diff_x = abs(loc1.x - loc0.x)
+            diff_y = abs(loc1.y - loc0.y)
+            if diff_x > 0.1:
+                item_dx = diff_x
+            if diff_y > 0.1:
+                item_dy = diff_y
+
+    # 如果 num_items_y > 1 且 num_items_x > 1, 找列间距
+    if int(num_y) > 1 and int(num_x) > 1 and len(children) >= int(num_y) + 1:
+        cn = children[int(num_y)]
+        locn = getattr(cn, "location", None)
+        if locn and loc0:
+            col_diff = abs(locn.x - loc0.x)
+            row_diff = abs(children[1].location.y - loc0.y) if len(children) > 1 else item_dy
+            if col_diff > 0.1:
+                item_dx = col_diff
+            if row_diff > 0.1:
+                item_dy = row_diff
+
+    # PLR create_ordered_items_2d 的 Y 轴排列是倒序的：
+    # child[0].y = dy_param + (num_y - 1) * item_dy  (最上面一行)
+    # 因此反推原始 dy 参数：
+    dy = dy_raw - (int(num_y) - 1) * item_dy
+
+    return {
+        "num_items_x": int(num_x),
+        "num_items_y": int(num_y),
+        "dx": round(dx, 4),
+        "dy": round(dy, 4),
+        "dz": round(dz, 4),
+        "item_dx": round(item_dx, 4),
+        "item_dy": round(item_dy, 4),
+    }
+
+
+def _extract_well_info(child) -> Dict[str, Any]:
+    """从 Well/TipSpot/Tube 子对象提取信息。"""
+    # material_z_thickness 在 PLR 中如果未设置会抛 NotImplementedError
+    mzt = None
+    try:
+        mzt = child.material_z_thickness
+    except (NotImplementedError, AttributeError):
+        mzt = getattr(child, "_material_z_thickness", None)
+
+    return {
+        "size_x": round(_get_size(child, "size_x"), 4),
+        "size_y": round(_get_size(child, "size_y"), 4),
+        "size_z": round(_get_size(child, "size_z"), 4),
+        "max_volume": getattr(child, "max_volume", None),
+        "bottom_type": getattr(child, "bottom_type", None),
+        "cross_section_type": getattr(child, "cross_section_type", None),
+        "material_z_thickness": mzt,
+    }
+
+
+def import_from_code() -> LabwareDB:
+    """执行完整的导入流程，返回 LabwareDB 对象。"""
+    # 1. 加载 registry 信息
+    reg_info = _load_registry_info()
+
+    # 2. AST 解析源码
+    ast_info = _parse_ast_info()
+
+    # 3. 导入工厂模块（通过包路径避免 relative import 问题）
+    import importlib
+    mod = importlib.import_module("unilabos.devices.liquid_handling.prcxi.prcxi_labware")
+
+    # 4. 获取 PRCXI_TEMPLATE_FACTORY_KINDS 列出的函数
+    factory_kinds = getattr(mod, "PRCXI_TEMPLATE_FACTORY_KINDS", [])
+    template_func_names = {f.__name__ for f, _k in factory_kinds}
+
+    # 5. 收集所有 PRCXI_ 开头的工厂函数
+    all_factories: List[Tuple[str, Any]] = []
+    for attr_name in dir(mod):
+        if attr_name.startswith("PRCXI_") and not attr_name.startswith("_"):
+            obj = getattr(mod, attr_name)
+            if callable(obj) and not isinstance(obj, type):
+                all_factories.append((attr_name, obj))
+
+    # 按源码行号排序
+    all_factories.sort(key=lambda x: getattr(x[1], "__code__", None) and x[1].__code__.co_firstlineno or 0)
+
+    items: List[LabwareItem] = []
+
+    for func_name, factory in all_factories:
+        try:
+            resource = _probe_factory(factory)
+        except Exception as e:
+            print(f"跳过 {func_name}: {e}")
+            continue
+
+        # 确定类型
+        type_name = "plate"
+        class_name = type(resource).__name__
+        if "TipRack" in class_name:
+            type_name = "tip_rack"
+        elif "Trash" in class_name:
+            type_name = "trash"
+        elif "TubeRack" in class_name:
+            type_name = "tube_rack"
+        elif "PlateAdapter" in class_name:
+            type_name = "plate_adapter"
+
+        # material_info
+        state = getattr(resource, "_unilabos_state", {}) or {}
+        mat = state.get("Material", {})
+        mat_info = MaterialInfo(
+            uuid=mat.get("uuid", ""),
+            Code=mat.get("Code", ""),
+            Name=mat.get("Name", ""),
+            materialEnum=mat.get("materialEnum"),
+            SupplyType=mat.get("SupplyType"),
+        )
+
+        # AST 信息
+        ast_data = ast_info.get(func_name, {})
+        docstring = ast_data.get("docstring", "")
+        plate_type = ast_data.get("plate_type")
+
+        # Registry 信息
+        reg = reg_info.get(func_name, {})
+        registry_category = reg.get("registry_category", ["prcxi", _type_to_yaml_subcategory(type_name)])
+        registry_description = reg.get("registry_description", f'{mat_info.Name} (Code: {mat_info.Code})')
+
+        # 构建 item
+        item = LabwareItem(
+            id=func_name.lower().replace("prcxi_", "")[:8] or func_name[:8],
+            type=type_name,
+            function_name=func_name,
+            docstring=docstring,
+            size_x=round(_get_size(resource, "size_x"), 4),
+            size_y=round(_get_size(resource, "size_y"), 4),
+            size_z=round(_get_size(resource, "size_z"), 4),
+            model=getattr(resource, "model", None),
+            category=getattr(resource, "category", type_name),
+            plate_type=plate_type,
+            material_info=mat_info,
+            registry_category=registry_category,
+            registry_description=registry_description,
+            include_in_template_matching=func_name in template_func_names,
+            template_kind=_TEMPLATE_KINDS.get(func_name),
+        )
+
+        # 提取子项信息
+        children = getattr(resource, "children", None) or []
+        grid_data = _extract_grid_from_children(resource)
+
+        if type_name == "plate" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            well_data = _extract_well_info(c0)
+            bt = well_data.get("bottom_type")
+            if bt is not None:
+                bt = bt.name if hasattr(bt, "name") else str(bt)
+            else:
+                bt = "FLAT"
+            cst = well_data.get("cross_section_type")
+            if cst is not None:
+                cst = cst.name if hasattr(cst, "name") else str(cst)
+            else:
+                cst = "CIRCLE"
+            item.well = WellInfo(
+                size_x=well_data["size_x"],
+                size_y=well_data["size_y"],
+                size_z=well_data["size_z"],
+                max_volume=well_data.get("max_volume"),
+                bottom_type=bt,
+                cross_section_type=cst,
+                material_z_thickness=well_data.get("material_z_thickness"),
+            )
+            # volume_functions
+            vf = ast_data.get("volume_functions")
+            if vf:
+                # 需要实际获取 well 尺寸作为 volume_function 参数
+                item.volume_functions = VolumeFunctions(
+                    type="rectangle",
+                    well_length=well_data["size_x"],
+                    well_width=well_data["size_y"],
+                )
+
+        elif type_name == "tip_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            tip_obj = getattr(c0, "tip", None)
+            tip_volume = 300.0
+            tip_length = 60.0
+            tip_depth = 51.0
+            tip_filter = False
+            if tip_obj:
+                tip_volume = getattr(tip_obj, "maximal_volume", 300.0)
+                tip_length = getattr(tip_obj, "total_tip_length", 60.0)
+                tip_depth = getattr(tip_obj, "fitting_depth", 51.0)
+                tip_filter = getattr(tip_obj, "has_filter", False)
+            item.tip = TipInfo(
+                spot_size_x=round(_get_size(c0, "size_x"), 4),
+                spot_size_y=round(_get_size(c0, "size_y"), 4),
+                spot_size_z=round(_get_size(c0, "size_z"), 4),
+                tip_volume=tip_volume,
+                tip_length=tip_length,
+                tip_fitting_depth=tip_depth,
+                has_filter=tip_filter,
+            )
+            # 计算 tip_above_rack_length = tip_length - (size_z - dz)
+            if grid_data:
+                _dz = grid_data.get("dz", 0.0)
+                _above = tip_length - (item.size_z - _dz)
+                item.tip.tip_above_rack_length = round(_above, 4) if _above > 0 else None
+
+        elif type_name == "tube_rack" and children:
+            if grid_data:
+                item.grid = GridInfo(**grid_data)
+            c0 = children[0]
+            item.tube = TubeInfo(
+                size_x=round(_get_size(c0, "size_x"), 4),
+                size_y=round(_get_size(c0, "size_y"), 4),
+                size_z=round(_get_size(c0, "size_z"), 4),
+                max_volume=getattr(c0, "max_volume", 1500.0) or 1500.0,
+            )
+
+        elif type_name == "plate_adapter":
+            # 提取 adapter 参数
+            ahx = getattr(resource, "adapter_hole_size_x", 127.76)
+            ahy = getattr(resource, "adapter_hole_size_y", 85.48)
+            ahz = getattr(resource, "adapter_hole_size_z", 10.0)
+            adx = getattr(resource, "dx", None)
+            ady = getattr(resource, "dy", None)
+            adz = getattr(resource, "dz", 0.0)
+            item.adapter = AdapterInfo(
+                adapter_hole_size_x=ahx,
+                adapter_hole_size_y=ahy,
+                adapter_hole_size_z=ahz,
+                dx=adx,
+                dy=ady,
+                dz=adz,
+            )
+
+        items.append(item)
+
+    return LabwareDB(items=items)
+
+
+def _type_to_yaml_subcategory(type_name: str) -> str:
+    mapping = {
+        "plate": "plates",
+        "tip_rack": "tip_racks",
+        "trash": "trash",
+        "tube_rack": "tube_racks",
+        "plate_adapter": "plate_adapters",
+    }
+    return mapping.get(type_name, type_name)
+
+
+def save_db(db: LabwareDB, path: Optional[Path] = None) -> Path:
+    """保存 LabwareDB 到 JSON 文件。"""
+    out = path or _DB_PATH
+    with open(out, "w", encoding="utf-8") as f:
+        json.dump(db.model_dump(), f, ensure_ascii=False, indent=2)
+    return out
+
+
+def load_db(path: Optional[Path] = None) -> LabwareDB:
+    """从 JSON 文件加载 LabwareDB。"""
+    src = path or _DB_PATH
+    if not src.exists():
+        return LabwareDB()
+    with open(src, "r", encoding="utf-8") as f:
+        return LabwareDB(**json.load(f))
+
+
+if __name__ == "__main__":
+    db = import_from_code()
+    out = save_db(db)
+    print(f"已导入 {len(db.items)} 个耗材 → {out}")
+    for item in db.items:
+        print(f"  [{item.type:14s}] {item.function_name}")

unilabos/labware_manager/models.py

@@ -0,0 +1,126 @@
+"""Pydantic 数据模型，描述所有 PRCXI 耗材类型的 JSON 结构。"""
+
+from __future__ import annotations
+
+import uuid as _uuid
+from typing import Any, Dict, List, Literal, Optional
+
+from pydantic import BaseModel, Field
+
+
+class MaterialInfo(BaseModel):
+    uuid: str = ""
+    Code: str = ""
+    Name: str = ""
+    materialEnum: Optional[int] = None
+    SupplyType: Optional[int] = None
+
+
+class GridInfo(BaseModel):
+    """孔位网格排列参数"""
+    num_items_x: int = 12
+    num_items_y: int = 8
+    dx: float = 0.0
+    dy: float = 0.0
+    dz: float = 0.0
+    item_dx: float = 9.0
+    item_dy: float = 9.0
+
+
+class WellInfo(BaseModel):
+    """孔参数 (Plate)"""
+    size_x: float = 8.0
+    size_y: float = 8.0
+    size_z: float = 10.0
+    max_volume: Optional[float] = None
+    bottom_type: str = "FLAT"          # V / U / FLAT
+    cross_section_type: str = "CIRCLE"  # CIRCLE / RECTANGLE
+    material_z_thickness: Optional[float] = None
+
+
+class VolumeFunctions(BaseModel):
+    """体积-高度计算函数参数 (矩形 well)"""
+    type: str = "rectangle"
+    well_length: float = 0.0
+    well_width: float = 0.0
+
+
+class TipInfo(BaseModel):
+    """枪头参数 (TipRack)"""
+    spot_size_x: float = 7.0
+    spot_size_y: float = 7.0
+    spot_size_z: float = 0.0
+    tip_volume: float = 300.0
+    tip_length: float = 60.0
+    tip_fitting_depth: float = 51.0
+    tip_above_rack_length: Optional[float] = None
+    has_filter: bool = False
+
+
+class TubeInfo(BaseModel):
+    """管参数 (TubeRack)"""
+    size_x: float = 10.6
+    size_y: float = 10.6
+    size_z: float = 40.0
+    max_volume: float = 1500.0
+
+
+class AdapterInfo(BaseModel):
+    """适配器参数 (PlateAdapter)"""
+    adapter_hole_size_x: float = 127.76
+    adapter_hole_size_y: float = 85.48
+    adapter_hole_size_z: float = 10.0
+    dx: Optional[float] = None
+    dy: Optional[float] = None
+    dz: float = 0.0
+
+
+LabwareType = Literal["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"]
+
+
+class LabwareItem(BaseModel):
+    """一个耗材条目的完整 JSON 表示"""
+
+    id: str = Field(default_factory=lambda: _uuid.uuid4().hex[:8])
+    type: LabwareType = "plate"
+    function_name: str = ""
+    docstring: str = ""
+
+    # 物理尺寸
+    size_x: float = 127.0
+    size_y: float = 85.0
+    size_z: float = 20.0
+    model: Optional[str] = None
+    category: Optional[str] = None
+    plate_type: Optional[str] = None  # non-skirted / semi-skirted / skirted
+
+    # 材料信息
+    material_info: MaterialInfo = Field(default_factory=MaterialInfo)
+
+    # Registry 字段
+    registry_category: List[str] = Field(default_factory=lambda: ["prcxi", "plates"])
+    registry_description: str = ""
+
+    # Plate 特有
+    grid: Optional[GridInfo] = None
+    well: Optional[WellInfo] = None
+    volume_functions: Optional[VolumeFunctions] = None
+
+    # TipRack 特有
+    tip: Optional[TipInfo] = None
+
+    # TubeRack 特有
+    tube: Optional[TubeInfo] = None
+
+    # PlateAdapter 特有
+    adapter: Optional[AdapterInfo] = None
+
+    # 模板匹配
+    include_in_template_matching: bool = False
+    template_kind: Optional[str] = None
+
+
+class LabwareDB(BaseModel):
+    """整个 labware_db.json 的结构"""
+    version: str = "1.0"
+    items: List[LabwareItem] = Field(default_factory=list)

unilabos/labware_manager/static/form_handler.js

@@ -0,0 +1,292 @@
+/**
+ * form_handler.js — 动态表单逻辑 + 实时预览
+ */
+
+// 根据类型显示/隐藏对应的表单段
+function onTypeChange() {
+    const type = document.getElementById('f-type').value;
+    const sections = {
+        grid: ['plate', 'tip_rack', 'tube_rack'],
+        well: ['plate'],
+        tip: ['tip_rack'],
+        tube: ['tube_rack'],
+        adapter: ['plate_adapter'],
+    };
+
+    for (const [sec, types] of Object.entries(sections)) {
+        const el = document.getElementById('section-' + sec);
+        if (el) el.style.display = types.includes(type) ? 'block' : 'none';
+    }
+
+    // plate_type 行只对 plate 显示
+    const ptRow = document.getElementById('row-plate_type');
+    if (ptRow) ptRow.style.display = type === 'plate' ? 'block' : 'none';
+
+    updatePreview();
+}
+
+// 从表单收集数据
+function collectFormData() {
+    const g = id => {
+        const el = document.getElementById(id);
+        if (!el) return null;
+        if (el.type === 'checkbox') return el.checked;
+        if (el.type === 'number') return el.value === '' ? null : parseFloat(el.value);
+        return el.value || null;
+    };
+
+    const type = g('f-type');
+
+    const data = {
+        type: type,
+        function_name: g('f-function_name') || 'PRCXI_new',
+        model: g('f-model'),
+        docstring: g('f-docstring') || '',
+        plate_type: type === 'plate' ? g('f-plate_type') : null,
+        size_x: g('f-size_x') || 127,
+        size_y: g('f-size_y') || 85,
+        size_z: g('f-size_z') || 20,
+        material_info: {
+            uuid: g('f-mi_uuid') || '',
+            Code: g('f-mi_code') || '',
+            Name: g('f-mi_name') || '',
+            materialEnum: g('f-mi_menum'),
+            SupplyType: g('f-mi_stype'),
+        },
+        registry_category: (g('f-reg_cat') || 'prcxi,plates').split(',').map(s => s.trim()),
+        registry_description: g('f-reg_desc') || '',
+        include_in_template_matching: g('f-in_tpl') || false,
+        template_kind: g('f-tpl_kind') || null,
+        grid: null,
+        well: null,
+        tip: null,
+        tube: null,
+        adapter: null,
+        volume_functions: null,
+    };
+
+    // Grid
+    if (['plate', 'tip_rack', 'tube_rack'].includes(type)) {
+        data.grid = {
+            num_items_x: g('f-grid_nx') || 12,
+            num_items_y: g('f-grid_ny') || 8,
+            dx: g('f-grid_dx') || 0,
+            dy: g('f-grid_dy') || 0,
+            dz: g('f-grid_dz') || 0,
+            item_dx: g('f-grid_idx') || 9,
+            item_dy: g('f-grid_idy') || 9,
+        };
+    }
+
+    // Well
+    if (type === 'plate') {
+        data.well = {
+            size_x: g('f-well_sx') || 8,
+            size_y: g('f-well_sy') || 8,
+            size_z: g('f-well_sz') || 10,
+            max_volume: g('f-well_vol'),
+            material_z_thickness: g('f-well_mzt'),
+            bottom_type: g('f-well_bt') || 'FLAT',
+            cross_section_type: g('f-well_cs') || 'CIRCLE',
+        };
+        if (g('f-has_vf')) {
+            data.volume_functions = {
+                type: 'rectangle',
+                well_length: data.well.size_x,
+                well_width: data.well.size_y,
+            };
+        }
+    }
+
+    // Tip
+    if (type === 'tip_rack') {
+        data.tip = {
+            spot_size_x: g('f-tip_sx') || 7,
+            spot_size_y: g('f-tip_sy') || 7,
+            spot_size_z: g('f-tip_sz') || 0,
+            tip_volume: g('f-tip_vol') || 300,
+            tip_length: g('f-tip_len') || 60,
+            tip_fitting_depth: g('f-tip_dep') || 51,
+            tip_above_rack_length: g('f-tip_above'),
+            has_filter: g('f-tip_filter') || false,
+        };
+    }
+
+    // Tube
+    if (type === 'tube_rack') {
+        data.tube = {
+            size_x: g('f-tube_sx') || 10.6,
+            size_y: g('f-tube_sy') || 10.6,
+            size_z: g('f-tube_sz') || 40,
+            max_volume: g('f-tube_vol') || 1500,
+        };
+    }
+
+    // Adapter
+    if (type === 'plate_adapter') {
+        data.adapter = {
+            adapter_hole_size_x: g('f-adp_hsx') || 127.76,
+            adapter_hole_size_y: g('f-adp_hsy') || 85.48,
+            adapter_hole_size_z: g('f-adp_hsz') || 10,
+            dx: g('f-adp_dx'),
+            dy: g('f-adp_dy'),
+            dz: g('f-adp_dz') || 0,
+        };
+    }
+
+    return data;
+}
+
+// 实时预览 (debounce)
+let _previewTimer = null;
+function updatePreview() {
+    if (_previewTimer) clearTimeout(_previewTimer);
+    _previewTimer = setTimeout(() => {
+        const data = collectFormData();
+        const topEl = document.getElementById('svg-topdown');
+        const sideEl = document.getElementById('svg-side');
+        if (topEl) renderTopDown(topEl, data);
+        if (sideEl) renderSideProfile(sideEl, data);
+    }, 200);
+}
+
+// 给所有表单元素绑定 input 事件
+document.addEventListener('DOMContentLoaded', () => {
+    const form = document.getElementById('labware-form');
+    if (!form) return;
+    form.addEventListener('input', updatePreview);
+    form.addEventListener('change', updatePreview);
+
+    // tip_above_rack_length 与 dz 互算
+    // 公式: tip_length = tip_above_rack_length + size_z - dz
+    // 规则: 填 tip_above → 自动算 dz；填 dz → 自动算 tip_above
+    //       改 size_z / tip_length → 优先重算 tip_above（若有值），否则算 dz
+
+    function _getVal(id) {
+        const el = document.getElementById(id);
+        return (el && el.value !== '') ? parseFloat(el.value) : null;
+    }
+    function _setVal(id, v) {
+        const el = document.getElementById(id);
+        if (el) el.value = Math.round(v * 1000) / 1000;
+    }
+
+    function autoCalcTipAbove(changedId) {
+        const typeEl = document.getElementById('f-type');
+        if (!typeEl || typeEl.value !== 'tip_rack') return;
+
+        const tipLen = _getVal('f-tip_len');
+        const sizeZ  = _getVal('f-size_z');
+        const dz     = _getVal('f-grid_dz');
+        const above  = _getVal('f-tip_above');
+
+        // 需要 tip_length 和 size_z 才能计算
+        if (tipLen == null || sizeZ == null) return;
+
+        if (changedId === 'f-tip_above') {
+            // 用户填了 tip_above → 算 dz
+            if (above != null) _setVal('f-grid_dz', above + sizeZ - tipLen);
+        } else if (changedId === 'f-grid_dz') {
+            // 用户填了 dz → 算 tip_above
+            if (dz != null) _setVal('f-tip_above', tipLen - sizeZ + dz);
+        } else {
+            // size_z 或 tip_length 变了 → 优先重算 tip_above（若已有值或 dz 已有值）
+            if (dz != null) {
+                _setVal('f-tip_above', tipLen - sizeZ + dz);
+            } else if (above != null) {
+                _setVal('f-grid_dz', above + sizeZ - tipLen);
+            }
+        }
+    }
+
+    // 绑定 input 事件
+    for (const id of ['f-tip_len', 'f-size_z', 'f-grid_dz', 'f-tip_above']) {
+        const el = document.getElementById(id);
+        if (el) el.addEventListener('input', () => autoCalcTipAbove(id));
+    }
+
+    // 编辑已有 tip_rack 条目时自动补算 tip_above_rack_length
+    const typeEl = document.getElementById('f-type');
+    if (typeEl && typeEl.value === 'tip_rack') {
+        autoCalcTipAbove('f-grid_dz');
+    }
+});
+
+// 自动居中：根据板尺寸和孔阵列参数计算 dx/dy
+function autoCenter() {
+    const g = id => { const el = document.getElementById(id); return el && el.value !== '' ? parseFloat(el.value) : 0; };
+
+    const sizeX = g('f-size_x') || 127;
+    const sizeY = g('f-size_y') || 85;
+    const nx = g('f-grid_nx') || 1;
+    const ny = g('f-grid_ny') || 1;
+    const itemDx = g('f-grid_idx') || 9;
+    const itemDy = g('f-grid_idy') || 9;
+
+    // 根据当前耗材类型确定子元素尺寸
+    const type = document.getElementById('f-type').value;
+    let childSx = 0, childSy = 0;
+    if (type === 'plate') {
+        childSx = g('f-well_sx') || 8;
+        childSy = g('f-well_sy') || 8;
+    } else if (type === 'tip_rack') {
+        childSx = g('f-tip_sx') || 7;
+        childSy = g('f-tip_sy') || 7;
+    } else if (type === 'tube_rack') {
+        childSx = g('f-tube_sx') || 10.6;
+        childSy = g('f-tube_sy') || 10.6;
+    }
+
+    // dx = (板宽 - 孔阵列总占宽) / 2
+    const dx = (sizeX - (nx - 1) * itemDx - childSx) / 2;
+    const dy = (sizeY - (ny - 1) * itemDy - childSy) / 2;
+
+    const elDx = document.getElementById('f-grid_dx');
+    const elDy = document.getElementById('f-grid_dy');
+    if (elDx) elDx.value = Math.round(dx * 100) / 100;
+    if (elDy) elDy.value = Math.round(dy * 100) / 100;
+
+    updatePreview();
+}
+
+// 保存
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    if (!el) return;
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function saveForm() {
+    const data = collectFormData();
+
+    let url, method;
+    if (typeof IS_NEW !== 'undefined' && IS_NEW) {
+        url = '/api/labware';
+        method = 'POST';
+    } else {
+        url = '/api/labware/' + (typeof ITEM_ID !== 'undefined' ? ITEM_ID : '');
+        method = 'PUT';
+    }
+
+    try {
+        const r = await fetch(url, {
+            method: method,
+            headers: { 'Content-Type': 'application/json' },
+            body: JSON.stringify(data),
+        });
+        const d = await r.json();
+        if (d.status === 'ok') {
+            showMsg('保存成功', true);
+            if (IS_NEW) {
+                setTimeout(() => location.href = '/labware/' + data.function_name, 500);
+            }
+        } else {
+            showMsg('保存失败: ' + JSON.stringify(d), false);
+        }
+    } catch (e) {
+        showMsg('请求错误: ' + e.message, false);
+    }
+}

unilabos/labware_manager/static/labware_viz.js

@@ -0,0 +1,450 @@
+/**
+ * labware_viz.js — PRCXI 耗材 SVG 2D 可视化渲染引擎
+ *
+ * renderTopDown(container, itemData)  — 俯视图
+ * renderSideProfile(container, itemData) — 侧面截面图
+ */
+
+const TYPE_COLORS = {
+    plate: '#3b82f6',
+    tip_rack: '#10b981',
+    tube_rack: '#f59e0b',
+    trash: '#ef4444',
+    plate_adapter: '#8b5cf6',
+};
+
+function _svgNS() { return 'http://www.w3.org/2000/svg'; }
+
+function _makeSVG(w, h) {
+    const svg = document.createElementNS(_svgNS(), 'svg');
+    svg.setAttribute('viewBox', `0 0 ${w} ${h}`);
+    svg.setAttribute('width', '100%');
+    svg.setAttribute('preserveAspectRatio', 'xMidYMid meet');
+    svg.style.background = '#fff';
+    return svg;
+}
+
+function _rect(svg, x, y, w, h, fill, stroke, rx) {
+    const r = document.createElementNS(_svgNS(), 'rect');
+    r.setAttribute('x', x); r.setAttribute('y', y);
+    r.setAttribute('width', w); r.setAttribute('height', h);
+    r.setAttribute('fill', fill || 'none');
+    r.setAttribute('stroke', stroke || '#333');
+    r.setAttribute('stroke-width', '0.5');
+    if (rx) r.setAttribute('rx', rx);
+    svg.appendChild(r);
+    return r;
+}
+
+function _circle(svg, cx, cy, r, fill, stroke) {
+    const c = document.createElementNS(_svgNS(), 'circle');
+    c.setAttribute('cx', cx); c.setAttribute('cy', cy);
+    c.setAttribute('r', r);
+    c.setAttribute('fill', fill || 'none');
+    c.setAttribute('stroke', stroke || '#333');
+    c.setAttribute('stroke-width', '0.4');
+    svg.appendChild(c);
+    return c;
+}
+
+function _text(svg, x, y, txt, size, anchor, fill) {
+    const t = document.createElementNS(_svgNS(), 'text');
+    t.setAttribute('x', x); t.setAttribute('y', y);
+    t.setAttribute('font-size', size || '3');
+    t.setAttribute('text-anchor', anchor || 'middle');
+    t.setAttribute('fill', fill || '#666');
+    t.setAttribute('font-family', 'sans-serif');
+    t.textContent = txt;
+    svg.appendChild(t);
+    return t;
+}
+
+function _line(svg, x1, y1, x2, y2, stroke, dash) {
+    const l = document.createElementNS(_svgNS(), 'line');
+    l.setAttribute('x1', x1); l.setAttribute('y1', y1);
+    l.setAttribute('x2', x2); l.setAttribute('y2', y2);
+    l.setAttribute('stroke', stroke || '#999');
+    l.setAttribute('stroke-width', '0.3');
+    if (dash) l.setAttribute('stroke-dasharray', dash);
+    svg.appendChild(l);
+    return l;
+}
+
+function _title(el, txt) {
+    const t = document.createElementNS(_svgNS(), 'title');
+    t.textContent = txt;
+    el.appendChild(t);
+}
+
+// ==================== 俯视图 ====================
+function renderTopDown(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 18;
+    const sx = data.size_x || 127;
+    const sy = data.size_y || 85;
+    const w = sx + pad * 2;
+    const h = sy + pad * 2;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const lightColor = color + '22';
+
+    // 板子外轮廓
+    _rect(svg, pad, pad, sx, sy, lightColor, color, 3);
+
+    // 尺寸标注
+    _text(svg, pad + sx / 2, pad - 4, `${sx} mm`, '3.5', 'middle', '#333');
+    // Y 尺寸 (竖直)
+    const yt = document.createElementNS(_svgNS(), 'text');
+    yt.setAttribute('x', pad - 5);
+    yt.setAttribute('y', pad + sy / 2);
+    yt.setAttribute('font-size', '3.5');
+    yt.setAttribute('text-anchor', 'middle');
+    yt.setAttribute('fill', '#333');
+    yt.setAttribute('font-family', 'sans-serif');
+    yt.setAttribute('transform', `rotate(-90, ${pad - 5}, ${pad + sy / 2})`);
+    yt.textContent = `${sy} mm`;
+    svg.appendChild(yt);
+
+    const grid = data.grid;
+    const well = data.well;
+    const tip = data.tip;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const nx = grid.num_items_x || 1;
+        const ny = grid.num_items_y || 1;
+        const dx = grid.dx || 0;
+        const dy = grid.dy || 0;
+        const idx = grid.item_dx || 9;
+        const idy = grid.item_dy || 9;
+
+        const child = well || tip || tube;
+        const csx = child.size_x || child.spot_size_x || 8;
+        const csy = child.size_y || child.spot_size_y || 8;
+
+        const isCircle = well ? (well.cross_section_type === 'CIRCLE') : (!!tip);
+
+        // 行列标签
+        for (let col = 0; col < nx; col++) {
+            const cx = pad + dx + csx / 2 + col * idx;
+            _text(svg, cx, pad + sy + 5, String(col + 1), '2.5', 'middle', '#999');
+        }
+        const rowLabels = 'ABCDEFGHIJKLMNOP';
+        for (let row = 0; row < ny; row++) {
+            const cy = pad + dy + csy / 2 + row * idy;
+            _text(svg, pad - 4, cy + 1, rowLabels[row] || String(row), '2.5', 'middle', '#999');
+        }
+
+        // 绘制孔位
+        for (let col = 0; col < nx; col++) {
+            for (let row = 0; row < ny; row++) {
+                const cx = pad + dx + csx / 2 + col * idx;
+                const cy = pad + dy + csy / 2 + row * idy;
+
+                let el;
+                if (isCircle) {
+                    const r = Math.min(csx, csy) / 2;
+                    el = _circle(svg, cx, cy, r, '#fff', color);
+                } else {
+                    el = _rect(svg, cx - csx / 2, cy - csy / 2, csx, csy, '#fff', color);
+                }
+
+                const label = (rowLabels[row] || '') + String(col + 1);
+                _title(el, `${label}: ${csx}x${csy} mm`);
+
+                // hover 效果
+                el.style.cursor = 'pointer';
+                el.addEventListener('mouseenter', () => el.setAttribute('fill', color + '44'));
+                el.addEventListener('mouseleave', () => el.setAttribute('fill', '#fff'));
+            }
+        }
+
+        // dx / dy 标注（板边到首个子元素左上角）
+        const dimColor = '#e67e22';
+        const firstLeft = pad + dx;        // 首列子元素左边 X
+        const firstTop  = pad + dy;        // 首行子元素上边 Y
+        if (dx > 0.1) {
+            // dx: 板左边 → 首列子元素左边，画在第一行子元素中心高度
+            const annY = firstTop + csy / 2;
+            _line(svg, pad, annY, firstLeft, annY, dimColor, '1,1');
+            _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+            _line(svg, firstLeft, annY - 2, firstLeft, annY + 2, dimColor);
+            _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+        }
+        if (dy > 0.1) {
+            // dy: 板上边 → 首行子元素上边，画在第一列子元素中心宽度
+            const annX = firstLeft + csx / 2;
+            _line(svg, annX, pad, annX, firstTop, dimColor, '1,1');
+            _line(svg, annX - 2, pad, annX + 2, pad, dimColor);
+            _line(svg, annX - 2, firstTop, annX + 2, firstTop, dimColor);
+            _text(svg, annX + 4, pad + dy / 2 + 1, `dy=${dy}`, '2.5', 'start', dimColor);
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        // 绘制适配器凹槽
+        const adp = data.adapter;
+        const ahx = adp.adapter_hole_size_x || 127;
+        const ahy = adp.adapter_hole_size_y || 85;
+        const adx = adp.dx != null ? adp.dx : (sx - ahx) / 2;
+        const ady = adp.dy != null ? adp.dy : (sy - ahy) / 2;
+        _rect(svg, pad + adx, pad + ady, ahx, ahy, '#f0f0ff', '#8b5cf6', 2);
+        _text(svg, pad + adx + ahx / 2, pad + ady + ahy / 2, `${ahx}x${ahy}`, '4', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        // 简单标记
+        _text(svg, pad + sx / 2, pad + sy / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 侧面截面图 ====================
+function renderSideProfile(container, data) {
+    container.innerHTML = '';
+    if (!data) return;
+
+    const pad = 20;
+    const sx = data.size_x || 127;
+    const sz = data.size_z || 20;
+
+    // 按比例缩放，侧面以 X-Z 面
+    const scaleH = Math.max(1, sz / 60); // 让较矮的板子不会太小
+
+    // 计算枪头露出高度（仅 tip_rack）
+    const tip = data.tip;
+    const grid = data.grid;
+    let tipAbove = 0;
+    if (data.type === 'tip_rack' && tip) {
+        if (tip.tip_above_rack_length != null && tip.tip_above_rack_length > 0) {
+            tipAbove = tip.tip_above_rack_length;
+        } else if (tip.tip_length && grid) {
+            const dz = grid.dz || 0;
+            const calc = tip.tip_length - (sz - dz);
+            if (calc > 0) tipAbove = calc;
+        }
+    }
+
+    const drawW = sx;
+    const drawH = sz;
+    const w = drawW + pad * 2 + 30; // 额外空间给标注
+    const h = drawH + tipAbove + pad * 2 + 10;
+    const svg = _makeSVG(w, h);
+
+    const color = TYPE_COLORS[data.type] || '#3b82f6';
+    const baseY = pad + tipAbove + drawH; // 底部 Y
+    const rackTopY = pad + tipAbove; // rack 顶部 Y
+
+    // 板壳矩形
+    _rect(svg, pad, rackTopY, drawW, drawH, color + '15', color);
+
+    // 尺寸标注
+    // X 方向
+    _line(svg, pad, baseY + 5, pad + drawW, baseY + 5, '#333');
+    _text(svg, pad + drawW / 2, baseY + 12, `${sx} mm`, '3.5', 'middle', '#333');
+
+    // Z 方向
+    _line(svg, pad + drawW + 5, rackTopY, pad + drawW + 5, baseY, '#333');
+    const zt = document.createElementNS(_svgNS(), 'text');
+    zt.setAttribute('x', pad + drawW + 12);
+    zt.setAttribute('y', rackTopY + drawH / 2);
+    zt.setAttribute('font-size', '3.5');
+    zt.setAttribute('text-anchor', 'middle');
+    zt.setAttribute('fill', '#333');
+    zt.setAttribute('font-family', 'sans-serif');
+    zt.setAttribute('transform', `rotate(-90, ${pad + drawW + 12}, ${rackTopY + drawH / 2})`);
+    zt.textContent = `${sz} mm`;
+    svg.appendChild(zt);
+
+    const well = data.well;
+    const tube = data.tube;
+
+    if (grid && (well || tip || tube)) {
+        const dx = grid.dx || 0;
+        const dz = grid.dz || 0;
+        const idx = grid.item_dx || 9;
+        const nx = Math.min(grid.num_items_x || 1, 24); // 最多画24列
+        const dimColor = '#e67e22';
+
+        const child = well || tube;
+        const childTip = tip;
+
+        if (child) {
+            const csx = child.size_x || 8;
+            const csz = child.size_z || 10;
+            const bt = well ? (well.bottom_type || 'FLAT') : 'FLAT';
+
+            // 画几个代表性的孔截面
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + csx / 2 + i * idx;
+                const topZ = baseY - dz - csz;
+                const botZ = baseY - dz;
+
+                // 孔壁
+                _rect(svg, cx - csx / 2, topZ, csx, csz, '#e0e8ff', color, 0.5);
+
+                // 底部形状
+                if (bt === 'V') {
+                    // V 底 三角
+                    const triH = Math.min(csx / 2, csz * 0.3);
+                    const p = document.createElementNS(_svgNS(), 'polygon');
+                    p.setAttribute('points',
+                        `${cx - csx / 2},${botZ - triH} ${cx},${botZ} ${cx + csx / 2},${botZ - triH}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                } else if (bt === 'U') {
+                    // U 底 圆弧
+                    const arcR = csx / 2;
+                    const p = document.createElementNS(_svgNS(), 'path');
+                    p.setAttribute('d', `M ${cx - csx / 2} ${botZ - arcR} A ${arcR} ${arcR} 0 0 0 ${cx + csx / 2} ${botZ - arcR}`);
+                    p.setAttribute('fill', color + '33');
+                    p.setAttribute('stroke', color);
+                    p.setAttribute('stroke-width', '0.3');
+                    svg.appendChild(p);
+                }
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + 0.5 * idx * nDraw + csx / 2 + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+        }
+
+        if (childTip) {
+            // 枪头截面
+            const tipLen = childTip.tip_length || 50;
+            const nDraw = Math.min(nx, 12);
+            for (let i = 0; i < nDraw; i++) {
+                const cx = pad + dx + 3.5 + i * idx;
+                // 枪头顶部 = rack顶部 - 露出长度
+                const tipTopZ = rackTopY - tipAbove;
+                const drawLen = Math.min(tipLen, sz - dz + tipAbove);
+
+                // 枪头轮廓 (梯形)
+                const topW = 4;
+                const botW = 1.5;
+                const p = document.createElementNS(_svgNS(), 'polygon');
+                p.setAttribute('points',
+                    `${cx - topW / 2},${tipTopZ} ${cx + topW / 2},${tipTopZ} ${cx + botW / 2},${tipTopZ + drawLen} ${cx - botW / 2},${tipTopZ + drawLen}`);
+                p.setAttribute('fill', '#10b98133');
+                p.setAttribute('stroke', '#10b981');
+                p.setAttribute('stroke-width', '0.3');
+                svg.appendChild(p);
+            }
+
+            // dz 标注
+            if (dz > 0) {
+                const lx = pad + dx + nDraw * idx + 5;
+                _line(svg, lx, baseY, lx, baseY - dz, dimColor, '1,1');
+                _line(svg, lx - 2, baseY, lx + 2, baseY, dimColor);
+                _line(svg, lx - 2, baseY - dz, lx + 2, baseY - dz, dimColor);
+                _text(svg, lx + 4, baseY - dz / 2 + 1, `dz=${dz}`, '2.5', 'start', dimColor);
+            }
+            // dx 标注
+            if (dx > 0.1) {
+                const annY = rackTopY + 4;
+                _line(svg, pad, annY, pad + dx, annY, dimColor, '1,1');
+                _line(svg, pad, annY - 2, pad, annY + 2, dimColor);
+                _line(svg, pad + dx, annY - 2, pad + dx, annY + 2, dimColor);
+                _text(svg, pad + dx / 2, annY - 2, `dx=${dx}`, '2.5', 'middle', dimColor);
+            }
+
+            // 露出长度标注线
+            if (tipAbove > 0) {
+                const annotX = pad + dx + nDraw * idx + 8;
+                // rack 顶部水平参考线
+                _line(svg, annotX - 3, rackTopY, annotX + 3, rackTopY, '#10b981');
+                // 枪头顶部水平参考线
+                _line(svg, annotX - 3, rackTopY - tipAbove, annotX + 3, rackTopY - tipAbove, '#10b981');
+                // 竖直标注线
+                _line(svg, annotX, rackTopY - tipAbove, annotX, rackTopY, '#10b981', '1,1');
+                _text(svg, annotX + 2, rackTopY - tipAbove / 2 + 1, `露出=${Math.round(tipAbove * 100) / 100}mm`, '2.5', 'start', '#10b981');
+            }
+        }
+    } else if (data.type === 'plate_adapter' && data.adapter) {
+        const adp = data.adapter;
+        const ahz = adp.adapter_hole_size_z || 10;
+        const adz = adp.dz || 0;
+        const adx_val = adp.dx != null ? adp.dx : (sx - (adp.adapter_hole_size_x || 127)) / 2;
+        const ahx = adp.adapter_hole_size_x || 127;
+
+        // 凹槽截面
+        _rect(svg, pad + adx_val, rackTopY + adz, ahx, ahz, '#ede9fe', '#8b5cf6');
+        _text(svg, pad + adx_val + ahx / 2, rackTopY + adz + ahz / 2 + 1, `hole: ${ahz}mm deep`, '3', 'middle', '#8b5cf6');
+    } else if (data.type === 'trash') {
+        _text(svg, pad + drawW / 2, rackTopY + drawH / 2, 'TRASH', '8', 'middle', '#ef4444');
+    }
+
+    container.appendChild(svg);
+    _enableZoomPan(svg, `0 0 ${w} ${h}`);
+}
+
+// ==================== 缩放 & 平移 ====================
+function _enableZoomPan(svgEl, origViewBox) {
+    const parts = origViewBox.split(' ').map(Number);
+    let vx = parts[0], vy = parts[1], vw = parts[2], vh = parts[3];
+    const origVx = vx, origVy = vy, origW = vw, origH = vh;
+    const MIN_SCALE = 0.5, MAX_SCALE = 5;
+
+    function applyViewBox() {
+        svgEl.setAttribute('viewBox', `${vx} ${vy} ${vw} ${vh}`);
+    }
+
+    function resetView() {
+        vx = origVx; vy = origVy; vw = origW; vh = origH;
+        applyViewBox();
+    }
+
+    // 将 resetView 挂到 svg 元素上，方便外部调用
+    svgEl._resetView = resetView;
+
+    svgEl.addEventListener('wheel', function (e) {
+        e.preventDefault();
+        if (e.ctrlKey) {
+            // pinch / ctrl+scroll → 缩放
+            const factor = e.deltaY > 0 ? 1.08 : 1 / 1.08;
+            const newW = vw * factor;
+            const newH = vh * factor;
+            // 限制缩放范围
+            if (newW < origW / MAX_SCALE || newW > origW * (1 / MIN_SCALE)) return;
+            // 以鼠标位置为缩放中心
+            const rect = svgEl.getBoundingClientRect();
+            const mx = (e.clientX - rect.left) / rect.width;
+            const my = (e.clientY - rect.top) / rect.height;
+            vx += (vw - newW) * mx;
+            vy += (vh - newH) * my;
+            vw = newW;
+            vh = newH;
+        } else {
+            // 普通滚轮 → 平移
+            const panSpeed = vw * 0.002;
+            vx += e.deltaX * panSpeed;
+            vy += e.deltaY * panSpeed;
+        }
+        applyViewBox();
+    }, { passive: false });
+}
+
+// 回中按钮：重置指定容器内 SVG 的 viewBox
+function resetSvgView(containerId) {
+    const container = document.getElementById(containerId);
+    if (!container) return;
+    const svg = container.querySelector('svg');
+    if (svg && svg._resetView) svg._resetView();
+}

unilabos/labware_manager/static/style.css

@@ -0,0 +1,295 @@
+/* PRCXI 耗材管理 - 全局样式 */
+
+:root {
+    --c-primary: #3b82f6;
+    --c-primary-dark: #2563eb;
+    --c-danger: #ef4444;
+    --c-warning: #f59e0b;
+    --c-success: #10b981;
+    --c-gray-50: #f9fafb;
+    --c-gray-100: #f3f4f6;
+    --c-gray-200: #e5e7eb;
+    --c-gray-300: #d1d5db;
+    --c-gray-500: #6b7280;
+    --c-gray-700: #374151;
+    --c-gray-900: #111827;
+    --radius: 8px;
+    --shadow: 0 1px 3px rgba(0,0,0,0.1);
+}
+
+* { box-sizing: border-box; margin: 0; padding: 0; }
+
+body {
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', Roboto, sans-serif;
+    background: var(--c-gray-50);
+    color: var(--c-gray-900);
+    line-height: 1.5;
+}
+
+/* 顶部导航 */
+.topbar {
+    background: #fff;
+    border-bottom: 1px solid var(--c-gray-200);
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    padding: 0 24px;
+    height: 56px;
+    position: sticky;
+    top: 0;
+    z-index: 100;
+}
+.topbar .logo {
+    font-weight: 700;
+    font-size: 1.1rem;
+    color: var(--c-gray-900);
+    text-decoration: none;
+}
+
+/* 容器 */
+.container {
+    max-width: 1400px;
+    margin: 0 auto;
+    padding: 24px;
+}
+
+/* 页头 */
+.page-header {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+    margin-bottom: 24px;
+    flex-wrap: wrap;
+    gap: 12px;
+}
+.page-header h1 { font-size: 1.5rem; }
+.header-actions { display: flex; gap: 8px; flex-wrap: wrap; }
+
+/* 按钮 */
+.btn {
+    display: inline-flex;
+    align-items: center;
+    padding: 8px 16px;
+    border-radius: 6px;
+    font-size: 0.875rem;
+    font-weight: 500;
+    cursor: pointer;
+    border: 1px solid transparent;
+    text-decoration: none;
+    transition: all 0.15s;
+    white-space: nowrap;
+}
+.btn-sm { padding: 4px 10px; font-size: 0.8rem; }
+.btn-primary { background: var(--c-primary); color: #fff; }
+.btn-primary:hover { background: var(--c-primary-dark); }
+.btn-outline { background: #fff; color: var(--c-gray-700); border-color: var(--c-gray-300); }
+.btn-outline:hover { background: var(--c-gray-100); }
+.btn-danger { background: var(--c-danger); color: #fff; }
+.btn-danger:hover { background: #dc2626; }
+.btn-warning { background: var(--c-warning); color: #fff; }
+.btn-warning:hover { background: #d97706; }
+
+/* 徽章 */
+.badge {
+    background: var(--c-gray-200);
+    color: var(--c-gray-700);
+    font-size: 0.8rem;
+    padding: 2px 8px;
+    border-radius: 12px;
+    font-weight: 500;
+    margin-left: 4px;
+}
+
+/* 状态消息 */
+.status-msg {
+    padding: 12px 16px;
+    border-radius: var(--radius);
+    margin-bottom: 16px;
+    font-size: 0.9rem;
+}
+.msg-ok { background: #d1fae5; color: #065f46; }
+.msg-err { background: #fee2e2; color: #991b1b; }
+
+/* 类型分段 */
+.type-section { margin-bottom: 32px; }
+.type-section h2 {
+    font-size: 1.1rem;
+    margin-bottom: 12px;
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+.type-dot {
+    width: 12px;
+    height: 12px;
+    border-radius: 50%;
+    display: inline-block;
+}
+
+/* 卡片网格 */
+.card-grid {
+    display: grid;
+    grid-template-columns: repeat(auto-fill, minmax(300px, 1fr));
+    gap: 12px;
+}
+
+/* 耗材卡片 */
+.labware-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+    cursor: pointer;
+    transition: box-shadow 0.2s, border-color 0.2s;
+}
+.labware-card:hover {
+    border-color: var(--c-primary);
+    box-shadow: 0 4px 12px rgba(59,130,246,0.15);
+}
+.card-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    margin-bottom: 8px;
+}
+.card-title {
+    font-weight: 600;
+    font-size: 0.9rem;
+    color: var(--c-gray-900);
+    word-break: break-all;
+}
+.card-body { font-size: 0.85rem; color: var(--c-gray-500); }
+.card-info { margin-bottom: 2px; }
+.card-info .label { color: var(--c-gray-700); font-weight: 500; }
+.card-footer {
+    margin-top: 12px;
+    display: flex;
+    gap: 8px;
+    border-top: 1px solid var(--c-gray-100);
+    padding-top: 10px;
+}
+
+/* 标签 */
+.tag {
+    font-size: 0.7rem;
+    padding: 2px 6px;
+    border-radius: 4px;
+    font-weight: 600;
+    text-transform: uppercase;
+}
+.tag-tpl { background: #dbeafe; color: #1e40af; }
+.tag-plate { background: #dbeafe; color: #1e40af; }
+.tag-tip_rack { background: #d1fae5; color: #065f46; }
+.tag-trash { background: #fee2e2; color: #991b1b; }
+.tag-tube_rack { background: #fef3c7; color: #92400e; }
+.tag-plate_adapter { background: #ede9fe; color: #5b21b6; }
+
+/* 详情页布局 */
+.detail-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .detail-layout { grid-template-columns: 1fr; }
+}
+.detail-info, .detail-viz { display: flex; flex-direction: column; gap: 16px; }
+
+.info-card, .viz-card {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.info-card h3, .viz-card h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+    border-bottom: 1px solid var(--c-gray-100);
+    padding-bottom: 8px;
+}
+
+.info-table { width: 100%; font-size: 0.85rem; }
+.info-table td { padding: 4px 8px; border-bottom: 1px solid var(--c-gray-100); }
+.info-table .label { color: var(--c-gray-500); font-weight: 500; width: 140px; }
+.info-table code { background: var(--c-gray-100); padding: 1px 4px; border-radius: 3px; font-size: 0.8rem; }
+.info-table code.small { font-size: 0.7rem; }
+
+/* SVG 容器 */
+#svg-topdown, #svg-side {
+    width: 100%;
+    min-height: 200px;
+    overflow: hidden;
+}
+#svg-topdown svg, #svg-side svg {
+    display: block;
+    width: 100%;
+    height: auto;
+    touch-action: none;
+}
+
+/* 编辑页布局 */
+.edit-layout {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 24px;
+}
+@media (max-width: 900px) {
+    .edit-layout { grid-template-columns: 1fr; }
+}
+.edit-form { display: flex; flex-direction: column; gap: 16px; }
+.edit-preview { display: flex; flex-direction: column; gap: 16px; position: sticky; top: 72px; align-self: start; }
+
+/* 表单 */
+.form-section {
+    background: #fff;
+    border: 1px solid var(--c-gray-200);
+    border-radius: var(--radius);
+    padding: 16px;
+}
+.form-section h3 {
+    font-size: 0.95rem;
+    margin-bottom: 12px;
+    color: var(--c-gray-700);
+}
+.form-row { margin-bottom: 10px; }
+.form-row label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row input, .form-row select, .form-row textarea {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+    font-family: inherit;
+}
+.form-row input:focus, .form-row select:focus, .form-row textarea:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+.form-row-2, .form-row-3 { display: grid; gap: 12px; margin-bottom: 10px; }
+.form-row-2 { grid-template-columns: 1fr 1fr; }
+.form-row-3 { grid-template-columns: 1fr 1fr 1fr; }
+.form-row-2 label, .form-row-3 label { display: block; font-size: 0.8rem; color: var(--c-gray-500); margin-bottom: 4px; font-weight: 500; }
+.form-row-2 input, .form-row-2 select,
+.form-row-3 input, .form-row-3 select {
+    width: 100%;
+    padding: 8px 10px;
+    border: 1px solid var(--c-gray-300);
+    border-radius: 6px;
+    font-size: 0.85rem;
+}
+.form-row-2 input:focus, .form-row-3 input:focus {
+    outline: none;
+    border-color: var(--c-primary);
+    box-shadow: 0 0 0 3px rgba(59,130,246,0.1);
+}
+
+.form-actions {
+    display: flex;
+    gap: 10px;
+    margin-top: 8px;
+}
+
+/* 双语标签中文部分 */
+.label-cn { color: var(--c-gray-400, #9ca3af); font-weight: 400; margin-left: 4px; }

unilabos/labware_manager/templates/base.html

@@ -0,0 +1,24 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>{% block title %}PRCXI 耗材管理{% endblock %}</title>
+    <link rel="stylesheet" href="/static/style.css">
+    {% block head_extra %}{% endblock %}
+</head>
+<body>
+    <nav class="topbar">
+        <a href="/" class="logo">PRCXI 耗材管理</a>
+        <div class="nav-actions">
+            <a href="/labware/new" class="btn btn-primary btn-sm">+ 新建耗材</a>
+        </div>
+    </nav>
+
+    <main class="container">
+        {% block content %}{% endblock %}
+    </main>
+
+    {% block scripts %}{% endblock %}
+</body>
+</html>

unilabos/labware_manager/templates/detail.html

@@ -0,0 +1,159 @@
+{% extends "base.html" %}
+{% block title %}{{ item.function_name }} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{{ item.function_name }}</h1>
+    <div class="header-actions">
+        <a href="/labware/{{ item.function_name }}/edit" class="btn btn-primary">编辑</a>
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div class="detail-layout">
+    <!-- 左侧: 信息 -->
+    <div class="detail-info">
+        <div class="info-card">
+            <h3>基本信息</h3>
+            <table class="info-table">
+                <tr><td class="label">类型</td><td><span class="tag tag-{{ item.type }}">{{ item.type }}</span></td></tr>
+                <tr><td class="label">函数名</td><td><code>{{ item.function_name }}</code></td></tr>
+                <tr><td class="label">Model</td><td>{{ item.model or '-' }}</td></tr>
+                {% if item.plate_type %}
+                <tr><td class="label">Plate Type</td><td>{{ item.plate_type }}</td></tr>
+                {% endif %}
+                <tr><td class="label">Docstring</td><td>{{ item.docstring or '-' }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>物理尺寸 (mm)</h3>
+            <table class="info-table">
+                <tr><td class="label">X</td><td>{{ item.size_x }}</td></tr>
+                <tr><td class="label">Y</td><td>{{ item.size_y }}</td></tr>
+                <tr><td class="label">Z</td><td>{{ item.size_z }}</td></tr>
+            </table>
+        </div>
+
+        <div class="info-card">
+            <h3>材料信息</h3>
+            <table class="info-table">
+                <tr><td class="label">UUID</td><td><code class="small">{{ item.material_info.uuid }}</code></td></tr>
+                <tr><td class="label">Code</td><td>{{ item.material_info.Code }}</td></tr>
+                <tr><td class="label">Name</td><td>{{ item.material_info.Name }}</td></tr>
+                {% if item.material_info.materialEnum is not none %}
+                <tr><td class="label">materialEnum</td><td>{{ item.material_info.materialEnum }}</td></tr>
+                {% endif %}
+                {% if item.material_info.SupplyType is not none %}
+                <tr><td class="label">SupplyType</td><td>{{ item.material_info.SupplyType }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+
+        {% if item.grid %}
+        <div class="info-card">
+            <h3>网格排列</h3>
+            <table class="info-table">
+                <tr><td class="label">列 x 行</td><td>{{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.grid.dx }}, {{ item.grid.dy }}, {{ item.grid.dz }}</td></tr>
+                <tr><td class="label">item_dx, item_dy</td><td>{{ item.grid.item_dx }}, {{ item.grid.item_dy }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.well %}
+        <div class="info-card">
+            <h3>孔参数 (Well)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.well.size_x }} x {{ item.well.size_y }} x {{ item.well.size_z }}</td></tr>
+                {% if item.well.max_volume is not none %}
+                <tr><td class="label">最大体积</td><td>{{ item.well.max_volume }} uL</td></tr>
+                {% endif %}
+                <tr><td class="label">底部类型</td><td>{{ item.well.bottom_type }}</td></tr>
+                <tr><td class="label">截面类型</td><td>{{ item.well.cross_section_type }}</td></tr>
+                {% if item.well.material_z_thickness is not none %}
+                <tr><td class="label">材料Z厚度</td><td>{{ item.well.material_z_thickness }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tip %}
+        <div class="info-card">
+            <h3>枪头参数 (Tip)</h3>
+            <table class="info-table">
+                <tr><td class="label">Spot 尺寸</td><td>{{ item.tip.spot_size_x }} x {{ item.tip.spot_size_y }} x {{ item.tip.spot_size_z }}</td></tr>
+                <tr><td class="label">容量</td><td>{{ item.tip.tip_volume }} uL</td></tr>
+                <tr><td class="label">长度</td><td>{{ item.tip.tip_length }} mm</td></tr>
+                <tr><td class="label">取枪头插入深度</td><td>{{ item.tip.tip_fitting_depth }} mm</td></tr>
+                {% if item.tip.tip_above_rack_length is not none %}
+                <tr><td class="label">枪头露出枪头盒长度</td><td>{{ item.tip.tip_above_rack_length }} mm</td></tr>
+                {% endif %}
+                <tr><td class="label">有滤芯</td><td>{{ item.tip.has_filter }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.tube %}
+        <div class="info-card">
+            <h3>管参数 (Tube)</h3>
+            <table class="info-table">
+                <tr><td class="label">尺寸</td><td>{{ item.tube.size_x }} x {{ item.tube.size_y }} x {{ item.tube.size_z }}</td></tr>
+                <tr><td class="label">最大体积</td><td>{{ item.tube.max_volume }} uL</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        {% if item.adapter %}
+        <div class="info-card">
+            <h3>适配器参数</h3>
+            <table class="info-table">
+                <tr><td class="label">Hole 尺寸</td><td>{{ item.adapter.adapter_hole_size_x }} x {{ item.adapter.adapter_hole_size_y }} x {{ item.adapter.adapter_hole_size_z }}</td></tr>
+                <tr><td class="label">dx, dy, dz</td><td>{{ item.adapter.dx }}, {{ item.adapter.dy }}, {{ item.adapter.dz }}</td></tr>
+            </table>
+        </div>
+        {% endif %}
+
+        <div class="info-card">
+            <h3>Registry</h3>
+            <table class="info-table">
+                <tr><td class="label">分类</td><td>{{ item.registry_category | join(' / ') }}</td></tr>
+                <tr><td class="label">描述</td><td>{{ item.registry_description }}</td></tr>
+                <tr><td class="label">模板匹配</td><td>{{ item.include_in_template_matching }}</td></tr>
+                {% if item.template_kind %}
+                <tr><td class="label">模板类型</td><td>{{ item.template_kind }}</td></tr>
+                {% endif %}
+            </table>
+        </div>
+    </div>
+
+    <!-- 右侧: 可视化 -->
+    <div class="detail-viz">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                俯视图 (Top-Down)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                侧面截面图 (Side Profile)
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script>
+    const itemData = {{ item.model_dump() | tojson }};
+    document.addEventListener('DOMContentLoaded', () => {
+        renderTopDown(document.getElementById('svg-topdown'), itemData);
+        renderSideProfile(document.getElementById('svg-side'), itemData);
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/edit.html

@@ -0,0 +1,257 @@
+{% extends "base.html" %}
+{% block title %}{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %} - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>{% if is_new %}新建耗材{% else %}编辑 {{ item.function_name }}{% endif %}</h1>
+    <div class="header-actions">
+        <a href="/" class="btn btn-outline">返回列表</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+<div class="edit-layout">
+    <!-- 左侧: 表单 -->
+    <div class="edit-form">
+        <form id="labware-form" onsubmit="return false;">
+            <!-- 基本信息 -->
+            <div class="form-section">
+                <h3>基本信息</h3>
+                <div class="form-row">
+                    <label>类型</label>
+                    <select name="type" id="f-type" onchange="onTypeChange()">
+                        <option value="plate" {% if labware_type == 'plate' %}selected{% endif %}>Plate (孔板)</option>
+                        <option value="tip_rack" {% if labware_type == 'tip_rack' %}selected{% endif %}>TipRack (吸头盒)</option>
+                        <option value="trash" {% if labware_type == 'trash' %}selected{% endif %}>Trash (废弃槽)</option>
+                        <option value="tube_rack" {% if labware_type == 'tube_rack' %}selected{% endif %}>TubeRack (管架)</option>
+                        <option value="plate_adapter" {% if labware_type == 'plate_adapter' %}selected{% endif %}>PlateAdapter (适配器)</option>
+                    </select>
+                </div>
+                <div class="form-row">
+                    <label>函数名</label>
+                    <input type="text" name="function_name" id="f-function_name"
+                           value="{{ item.function_name if item else 'PRCXI_new_labware' }}"
+                           placeholder="PRCXI_xxx">
+                </div>
+                <div class="form-row">
+                    <label>Model</label>
+                    <input type="text" name="model" id="f-model"
+                           value="{{ item.model if item and item.model else '' }}">
+                </div>
+                <div class="form-row">
+                    <label>Docstring</label>
+                    <textarea name="docstring" id="f-docstring" rows="2">{{ item.docstring if item else '' }}</textarea>
+                </div>
+                <div class="form-row" id="row-plate_type" style="display:none;">
+                    <label>Plate Type</label>
+                    <select name="plate_type" id="f-plate_type">
+                        <option value="">-</option>
+                        <option value="skirted" {% if item and item.plate_type == 'skirted' %}selected{% endif %}>skirted</option>
+                        <option value="semi-skirted" {% if item and item.plate_type == 'semi-skirted' %}selected{% endif %}>semi-skirted</option>
+                        <option value="non-skirted" {% if item and item.plate_type == 'non-skirted' %}selected{% endif %}>non-skirted</option>
+                    </select>
+                </div>
+            </div>
+
+            <!-- 物理尺寸 -->
+            <div class="form-section">
+                <h3>物理尺寸 Physical Dimensions (mm)</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">板长</span></label><input type="number" step="any" name="size_x" id="f-size_x" value="{{ item.size_x if item else 127 }}"></div>
+                    <div><label>size_y <span class="label-cn">板宽</span></label><input type="number" step="any" name="size_y" id="f-size_y" value="{{ item.size_y if item else 85 }}"></div>
+                    <div><label>size_z <span class="label-cn">板高</span></label><input type="number" step="any" name="size_z" id="f-size_z" value="{{ item.size_z if item else 20 }}"></div>
+                </div>
+            </div>
+
+            <!-- 材料信息 -->
+            <div class="form-section">
+                <h3>材料信息</h3>
+                <div class="form-row">
+                    <label>UUID</label>
+                    <input type="text" name="mi_uuid" id="f-mi_uuid"
+                           value="{{ item.material_info.uuid if item else '' }}">
+                </div>
+                <div class="form-row-2">
+                    <div><label>Code</label><input type="text" name="mi_code" id="f-mi_code" value="{{ item.material_info.Code if item else '' }}"></div>
+                    <div><label>Name</label><input type="text" name="mi_name" id="f-mi_name" value="{{ item.material_info.Name if item else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>materialEnum</label><input type="number" name="mi_menum" id="f-mi_menum" value="{{ item.material_info.materialEnum if item and item.material_info.materialEnum is not none else '' }}"></div>
+                    <div><label>SupplyType</label><input type="number" name="mi_stype" id="f-mi_stype" value="{{ item.material_info.SupplyType if item and item.material_info.SupplyType is not none else '' }}"></div>
+                </div>
+            </div>
+
+            <!-- 网格排列 (plate/tip_rack/tube_rack) -->
+            <div class="form-section" id="section-grid" style="display:none;">
+                <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                    网格排列 Grid Layout
+                    <button type="button" class="btn btn-sm btn-outline" onclick="autoCenter()">自动居中 Auto-Center</button>
+                </h3>
+                <div class="form-row-2">
+                    <div><label>num_items_x <span class="label-cn">列数</span></label><input type="number" name="grid_nx" id="f-grid_nx" value="{{ item.grid.num_items_x if item and item.grid else 12 }}"></div>
+                    <div><label>num_items_y <span class="label-cn">行数</span></label><input type="number" name="grid_ny" id="f-grid_ny" value="{{ item.grid.num_items_y if item and item.grid else 8 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">首孔X偏移</span></label><input type="number" step="any" name="grid_dx" id="f-grid_dx" value="{{ item.grid.dx if item and item.grid else 0 }}"></div>
+                    <div><label>dy <span class="label-cn">首孔Y偏移</span></label><input type="number" step="any" name="grid_dy" id="f-grid_dy" value="{{ item.grid.dy if item and item.grid else 0 }}"></div>
+                    <div><label>dz <span class="label-cn">孔底Z偏移</span></label><input type="number" step="any" name="grid_dz" id="f-grid_dz" value="{{ item.grid.dz if item and item.grid else 0 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>item_dx <span class="label-cn">列间距</span></label><input type="number" step="any" name="grid_idx" id="f-grid_idx" value="{{ item.grid.item_dx if item and item.grid else 9 }}"></div>
+                    <div><label>item_dy <span class="label-cn">行间距</span></label><input type="number" step="any" name="grid_idy" id="f-grid_idy" value="{{ item.grid.item_dy if item and item.grid else 9 }}"></div>
+                </div>
+            </div>
+
+            <!-- Well 参数 (plate) -->
+            <div class="form-section" id="section-well" style="display:none;">
+                <h3>孔参数 Well</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">孔长</span></label><input type="number" step="any" name="well_sx" id="f-well_sx" value="{{ item.well.size_x if item and item.well else 8 }}"></div>
+                    <div><label>size_y <span class="label-cn">孔宽</span></label><input type="number" step="any" name="well_sy" id="f-well_sy" value="{{ item.well.size_y if item and item.well else 8 }}"></div>
+                    <div><label>size_z <span class="label-cn">孔深</span></label><input type="number" step="any" name="well_sz" id="f-well_sz" value="{{ item.well.size_z if item and item.well else 10 }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div><label>max_volume <span class="label-cn">最大容量 (uL)</span></label><input type="number" step="any" name="well_vol" id="f-well_vol" value="{{ item.well.max_volume if item and item.well and item.well.max_volume is not none else '' }}"></div>
+                    <div><label>material_z_thickness <span class="label-cn">底壁厚度</span></label><input type="number" step="any" name="well_mzt" id="f-well_mzt" value="{{ item.well.material_z_thickness if item and item.well and item.well.material_z_thickness is not none else '' }}"></div>
+                </div>
+                <div class="form-row-2">
+                    <div>
+                        <label>bottom_type <span class="label-cn">底部形状</span></label>
+                        <select name="well_bt" id="f-well_bt">
+                            <option value="FLAT" {% if item and item.well and item.well.bottom_type == 'FLAT' %}selected{% endif %}>FLAT</option>
+                            <option value="V" {% if item and item.well and item.well.bottom_type == 'V' %}selected{% endif %}>V</option>
+                            <option value="U" {% if item and item.well and item.well.bottom_type == 'U' %}selected{% endif %}>U</option>
+                        </select>
+                    </div>
+                    <div>
+                        <label>cross_section_type <span class="label-cn">截面形状</span></label>
+                        <select name="well_cs" id="f-well_cs">
+                            <option value="CIRCLE" {% if item and item.well and item.well.cross_section_type == 'CIRCLE' %}selected{% endif %}>CIRCLE</option>
+                            <option value="RECTANGLE" {% if item and item.well and item.well.cross_section_type == 'RECTANGLE' %}selected{% endif %}>RECTANGLE</option>
+                        </select>
+                    </div>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="has_vf" id="f-has_vf" {% if item and item.volume_functions %}checked{% endif %}> 使用 volume_functions (rectangle)</label>
+                </div>
+            </div>
+
+            <!-- Tip 参数 (tip_rack) -->
+            <div class="form-section" id="section-tip" style="display:none;">
+                <h3>枪头参数 Tip</h3>
+                <div class="form-row-3">
+                    <div><label>spot_size_x <span class="label-cn">卡槽长</span></label><input type="number" step="any" name="tip_sx" id="f-tip_sx" value="{{ item.tip.spot_size_x if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_y <span class="label-cn">卡槽宽</span></label><input type="number" step="any" name="tip_sy" id="f-tip_sy" value="{{ item.tip.spot_size_y if item and item.tip else 7 }}"></div>
+                    <div><label>spot_size_z <span class="label-cn">卡槽高</span></label><input type="number" step="any" name="tip_sz" id="f-tip_sz" value="{{ item.tip.spot_size_z if item and item.tip else 0 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>tip_volume <span class="label-cn">枪头容量 (uL)</span></label><input type="number" step="any" name="tip_vol" id="f-tip_vol" value="{{ item.tip.tip_volume if item and item.tip else 300 }}"></div>
+                    <div><label>tip_length <span class="label-cn">枪头总长度 (mm)</span></label><input type="number" step="any" name="tip_len" id="f-tip_len" value="{{ item.tip.tip_length if item and item.tip else 60 }}"></div>
+                    <div><label>fitting_depth <span class="label-cn">取枪头时插入的长度 (mm)</span></label><input type="number" step="any" name="tip_dep" id="f-tip_dep" value="{{ item.tip.tip_fitting_depth if item and item.tip else 51 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>tip_above_rack_length <span class="label-cn">枪头在枪头盒上方的部分的长度 (mm)</span></label>
+                    <input type="number" step="any" name="tip_above" id="f-tip_above"
+                           value="{{ item.tip.tip_above_rack_length if item and item.tip and item.tip.tip_above_rack_length is not none else '' }}"
+                           placeholder="tip_length - (size_z - dz)">
+                    <small style="color:#888;margin-top:2px;">公式: tip_length = tip_above + size_z - dz；填 tip_above 自动算 dz，填 dz 自动算 tip_above</small>
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="tip_filter" id="f-tip_filter" {% if item and item.tip and item.tip.has_filter %}checked{% endif %}> has_filter</label>
+                </div>
+            </div>
+
+            <!-- Tube 参数 (tube_rack) -->
+            <div class="form-section" id="section-tube" style="display:none;">
+                <h3>管参数 Tube</h3>
+                <div class="form-row-3">
+                    <div><label>size_x <span class="label-cn">管径X</span></label><input type="number" step="any" name="tube_sx" id="f-tube_sx" value="{{ item.tube.size_x if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_y <span class="label-cn">管径Y</span></label><input type="number" step="any" name="tube_sy" id="f-tube_sy" value="{{ item.tube.size_y if item and item.tube else 10.6 }}"></div>
+                    <div><label>size_z <span class="label-cn">管高</span></label><input type="number" step="any" name="tube_sz" id="f-tube_sz" value="{{ item.tube.size_z if item and item.tube else 40 }}"></div>
+                </div>
+                <div class="form-row">
+                    <label>max_volume <span class="label-cn">最大容量 (uL)</span></label>
+                    <input type="number" step="any" name="tube_vol" id="f-tube_vol" value="{{ item.tube.max_volume if item and item.tube else 1500 }}">
+                </div>
+            </div>
+
+            <!-- Adapter 参数 (plate_adapter) -->
+            <div class="form-section" id="section-adapter" style="display:none;">
+                <h3>适配器参数 Adapter</h3>
+                <div class="form-row-3">
+                    <div><label>hole_size_x <span class="label-cn">凹槽长</span></label><input type="number" step="any" name="adp_hsx" id="f-adp_hsx" value="{{ item.adapter.adapter_hole_size_x if item and item.adapter else 127.76 }}"></div>
+                    <div><label>hole_size_y <span class="label-cn">凹槽宽</span></label><input type="number" step="any" name="adp_hsy" id="f-adp_hsy" value="{{ item.adapter.adapter_hole_size_y if item and item.adapter else 85.48 }}"></div>
+                    <div><label>hole_size_z <span class="label-cn">凹槽深</span></label><input type="number" step="any" name="adp_hsz" id="f-adp_hsz" value="{{ item.adapter.adapter_hole_size_z if item and item.adapter else 10 }}"></div>
+                </div>
+                <div class="form-row-3">
+                    <div><label>dx <span class="label-cn">X偏移</span></label><input type="number" step="any" name="adp_dx" id="f-adp_dx" value="{{ item.adapter.dx if item and item.adapter and item.adapter.dx is not none else '' }}"></div>
+                    <div><label>dy <span class="label-cn">Y偏移</span></label><input type="number" step="any" name="adp_dy" id="f-adp_dy" value="{{ item.adapter.dy if item and item.adapter and item.adapter.dy is not none else '' }}"></div>
+                    <div><label>dz <span class="label-cn">Z偏移</span></label><input type="number" step="any" name="adp_dz" id="f-adp_dz" value="{{ item.adapter.dz if item and item.adapter else 0 }}"></div>
+                </div>
+            </div>
+
+            <!-- Registry -->
+            <div class="form-section">
+                <h3>Registry / Template</h3>
+                <div class="form-row">
+                    <label>registry_category (逗号分隔)</label>
+                    <input type="text" name="reg_cat" id="f-reg_cat"
+                           value="{{ item.registry_category | join(',') if item else 'prcxi,plates' }}">
+                </div>
+                <div class="form-row">
+                    <label>registry_description</label>
+                    <input type="text" name="reg_desc" id="f-reg_desc"
+                           value="{{ item.registry_description if item else '' }}">
+                </div>
+                <div class="form-row">
+                    <label><input type="checkbox" name="in_tpl" id="f-in_tpl" {% if item and item.include_in_template_matching %}checked{% endif %}> include_in_template_matching</label>
+                </div>
+                <div class="form-row" id="row-tpl_kind">
+                    <label>template_kind</label>
+                    <input type="text" name="tpl_kind" id="f-tpl_kind"
+                           value="{{ item.template_kind if item and item.template_kind else '' }}">
+                </div>
+            </div>
+
+            <div class="form-actions">
+                <button type="button" class="btn btn-primary" onclick="saveForm()">
+                    {% if is_new %}创建{% else %}保存{% endif %}
+                </button>
+                <a href="/" class="btn btn-outline">取消</a>
+            </div>
+        </form>
+    </div>
+
+    <!-- 右侧: 实时预览 -->
+    <div class="edit-preview">
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 俯视图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-topdown')">回中</button>
+            </h3>
+            <div id="svg-topdown"></div>
+        </div>
+        <div class="viz-card">
+            <h3 style="display:flex;align-items:center;justify-content:space-between;">
+                预览: 侧面截面图
+                <button type="button" class="btn btn-sm btn-outline" onclick="resetSvgView('svg-side')">回中</button>
+            </h3>
+            <div id="svg-side"></div>
+        </div>
+    </div>
+</div>
+{% endblock %}
+
+{% block scripts %}
+<script src="/static/labware_viz.js"></script>
+<script src="/static/form_handler.js"></script>
+<script>
+    const IS_NEW = {{ 'true' if is_new else 'false' }};
+    const ITEM_ID = "{{ item.function_name if item else '' }}";
+    document.addEventListener('DOMContentLoaded', () => {
+        onTypeChange();
+        updatePreview();
+    });
+</script>
+{% endblock %}

unilabos/labware_manager/templates/index.html

@@ -0,0 +1,131 @@
+{% extends "base.html" %}
+{% block title %}耗材列表 - PRCXI{% endblock %}
+
+{% block content %}
+<div class="page-header">
+    <h1>耗材列表 <span class="badge">{{ total }}</span></h1>
+    <div class="header-actions">
+        <button class="btn btn-outline" onclick="importFromCode()">从代码导入</button>
+        <button class="btn btn-outline" onclick="generateCode(true)">生成代码 (测试)</button>
+        <button class="btn btn-warning" onclick="generateCode(false)">生成代码 (正式)</button>
+        <a href="/labware/new" class="btn btn-primary">+ 新建耗材</a>
+    </div>
+</div>
+
+<div id="status-msg" class="status-msg" style="display:none;"></div>
+
+{% set type_labels = {
+    "plate": "孔板 (Plate)",
+    "tip_rack": "吸头盒 (TipRack)",
+    "trash": "废弃槽 (Trash)",
+    "tube_rack": "管架 (TubeRack)",
+    "plate_adapter": "适配器 (PlateAdapter)"
+} %}
+{% set type_colors = {
+    "plate": "#3b82f6",
+    "tip_rack": "#10b981",
+    "trash": "#ef4444",
+    "tube_rack": "#f59e0b",
+    "plate_adapter": "#8b5cf6"
+} %}
+
+{% for type_key in ["plate", "tip_rack", "trash", "tube_rack", "plate_adapter"] %}
+{% if type_key in groups %}
+<section class="type-section">
+    <h2>
+        <span class="type-dot" style="background:{{ type_colors[type_key] }}"></span>
+        {{ type_labels[type_key] }}
+        <span class="badge">{{ groups[type_key]|length }}</span>
+    </h2>
+    <div class="card-grid">
+        {% for item in groups[type_key] %}
+        <div class="labware-card" onclick="location.href='/labware/{{ item.function_name }}'">
+            <div class="card-header">
+                <span class="card-title">{{ item.function_name }}</span>
+                {% if item.include_in_template_matching %}
+                <span class="tag tag-tpl">TPL</span>
+                {% endif %}
+            </div>
+            <div class="card-body">
+                <div class="card-info">
+                    <span class="label">Code:</span> {{ item.material_info.Code or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">名称:</span> {{ item.material_info.Name or '-' }}
+                </div>
+                <div class="card-info">
+                    <span class="label">尺寸:</span>
+                    {{ item.size_x }} x {{ item.size_y }} x {{ item.size_z }} mm
+                </div>
+                {% if item.grid %}
+                <div class="card-info">
+                    <span class="label">网格:</span>
+                    {{ item.grid.num_items_x }} x {{ item.grid.num_items_y }}
+                </div>
+                {% endif %}
+            </div>
+            <div class="card-footer">
+                <a href="/labware/{{ item.function_name }}/edit" class="btn btn-sm btn-outline"
+                   onclick="event.stopPropagation()">编辑</a>
+                <button class="btn btn-sm btn-danger"
+                        onclick="event.stopPropagation(); deleteItem('{{ item.function_name }}')">删除</button>
+            </div>
+        </div>
+        {% endfor %}
+    </div>
+</section>
+{% endif %}
+{% endfor %}
+{% endblock %}
+
+{% block scripts %}
+<script>
+function showMsg(text, ok) {
+    const el = document.getElementById('status-msg');
+    el.textContent = text;
+    el.className = 'status-msg ' + (ok ? 'msg-ok' : 'msg-err');
+    el.style.display = 'block';
+    setTimeout(() => el.style.display = 'none', 4000);
+}
+
+async function importFromCode() {
+    if (!confirm('将从现有 prcxi_labware.py + YAML 重新导入，覆盖当前 JSON 数据？')) return;
+    const r = await fetch('/api/import-from-code', {method:'POST'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('导入成功: ' + d.count + ' 个耗材', true);
+        setTimeout(() => location.reload(), 1000);
+    } else {
+        showMsg('导入失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function generateCode(testMode) {
+    const label = testMode ? '测试' : '正式';
+    if (!testMode && !confirm('正式模式将覆盖原有 prcxi_labware.py 和 YAML 文件，确定？')) return;
+    const r = await fetch('/api/generate-code', {
+        method: 'POST',
+        headers: {'Content-Type':'application/json'},
+        body: JSON.stringify({test_mode: testMode})
+    });
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg(`[${label}] 生成成功: ${d.python_file}`, true);
+    } else {
+        showMsg('生成失败: ' + JSON.stringify(d), false);
+    }
+}
+
+async function deleteItem(id) {
+    if (!confirm('确定删除 ' + id + '？')) return;
+    const r = await fetch('/api/labware/' + id, {method:'DELETE'});
+    const d = await r.json();
+    if (d.status === 'ok') {
+        showMsg('已删除', true);
+        setTimeout(() => location.reload(), 500);
+    } else {
+        showMsg('删除失败', false);
+    }
+}
+</script>
+{% endblock %}

unilabos/labware_manager/yaml_gen.py

@@ -0,0 +1,119 @@
+"""JSON → Registry YAML 文件生成。
+
+按 type 分组输出到对应 YAML 文件（与现有格式完全一致）。
+"""
+
+from __future__ import annotations
+
+import shutil
+from collections import defaultdict
+from pathlib import Path
+from typing import Dict, List
+
+import yaml
+
+from unilabos.labware_manager.models import LabwareDB, LabwareItem
+
+_REGISTRY_DIR = Path(__file__).resolve().parents[1] / "registry" / "resources" / "prcxi"
+
+# type → yaml 文件名
+_TYPE_TO_YAML = {
+    "plate": "plates",
+    "tip_rack": "tip_racks",
+    "trash": "trash",
+    "tube_rack": "tube_racks",
+    "plate_adapter": "plate_adapters",
+}
+
+
+def _build_entry(item: LabwareItem) -> dict:
+    """构建单个 YAML 条目（与现有格式完全一致）。"""
+    mi = item.material_info
+    desc = item.registry_description
+    if not desc:
+        desc = f'{mi.Name} (Code: {mi.Code})' if mi.Name and mi.Code else item.function_name
+
+    return {
+        "category": list(item.registry_category),
+        "class": {
+            "module": f"unilabos.devices.liquid_handling.prcxi.prcxi_labware:{item.function_name}",
+            "type": "pylabrobot",
+        },
+        "description": desc,
+        "handles": [],
+        "icon": "",
+        "init_param_schema": {},
+        "version": "1.0.0",
+    }
+
+
+class _YAMLDumper(yaml.SafeDumper):
+    """自定义 Dumper: 空列表输出为 []，空字典输出为 {}。"""
+    pass
+
+
+def _represent_list(dumper, data):
+    if not data:
+        return dumper.represent_sequence("tag:yaml.org,2002:seq", data, flow_style=True)
+    return dumper.represent_sequence("tag:yaml.org,2002:seq", data)
+
+
+def _represent_dict(dumper, data):
+    if not data:
+        return dumper.represent_mapping("tag:yaml.org,2002:map", data, flow_style=True)
+    return dumper.represent_mapping("tag:yaml.org,2002:map", data)
+
+
+def _represent_str(dumper, data):
+    if '\n' in data or ':' in data or "'" in data:
+        return dumper.represent_scalar("tag:yaml.org,2002:str", data, style="'")
+    return dumper.represent_scalar("tag:yaml.org,2002:str", data)
+
+
+_YAMLDumper.add_representer(list, _represent_list)
+_YAMLDumper.add_representer(dict, _represent_dict)
+_YAMLDumper.add_representer(str, _represent_str)
+
+
+def generate_yaml(db: LabwareDB, test_mode: bool = True) -> List[Path]:
+    """生成所有 registry YAML 文件，返回输出文件路径列表。"""
+    suffix = "_test" if test_mode else ""
+
+    # 按 type 分组
+    groups: Dict[str, Dict[str, dict]] = defaultdict(dict)
+    for item in db.items:
+        yaml_key = _TYPE_TO_YAML.get(item.type)
+        if yaml_key is None:
+            continue
+        groups[yaml_key][item.function_name] = _build_entry(item)
+
+    out_paths: List[Path] = []
+    for yaml_key, entries in groups.items():
+        out_path = _REGISTRY_DIR / f"{yaml_key}{suffix}.yaml"
+
+        # 备份
+        if out_path.exists():
+            bak = out_path.with_suffix(".yaml.bak")
+            shutil.copy2(out_path, bak)
+
+        # 按函数名排序
+        sorted_entries = dict(sorted(entries.items()))
+
+        content = yaml.dump(sorted_entries, Dumper=_YAMLDumper, allow_unicode=True,
+                           default_flow_style=False, sort_keys=False)
+        out_path.write_text(content, encoding="utf-8")
+        out_paths.append(out_path)
+
+    return out_paths
+
+
+if __name__ == "__main__":
+    from unilabos.labware_manager.importer import load_db
+    db = load_db()
+    if not db.items:
+        print("labware_db.json 为空，请先运行 importer.py")
+    else:
+        paths = generate_yaml(db, test_mode=True)
+        print(f"已生成 {len(paths)} 个 YAML 文件:")
+        for p in paths:
+            print(f"  {p}")

unilabos/registry/devices/robot_arm.yaml

@@ -173,48 +173,64 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
-          status: status
-        goal:
-          command: command
+        feedback: {}
+        goal: {}
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
-              additionalProperties: false
+            feedback: {}
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
+                target:
                   type: string
-              title: SendCmd_Goal
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
+                x_distance:
                   type: string
-                success:
-                  type: boolean
-              title: SendCmd_Result
+                y_distance:
+                  type: string
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status

unilabos/registry/devices/robot_linear_motion.yaml

@@ -684,48 +684,64 @@ linear_motion.toyo_xyz.sim:
           type: object
         type: UniLabJsonCommand
       pick_and_place:
-        feedback:
-          status: status
-        goal:
-          command: command
+        feedback: {}
+        goal: {}
         goal_default:
-          command: ''
+          constraints: null
+          lift_height: null
+          move_group: null
+          option: null
+          resource: null
+          retry: null
+          speed: null
+          status: null
+          target: null
+          x_distance: null
+          y_distance: null
         handles: {}
         placeholder_keys: {}
-        result:
-          return_info: return_info
-          success: success
+        result: {}
         schema:
-          description: ''
+          description: pick_and_place 显式参数（UniLabJsonCommand）
           properties:
-            feedback:
-              additionalProperties: false
+            feedback: {}
+            goal:
               properties:
+                constraints:
+                  items:
+                    type: number
+                  type: array
+                lift_height:
+                  type: string
+                move_group:
+                  type: string
+                option:
+                  type: string
+                resource:
+                  type: string
+                retry:
+                  type: string
+                speed:
+                  type: string
                 status:
                   type: string
-              title: SendCmd_Feedback
-              type: object
-            goal:
-              additionalProperties: false
-              properties:
-                command:
+                target:
                   type: string
-              title: SendCmd_Goal
-              type: object
-            result:
-              additionalProperties: false
-              properties:
-                return_info:
+                x_distance:
                   type: string
-                success:
-                  type: boolean
-              title: SendCmd_Result
+                y_distance:
+                  type: string
+              required:
+              - option
+              - move_group
+              - status
               type: object
+            result: {}
           required:
           - goal
-          title: SendCmd
+          title: pick_and_place参数
           type: object
-        type: SendCmd
+        type: UniLabJsonCommand
       set_position:
         feedback:
           status: status

unilabos/registry/resources/prcxi/modules.yaml

@@ -0,0 +1,70 @@
+PRCXI_Heating_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Module
+    type: pylabrobot
+  description: '加热模块 (Code: HEAT-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_MetalCooling_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_MetalCooling_Module
+    type: pylabrobot
+  description: '金属冷却模块 (Code: METAL-COOL-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Shaking_Module
+    type: pylabrobot
+  description: '震荡模块 (Code: SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Heating_Shaking_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Heating_Shaking_Module
+    type: pylabrobot
+  description: '加热震荡模块 (Code: HEAT-SHAKE-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+
+PRCXI_Magnetic_Module:
+  category:
+  - prcxi
+  - modules
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_modules:PRCXI_Magnetic_Module
+    type: pylabrobot
+  description: '磁吸模块 (Code: MAG-MOD)'
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0
+

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -3,7 +3,7 @@ PRCXI_30mm_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter'
     type: pylabrobot
   description: '30mm适配器 (Code: ZX-58-30)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter'
     type: pylabrobot
   description: '适配器 (Code: Fhh478)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_Deep10_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter'
     type: pylabrobot
   description: '10ul专用深孔板适配器 (Code: ZX-002-10)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_Deep300_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter'
     type: pylabrobot
   description: '300ul深孔板适配器 (Code: ZX-002-300)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_PCR_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter'
     type: pylabrobot
   description: '全裙边 PCR适配器 (Code: ZX-58-0001)'
   handles: []
@@ -63,7 +63,7 @@ PRCXI_Reservoir_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter'
     type: pylabrobot
   description: '储液槽 适配器 (Code: ZX-ADP-001)'
   handles: []
@@ -75,7 +75,7 @@ PRCXI_Tip10_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter'
     type: pylabrobot
   description: '吸头10ul 适配器 (Code: ZX-58-10)'
   handles: []
@@ -87,7 +87,7 @@ PRCXI_Tip1250_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter'
     type: pylabrobot
   description: 'Tip头适配器 1250uL (Code: ZX-58-1250)'
   handles: []
@@ -99,7 +99,7 @@ PRCXI_Tip300_Adapter:
   - prcxi
   - plate_adapters
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter'
     type: pylabrobot
   description: 'ZHONGXI 适配器 300uL (Code: ZX-58-300)'
   handles: []

unilabos/registry/resources/prcxi/plates.yaml

@@ -3,7 +3,7 @@ PRCXI_48_DeepWell:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell'
     type: pylabrobot
   description: '48孔深孔板 (Code: 22)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_96_DeepWell:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell'
     type: pylabrobot
   description: '96深孔板 (Code: q2)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_AGenBio_4_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate'
     type: pylabrobot
   description: '4道储液槽 (Code: sdfrth654)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_BioER_96_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate'
     type: pylabrobot
   description: '2.2ml 深孔板 (Code: ZX-019-2.2)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_BioRad_384_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate'
     type: pylabrobot
   description: '384板 (Code: q3)'
   handles: []
@@ -63,7 +63,7 @@ PRCXI_CellTreat_96_wellplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate'
     type: pylabrobot
   description: '细菌培养皿 (Code: ZX-78-096)'
   handles: []
@@ -75,7 +75,7 @@ PRCXI_PCR_Plate_200uL_nonskirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -87,7 +87,7 @@ PRCXI_PCR_Plate_200uL_semiskirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -99,7 +99,7 @@ PRCXI_PCR_Plate_200uL_skirted:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted'
     type: pylabrobot
   description: '0.2ml PCR 板 (Code: ZX-023-0.2)'
   handles: []
@@ -111,7 +111,7 @@ PRCXI_nest_12_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate'
     type: pylabrobot
   description: '12道储液槽 (Code: 12道储液槽)'
   handles: []
@@ -123,7 +123,7 @@ PRCXI_nest_1_troughplate:
   - prcxi
   - plates
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate'
     type: pylabrobot
   description: '储液槽 (Code: ZX-58-10000)'
   handles: []

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -3,7 +3,7 @@ PRCXI_1000uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips'
     type: pylabrobot
   description: '1000μL Tip头 (Code: ZX-001-1000)'
   handles: []
@@ -15,7 +15,7 @@ PRCXI_10uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips'
     type: pylabrobot
   description: '10μL Tip头 (Code: ZX-001-10)'
   handles: []
@@ -27,7 +27,7 @@ PRCXI_10ul_eTips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips'
     type: pylabrobot
   description: '10μL加长 Tip头 (Code: ZX-001-10+)'
   handles: []
@@ -39,7 +39,7 @@ PRCXI_1250uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips'
     type: pylabrobot
   description: '1250μL Tip头 (Code: ZX-001-1250)'
   handles: []
@@ -51,7 +51,7 @@ PRCXI_200uL_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips'
     type: pylabrobot
   description: '200μL Tip头 (Code: ZX-001-200)'
   handles: []
@@ -63,10 +63,22 @@ PRCXI_300ul_Tips:
   - prcxi
   - tip_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips'
     type: pylabrobot
   description: '300μL Tip头 (Code: ZX-001-300)'
   handles: []
   icon: ''
   init_param_schema: {}
   version: 1.0.0
+PRCXI_50uL_tips:
+  category:
+  - prcxi
+  - tip_racks
+  class:
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_50uL_tips'
+    type: pylabrobot
+  description: PRCXI_50uL_tips
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -3,7 +3,7 @@ PRCXI_trash:
   - prcxi
   - trash
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash'
     type: pylabrobot
   description: '废弃槽 (Code: q1)'
   handles: []

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -3,7 +3,7 @@ PRCXI_EP_Adapter:
   - prcxi
   - tube_racks
   class:
-    module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
+    module: 'unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter'
     type: pylabrobot
   description: 'ep适配器 (Code: 1)'
   handles: []

unilabos/resources/plr_additional_res_reg.py

@@ -9,6 +9,9 @@ def register():
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash
     from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack
+    from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300ModuleSite
+    # noinspection PyUnresolvedReferences
+    from unilabos.devices.liquid_handling.prcxi.prcxi_modules import PRCXI9300FunctionalModule
     # noinspection PyUnresolvedReferences
     from unilabos.devices.workstation.workstation_base import WorkStationContainer
 

unilabos/resources/resource_tracker.py

@@ -123,6 +123,24 @@ class ResourceDictType(TypedDict):
     machine_name: str
 
 
+class ResourceDictType(TypedDict):
+    id: str
+    uuid: str
+    name: str
+    description: str
+    resource_schema: Dict[str, Any]
+    model: Dict[str, Any]
+    icon: str
+    parent_uuid: Optional[str]
+    parent: Optional["ResourceDictType"]
+    type: Union[Literal["device"], str]
+    klass: str
+    pose: ResourceDictPositionType
+    config: Dict[str, Any]
+    data: Dict[str, Any]
+    extra: Dict[str, Any]
+
+
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")
@@ -441,6 +459,8 @@ class ResourceTreeSet(object):
                 "reagent_bottle": "reagent_bottle",
                 "flask": "flask",
                 "beaker": "beaker",
+                "module": "module",
+                "carrier": "carrier",
             }
             if source in replace_info:
                 return replace_info[source]
@@ -469,7 +489,18 @@ class ResourceTreeSet(object):
         def resource_plr_inner(
             d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
         ) -> ResourceDictInstance:
-            current_uuid, parent_uuid, extra = uuids.pop(0)
+            if uuids:
+                current_uuid, parent_uuid, extra = uuids.pop(0)
+            else:
+                # serialize() 树比 res.children 树多出了节点（虚拟子节点等），兜底生成 UUID
+                current_uuid = str(uuid.uuid4())
+                parent_uuid = parent_resource.get("uuid") if isinstance(parent_resource, dict) else (
+                    getattr(parent_resource, "uuid", None) if parent_resource is not None else None
+                )
+                extra = {}
+                logger.warning(
+                    f"from_plr_resources: UUID 列表耗尽，为节点 '{d.get('name', '?')}' 生成临时 UUID {current_uuid}"
+                )
 
             raw_pos = (
                 {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
@@ -553,10 +584,17 @@ class ResourceTreeSet(object):
             trees.append(tree_instance)
         return cls(trees)
 
-    def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
+    def to_plr_resources(
+        self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
+    ) -> List["PLRResource"]:
         """
         将 ResourceTreeSet 转换为 PLR 资源列表
 
+        Args:
+            skip_devices: 是否跳过 device 类型节点
+            requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
+                否则返回各树的根节点列表
+
         Returns:
             List[PLRResource]: PLR 资源实例列表
         """
@@ -571,6 +609,8 @@ class ResourceTreeSet(object):
             "deck": "Deck",
             "container": "RegularContainer",
             "tip_spot": "TipSpot",
+            "module": "PRCXI9300ModuleSite",
+            "carrier": "ItemizedCarrier",
         }
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
@@ -612,6 +652,71 @@ class ResourceTreeSet(object):
                 d["model"] = res.config.get("model", None)
             return d
 
+        # deserialize 会单独处理的元数据 key，不传给构造函数
+        _META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
+        # deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
+        _DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
+
+        def remove_incompatible_params(plr_d: dict) -> None:
+            """递归移除 PLR 类不接受的参数，避免 deserialize 报错。
+            - 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
+            - 对 TubeRack：将 ordering 转为 ordered_items
+            - 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
+            """
+            if "type" in plr_d:
+                sub_cls = find_subclass(plr_d["type"], PLRResource)
+                if sub_cls is not None:
+                    spec = inspect.signature(sub_cls)
+                    valid_params = set(spec.parameters.keys())
+                    # TubeRack 特殊处理：先转换 ordering，再参与后续过滤
+                    if "ordering" not in valid_params and "ordering" in plr_d:
+                        ordering = plr_d.pop("ordering", None)
+                        if sub_cls.__name__ == "TubeRack":
+                            plr_d["ordered_items"] = (
+                                _ordering_to_ordered_items(plr_d, ordering)
+                                if ordering
+                                else {}
+                            )
+                    # 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
+                    for key in list(plr_d.keys()):
+                        if (
+                            key not in _META_KEYS
+                            and key not in _DESERIALIZE_PRESERVED_KEYS
+                            and key not in valid_params
+                        ):
+                            plr_d.pop(key, None)
+            for child in plr_d.get("children", []):
+                remove_incompatible_params(child)
+
+        def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
+            """将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
+            from pylabrobot.resources import Tube, Coordinate
+            from pylabrobot.serializer import deserialize as plr_deserialize
+
+            children = plr_d.get("children", [])
+            ordered_items = {}
+            for idx, (ident, child_name) in enumerate(ordering.items()):
+                child_data = children[idx] if idx < len(children) else None
+                if child_data is None:
+                    continue
+                loc_data = child_data.get("location")
+                loc = (
+                    plr_deserialize(loc_data)
+                    if loc_data
+                    else Coordinate(0, 0, 0)
+                )
+                tube = Tube(
+                    name=child_data.get("name", child_name or ident),
+                    size_x=child_data.get("size_x", 10),
+                    size_y=child_data.get("size_y", 10),
+                    size_z=child_data.get("size_z", 50),
+                    max_volume=child_data.get("max_volume", 1000),
+                )
+                tube.location = loc
+                ordered_items[ident] = tube
+            plr_d["children"] = []  # 已并入 ordered_items，避免重复反序列化
+            return ordered_items
+
         plr_resources = []
         tracker = DeviceNodeResourceTracker()
 
@@ -631,9 +736,7 @@ class ResourceTreeSet(object):
                     raise ValueError(
                         f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
                     )
-                spec = inspect.signature(sub_cls)
-                if "category" not in spec.parameters:
-                    plr_dict.pop("category", None)
+                remove_incompatible_params(plr_dict)
                 plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.serializer import deserialize
@@ -653,6 +756,18 @@ class ResourceTreeSet(object):
                 logger.error(f"堆栈: {traceback.format_exc()}")
                 raise
 
+        if requested_uuids:
+            # 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
+            result = []
+            for uid in requested_uuids:
+                if uid in tracker.uuid_to_resources:
+                    result.append(tracker.uuid_to_resources[uid])
+                else:
+                    raise ValueError(
+                        f"请求的 UUID {uid} 在资源树中未找到。"
+                        f"可用 UUID 数量: {len(tracker.uuid_to_resources)}"
+                    )
+            return result
         return plr_resources
 
     @classmethod
@@ -741,16 +856,6 @@ class ResourceTreeSet(object):
         """
         return [tree.root_node for tree in self.trees]
 
-    @property
-    def root_nodes_uuid(self) -> List[ResourceDictInstance]:
-        """
-        获取所有树的根节点
-
-        Returns:
-            所有根节点的资源实例列表
-        """
-        return [tree.root_node.res_content.uuid for tree in self.trees]
-
     @property
     def all_nodes(self) -> List[ResourceDictInstance]:
         """
@@ -868,6 +973,17 @@ class ResourceTreeSet(object):
                                 f"从远端同步了 {added_count} 个物料子树"
                             )
                     else:
+                        # 二级是物料
+                        if remote_child_name not in local_children_map:
+                            # 本地不存在该物料，直接引入
+                            remote_child.res_content.parent = local_device.res_content
+                            local_device.children.append(remote_child)
+                            local_children_map[remote_child_name] = remote_child
+                            logger.info(
+                                f"物料 '{remote_root_id}/{remote_child_name}': "
+                                f"从远端同步了整个子树"
+                            )
+                            continue
                         # 二级物料已存在，比较三级子节点是否缺失
                         local_material = local_children_map[remote_child_name]
                         local_material_children_map = {child.res_content.name: child for child in

unilabos/ros/main_slave_run.py

@@ -1,4 +1,5 @@
 import json
+import os
 
 # from nt import device_encoding
 import threading
@@ -62,7 +63,7 @@ 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",
@@ -124,7 +125,7 @@ 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

@@ -486,18 +486,12 @@ 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 +505,10 @@ 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()
@@ -545,7 +543,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         }
                     )
                     tree_response: SerialCommand.Response = await client.call_async(request)
-                    uuid_maps = json.loads(tree_response.response)
+                    _raw_resp = tree_response.response if tree_response else ""
+                    if _raw_resp:
+                        uuid_maps = json.loads(_raw_resp)
+                    else:
+                        uuid_maps = {}
+                        self._lab_logger.warning("Resource tree add 返回空响应，跳过 UUID 映射")
                     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
@@ -1256,9 +1259,8 @@ 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 +1269,17 @@ 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 +1287,10 @@ 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
@@ -1486,13 +1482,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             if uuid_indices:
                                 uuids = [item[1] for item in uuid_indices]
                                 resource_tree = await self.get_resource(uuids)
-                                plr_resources = resource_tree.to_plr_resources(requested_uuids=uuids)
+                                plr_resources = resource_tree.to_plr_resources()
                                 for i, (idx, _, resource_data) in enumerate(uuid_indices):
-                                    try:
-                                        plr_resource = plr_resources[i]
-                                    except Exception as e:
-                                        self.lab_logger().error(f"资源查询结果: 共 {len(queried_resources)} 个资源，但查询结果只有 {len(plr_resources)} 个资源，索引为 {i} 的资源不存在")
-                                        raise e
+                                    plr_resource = plr_resources[i]
                                     if "sample_id" in resource_data:
                                         plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
                                     queried_resources[idx] = plr_resource
@@ -1742,10 +1734,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         try:
                             function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
                         except Exception as e:
-                            self.lab_logger().error(
-                                f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                            # UUID 在资源树中不存在，尝试从传入的完整 dict 直接构建 PLR 资源
+                            self.lab_logger().warning(
+                                f"UUID查询 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                             )
-                            raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
+                            try:
+                                fallback_tree = ResourceTreeSet.from_raw_dict_list([resource_data])
+                                if len(fallback_tree.trees) == 0:
+                                    raise
+                                plr_list = fallback_tree.to_plr_resources()
+                                if not plr_list:
+                                    raise
+                                plr_res = plr_list[0]
+                                figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                function_args[arg_name] = figured[0] if figured else plr_res
+                            except Exception:
+                                self.lab_logger().error(
+                                    f"转换ResourceSlot参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                )
+                                raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
 
                 # 处理 ResourceSlot 列表
                 elif isinstance(arg_type, tuple) and len(arg_type) == 2:
@@ -1757,10 +1764,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                 uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
                                 function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
                             except Exception as e:
-                                self.lab_logger().error(
-                                    f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
+                                self.lab_logger().warning(
+                                    f"UUID查询列表 {arg_name} 失败，尝试从传入数据直接构建: {e}"
                                 )
-                                raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
+                                try:
+                                    dict_items = [r for r in resource_list if isinstance(r, dict) and "id" in r]
+                                    fallback_tree = ResourceTreeSet.from_raw_dict_list(dict_items)
+                                    if len(fallback_tree.trees) == 0:
+                                        raise
+                                    plr_list = fallback_tree.to_plr_resources()
+                                    resolved = []
+                                    for plr_res in plr_list:
+                                        figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
+                                        resolved.append(figured[0] if figured else plr_res)
+                                    function_args[arg_name] = resolved
+                                except Exception:
+                                    self.lab_logger().error(
+                                        f"转换ResourceSlot列表参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
+                                    )
+                                    raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
 
             # todo: 默认反报送
             return function(**function_args)

unilabos/ros/nodes/presets/host_node.py

@@ -320,9 +320,9 @@ class HostNode(BaseROS2DeviceNode):
             "/devices/resource_mesh_manager/add_resource_mesh",
             callback_group=self.callback_group,
         )
-        self._action_value_mappings: Dict[str, Dict] = (
-            {}
-        )  # device_id -> action_value_mappings(本地+远程设备统一存储)
+        self._action_value_mappings: Dict[str, Dict] = {
+            device_id: self._action_value_mappings
+          }  # device_id -> action_value_mappings(本地+远程设备统一存储)
         self._slave_registry_configs: Dict[str, Dict] = {}  # registry_name -> registry_config(含action_value_mappings)
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备

unilabos/test/experiments/prcxi_9300_slim.json

@@ -0,0 +1,233 @@
+{
+    "nodes": [
+        {
+            "id": "PRCXI",
+            "name": "PRCXI",
+            "type": "device",
+            "class": "liquid_handler.prcxi",
+            "parent": "",
+            "pose": {
+                "size": {
+                    "width": 424,
+                    "height": 202,
+                    "depth": 0
+                }
+            },
+            "config": {
+                "axis": "Left",
+                "deck": {
+                    "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
+                    "_resource_child_name": "PRCXI_Deck"
+                },
+                "host": "10.20.31.167",
+                "port": 9999,
+                "debug": false,
+                "setup": true,
+                "matrix_id": "1ecb1b45-6aef-456b-bd68-8f538c4e5826",
+                "timeout": 10,
+                "simulator": false,
+                "channel_num": 8
+            },
+            "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": 404,
+                "size_y": 182,
+                "size_z": 0,
+                "model": "9300",
+                "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": 96,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T2",
+                        "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",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T3",
+                        "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",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T4",
+                        "visible": true,
+                        "occupied_by": null,
+                        "position": {
+                            "x": 0,
+                            "y": 0,
+                            "z": 0
+                        },
+                        "size": {
+                            "width": 128.0,
+                            "height": 86,
+                            "depth": 0
+                        },
+                        "content_type": [
+                            "plate",
+                            "tip_rack",
+                            "plates",
+                            "tip_racks",
+                            "tube_rack",
+                            "adaptor",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T5",
+                        "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",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    },
+                    {
+                        "label": "T6",
+                        "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",
+                            "plateadapter",
+                            "module",
+                            "trash"
+                        ]
+                    }
+                ]
+            },
+            "data": {}
+        }
+    ],
+    "edges": []
+}

unilabos/test/experiments/prcxi_9320_slim.json

@@ -28,7 +28,13 @@
                 "matrix_id": "",
                 "simulator": false,
                 "channel_num": 2,
-                "step_mode": true
+                "step_mode": false,
+                "calibration_points": {
+                    "line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
+                    "line_2": [[451.37,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
+                    "line_3": [[450.87,212.18], [312.98,212.38], [176.08,212.68], [38.08,213.18]],
+                    "line_4": [[450.08,307.68], [312.18,307.89], [175.18,308.18], [37.58,309.18]]
+                }
             },
             "data": {
                 "reset_ok": true
@@ -50,8 +56,8 @@
             "type": "deck",
             "class": "",
             "position": {
-                "x": 10,
-                "y": 10,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {

unilabos/test/experiments/prcxi_9320_with_res_test.json

@@ -108,7 +108,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -153,7 +154,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -198,7 +200,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -243,7 +246,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -288,7 +292,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -333,7 +338,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -378,7 +384,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -423,7 +430,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -468,7 +476,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -513,7 +522,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -558,7 +568,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -603,7 +614,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -648,7 +660,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -693,7 +706,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -738,7 +752,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]
@@ -783,7 +798,8 @@
               "tip_rack",
               "plates",
               "tip_racks",
-              "tube_rack"
+              "tube_rack",
+              "plateadapter"
             ]
           }
         ]

unilabos/workflow/common.py

@@ -23,9 +23,9 @@
 - 遍历所有 reagent，按 slot 去重，为每个唯一的 slot 创建一个板子
 - 所有 create_resource 节点的 parent_uuid 指向 Group 节点，minimized=true
 - 生成参数:
-    res_id: plate_slot_{slot}
+    res_id / 节点 name / display_name: {匹配后的 prcxi 类名}_slot_{槽位}
     device_id: /PRCXI
-    class_name: PRCXI_BioER_96_wellplate
+    class_name: 与 res_id 中类型一致（如 PRCXI 384/96 孔板注册类）
     parent: /PRCXI/PRCXI_Deck
     slot_on_deck: "{slot}"
 - 输出端口: labware（用于连接 set_liquid_from_plate）
@@ -207,6 +207,62 @@ def _infer_tube_rack_num_positions(labware_id: str, item: Dict[str, Any]) -> int
     return 96
 
 
+def _infer_plate_num_children_from_wells(wells: Any) -> Optional[int]:
+    """根据 well 名推断孔板总孔数档位：列>12 或 行>H(8) 视为 384，否则 96。"""
+    if not isinstance(wells, list) or not wells:
+        return None
+    max_row = 0
+    max_col = 0
+    for w in wells:
+        m = re.match(r"^([A-Za-z]+)(\d+)$", str(w).strip())
+        if not m:
+            continue
+        row_s, col_s = m.group(1).upper(), m.group(2)
+        ri = 0
+        for ch in row_s:
+            ri = ri * 26 + (ord(ch) - ord("A") + 1)
+        max_row = max(max_row, ri)
+        max_col = max(max_col, int(col_s))
+    if max_col <= 0:
+        return None
+    if max_col > 12 or max_row > 8:
+        return 384
+    return 96
+
+
+def _infer_plate_num_children_from_labware_hint(labware_id: str, item: Dict[str, Any]) -> Optional[int]:
+    """从 labware 命名（如 custom_384_wellplate、nest_96_wellplate）解析孔数，供模板匹配。"""
+    hint = _labware_hint_text(labware_id, item)
+    m = re.search(
+        r"\b(1536|384|96|48|24|12|6)(\s*[-_]?\s*well|wellplate|_well_)",
+        hint,
+    )
+    if m:
+        return int(m.group(1))
+    m = re.search(r"[_\s](1536|384|96|48|24|12|6)[_\s]", hint)
+    if m and ("well" in hint or "plate" in hint):
+        return int(m.group(1))
+    return None
+
+
+def _infer_plate_num_children(
+    labware_id: str,
+    item: Dict[str, Any],
+    wells: Any,
+    num_from_def: int,
+) -> int:
+    """孔板用于 PRCXI 匹配的孔数：优先定义表，其次命名，再 well 地址，最后默认 96。"""
+    if num_from_def > 0:
+        return num_from_def
+    hinted = _infer_plate_num_children_from_labware_hint(labware_id, item)
+    if hinted is not None:
+        return hinted
+    from_wells = _infer_plate_num_children_from_wells(wells)
+    if from_wells is not None:
+        return from_wells
+    return 96
+
+
 def _tip_volume_hint(item: Dict[str, Any], labware_id: str) -> Optional[float]:
     s = _labware_hint_text(labware_id, item)
     for v in (1250, 1000, 300, 200, 10):
@@ -217,6 +273,68 @@ def _tip_volume_hint(item: Dict[str, Any], labware_id: str) -> Optional[float]:
     return None
 
 
+def _flatten_transfer_vols(value: Any) -> List[float]:
+    """将 asp_vols/dis_vols 标量或列表展平为 float 列表，无法转换的项跳过。"""
+    if value is None:
+        return []
+    if isinstance(value, (list, tuple)):
+        out: List[float] = []
+        for v in value:
+            try:
+                out.append(float(v))
+            except (TypeError, ValueError):
+                continue
+        return out
+    try:
+        return [float(value)]
+    except (TypeError, ValueError):
+        return []
+
+
+def _tip_prcxi_class_for_max_ul(max_ul: float) -> str:
+    """按移液最大体积分档推介 PRCXI tip 类名：≤10 µL → 10µL；<300 → 300µL；否则 1000µL。"""
+    if max_ul <= 10:
+        return "PRCXI_10uL_Tips"
+    if max_ul < 300:
+        return "PRCXI_300ul_Tips"
+    return "PRCXI_1000uL_Tips"
+
+
+def _apply_tip_rack_class_from_transfer_volumes(
+    labware_info: Dict[str, Dict[str, Any]],
+    protocol_steps_refactored: List[Dict[str, Any]],
+) -> None:
+    """根据各 ``transfer_liquid`` 的 asp_vols/dis_vols 为对应 ``tip_racks`` 写入 ``prcxi_class_name``。"""
+    tip_to_max_ul: Dict[str, float] = {}
+
+    for step in protocol_steps_refactored:
+        if step.get("template_name") != "transfer_liquid":
+            continue
+        p = step.get("param") or {}
+        tip_key_raw = p.get("tip_racks")
+        if tip_key_raw is None or str(tip_key_raw).strip() == "":
+            continue
+        tip_key = str(tip_key_raw).strip()
+        if tip_key not in labware_info:
+            continue
+
+        nums = _flatten_transfer_vols(p.get("asp_vols", p.get("asp_vol"))) + _flatten_transfer_vols(
+            p.get("dis_vols", p.get("dis_vol"))
+        )
+        if not nums:
+            continue
+        step_max = max(nums)
+        tip_to_max_ul[tip_key] = max(tip_to_max_ul.get(tip_key, 0.0), step_max)
+
+    for tip_key, max_ul in tip_to_max_ul.items():
+        item = labware_info.get(tip_key)
+        if item is None:
+            continue
+        if _infer_reagent_kind(tip_key, item) != "tip_rack":
+            continue
+        item["prcxi_class_name"] = _tip_prcxi_class_for_max_ul(max_ul)
+
+
 def _volume_template_covers_requirement(template: Dict[str, Any], req: Optional[float], kind: str) -> bool:
     """有明确需求体积时，模板标称 Volume 必须 >= 需求；无 Volume 的模板不参与（trash 除外）。"""
     if kind == "trash":
@@ -324,7 +442,8 @@ def _apply_prcxi_labware_auto_match(
             else:
                 num_children = _infer_tube_rack_num_positions(labware_id, item)
         else:
-            num_children = num_from_def if num_from_def > 0 else 96
+            # plate：勿在无 labware_defs 时默认 96，否则 384 板会被错配成 96 模板
+            num_children = _infer_plate_num_children(labware_id, item, wells, num_from_def)
 
         child_max_volume = item.get("max_volume")
         if child_max_volume is None:
@@ -607,7 +726,7 @@ 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}",
         }
@@ -624,7 +743,7 @@ def build_protocol_graph(
     workstation_name: str,
     action_resource_mapping: Optional[Dict[str, str]] = None,
     labware_defs: Optional[List[Dict[str, Any]]] = None,
-    preserve_tip_rack_incoming_class: bool = True,
+    preserve_tip_rack_incoming_class: bool = False,
 ) -> WorkflowGraph:
     """统一的协议图构建函数，根据设备类型自动选择构建逻辑
 
@@ -636,11 +755,18 @@ def build_protocol_graph(
         labware_defs: 可选，``[{"id": "...", "num_wells": 96, "max_volume": 2200}, ...]`` 等，辅助 PRCXI 模板匹配
         preserve_tip_rack_incoming_class: 默认 True 时**仅 tip_rack** 不跑模板匹配（类名由传入的 class/labware 决定）；
             **其它载体**仍按 PRCXI 模板匹配。False 时 **全部**（含 tip_rack）都走模板匹配。
+
+    会先 ``refactor_data`` 规范化步骤，再根据 ``transfer_liquid`` 的 ``asp_vols``/``dis_vols`` 为对应
+    ``tip_racks`` 写入 ``prcxi_class_name``（最大体积 ``≤10`` → ``PRCXI_10uL_Tips``，``<300`` → ``PRCXI_300ul_Tips``，
+    否则 ``PRCXI_1000uL_Tips``）；无有效体积的步骤不覆盖。
     """
     G = WorkflowGraph()
     resource_last_writer = {}  # reagent_name -> "node_id:port"
     slot_to_create_resource = {}  # slot -> create_resource node_id
 
+    protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
+    _apply_tip_rack_class_from_transfer_volumes(labware_info, protocol_steps)
+
     _apply_prcxi_labware_auto_match(
         labware_info,
         labware_defs,
@@ -651,8 +777,6 @@ def build_protocol_graph(
         preserve_tip_rack_incoming_class=preserve_tip_rack_incoming_class,
     )
 
-    protocol_steps = refactor_data(protocol_steps, action_resource_mapping)
-
     # ==================== 第一步：按 slot 去重创建 create_resource 节点 ====================
     # 按槽聚合：同一 slot 多条 reagent 时不能只取遍历顺序第一条，否则 tip 的 prcxi_class_name / object 会被其它条目盖住
     by_slot: Dict[str, List[Tuple[str, Dict[str, Any]]]] = {}
@@ -685,11 +809,8 @@ def build_protocol_graph(
             prcxi_val = str(pv) if pv else None
 
         labware = str(chosen_item.get("labware", "") or "")
-        res_id = f"{labware}_slot_{slot}" if labware.strip() else f"{chosen_lid}_slot_{slot}"
-        res_id = res_id.replace(" ", "_")
         slots_info[slot] = {
             "labware": labware,
-            "res_id": res_id,
             "labware_id": chosen_lid,
             "object": chosen_item.get("object", "") or "",
             "prcxi_class_name": prcxi_val,
@@ -715,7 +836,6 @@ def build_protocol_graph(
     # 为每个唯一的 slot 创建 create_resource 节点
     for slot, info in slots_info.items():
         node_id = str(uuid.uuid4())
-        res_id = info["res_id"]
         object_type = info.get("object", "") or ""
         ot_lo = str(object_type).strip().lower()
         matched = info.get("prcxi_class_name")
@@ -731,11 +851,14 @@ def build_protocol_graph(
                 res_type_name = CLASS_NAMES_MAPPING.get("tip_rack", "PRCXI_300ul_Tips")
         else:
             res_type_name = f"lab_{info['labware'].lower().replace('.', 'point')}"
+        # 上传物料：匹配后的类型名 + _slot_ + 槽位（name / display_name / res_id 一致）
+        res_id = f"{res_type_name}_slot_{slot}".replace(" ", "_")
         G.add_node(
             node_id,
             template_name="create_resource",
             resource_name="host_node",
-            name=f"{res_type_name}_slot{slot}",
+            name=res_id,
+            display_name=res_id,
             description=f"Create plate on slot {slot}",
             lab_node_type="Labware",
             footer="create_resource-host_node",
@@ -790,19 +913,25 @@ def build_protocol_graph(
         if not wells or not slot:
             continue
 
-        # res_id 不能有空格
+        # res_id 不能有空格（液体名仍用协议中的 reagent key）
         res_id = str(labware_id).replace(" ", "_")
         well_count = len(wells)
         liquid_volume = DEFAULT_LIQUID_VOLUME if object_type == "source" else 0
 
         node_id = str(uuid.uuid4())
         set_liquid_index += 1
+        prcxi_mat = item.get("prcxi_class_name")
+        if prcxi_mat:
+            sl_node_title = f"{prcxi_mat}_slot_{slot}_{res_id}"
+        else:
+            sl_node_title = f"lab_{res_id.lower()}_slot_{slot}_{set_liquid_index}"
 
         G.add_node(
             node_id,
             template_name="set_liquid_from_plate",
             resource_name="liquid_handler.prcxi",
-            name=f"SetLiquid {set_liquid_index}",
+            name=sl_node_title,
+            display_name=sl_node_title,
             description=f"Set liquid: {labware_id}",
             lab_node_type="Reagent",
             footer="set_liquid_from_plate-liquid_handler.prcxi",

unilabos/workflow/convert_from_json.py

@@ -210,7 +210,7 @@ def convert_from_json(
     data: Union[str, PathLike, Dict[str, Any]],
     workstation_name: str = DEFAULT_WORKSTATION,
     validate: bool = True,
-    preserve_tip_rack_incoming_class: bool = True,
+    preserve_tip_rack_incoming_class: bool = False,
 ) -> WorkflowGraph:
     """
     从 JSON 数据或文件转换为 WorkflowGraph
@@ -295,7 +295,7 @@ def convert_from_json(
 def convert_json_to_node_link(
     data: Union[str, PathLike, Dict[str, Any]],
     workstation_name: str = DEFAULT_WORKSTATION,
-    preserve_tip_rack_incoming_class: bool = True,
+    preserve_tip_rack_incoming_class: bool = False,
 ) -> Dict[str, Any]:
     """
     将 JSON 数据转换为 node-link 格式的字典

unilabos/workflow/legacy/convert_from_json_legacy.py

@@ -234,7 +234,7 @@ def convert_from_json(
     data: Union[str, PathLike, Dict[str, Any]],
     workstation_name: str = "PRCXi",
     validate: bool = True,
-    preserve_tip_rack_incoming_class: bool = True,
+    preserve_tip_rack_incoming_class: bool = False,
 ) -> WorkflowGraph:
     """
     从 JSON 数据或文件转换为 WorkflowGraph